Sample pretreatment system and method for metal component analysis in samples

Abstract

A pretreatment system and a pretreatment method for inspecting metal components in a sample are disclosed. The pretreatment system includes a robot including a number of arms that are relatively rotatable with respect to each other, and the tips of the number of arms are movable within an operating radius; a gripper device attached to the tip of the robot, the gripper device including a first gripper unit that grips or releases a dosing head on one side and a second gripper unit that grips or releases a tube on the other side; a dosing head mounting table on which a plurality of dosing heads can be placed; a tube mounting table on which a plurality of tubes with tube caps coupled to tube bodies can be placed; a sample input unit lifting device on which the dosing head is placed and which is movable up and down, and including a tube mounting cup disposed under the sample input unit lifting device and on which the tube is placed, the sample input device being configured to input the sample in the dosing head into the tube placed in the tube mounting cup; a cap opening and closing device configured to separate the tube cap from the tube body or couple the tube cap to the tube body; an acid injection device configured to inject acid into the tube into which the sample has been input by the sample input device or inject distilled water into the tube containing the acid in which the sample has been dissolved; a heat shaker configured to apply heat to and shake the tube containing the acid mixed with the sample to dissolve the sample in the acid; a vision device configured to acquire an image of a set portion of the tube containing the sample solution in which the sample has been dissolved in the acid; and a pipetting device configured to transfer a part of the solution in one tube to another tube.

Description

Technical Field

[0001] [Cross - reference to Related Applications] This application claims the benefit of priority based on Korean Patent Application Nos. 10 - 2023 - 0043740, 10 - 2023 - 0043739, 10 - 2023 - 0043744, 10 - 2023 - 0043743, 10 - 2023 - 0043741, 10 - 2023 - 0043742, and 10 - 2023 - 0043486 filed on April 3, 2023, and Korean Patent Application No. 10 - 2024 - 0045209 filed on April 3, 2024, and all the contents disclosed in the documents of the Korean patent applications are incorporated herein by reference.

[0002] The present invention relates to a pretreatment system and a pretreatment method for inspecting metal components in a sample, which automate a pretreatment process using an acid that is a toxic substance, realize a safe working environment, reduce the fatigue of workers due to the same repetitive work, and reduce the occurrence of measurement errors.

Background Art

[0003] A secondary battery containing lithium ions or the like is manufactured by coating an electrode material having the ability to transfer electrons on the surface of a metal thin plate (foil) such as aluminum or copper. The electrode material (for example, a positive electrode material) consists of a large number of small particles, and the electrode material is intended to contain various components in a target content. However, due to various reasons in the mass production process, the content of each component may not be contained only in the target content or may be contained in excess of the target content. In particular, the content of metal components in the positive electrode material has a great influence on the performance of the positive electrode material. Therefore, the content of metal components contained in the positive electrode material should be confirmed, and if the content of metal components contained in the positive electrode material is different from the target content, the manufacturing process of the positive electrode material must be adjusted.

[0004] Conventionally, to inspect the metal components contained in cathode materials, a pretreatment process was performed in which a sample of the cathode material was taken, an acid was added to the sample to dissolve it, and then dilution was added to the dissolved sample with distilled water. However, since the pretreatment process was performed manually by workers, there were safety concerns regarding the working environment due to the acid used in the pretreatment process. In addition, because the same pretreatment process was repeated, worker fatigue accumulated, which could lead to measurement errors. Furthermore, since the complete dissolution of the sample in the acid was confirmed by the worker's eyes, safety issues and measurement errors could also occur.

[0005] The information contained in this background technology section is provided to enhance understanding of the background of the invention and may include information that is not prior art already known to a person with ordinary skill in the art to which this technology belongs. [Overview of the project] [Problems that the invention aims to solve]

[0006] The present invention aims to provide a sample pretreatment system and method for metal component analysis that automates the pretreatment process using toxic substances such as acids to create a safe working environment, alleviate worker fatigue caused by repetitive tasks, and reduce the occurrence of measurement errors. [Means for solving the problem]

[0007] A sample pretreatment system for metal component analysis according to an embodiment of the present invention includes: a sample dissolution device configured to dissolve a sample by introducing it into a tube according to set pretreatment conditions and injecting acid into the tube containing the sample; and a sample dissolution rate detection device configured to detect the dissolution rate of a sample in a sample solution in which the sample has been dissolved in acid; The device may also include a dilution apparatus configured to dilute the sample solution in response to the sample's solubility being greater than or equal to a set solubility.

[0008] The pretreatment system may further include a pretreatment condition adjustment device configured to adjust the set pretreatment conditions in response to the dissolution rate of the sample being less than a set dissolution rate.

[0009] A pretreatment system for metal component analysis in a sample according to another embodiment of the present invention is a robot comprising a plurality of arms that are rotatable relative to one another, with the leading edges of the plurality of arms movable within a working radius; A gripper device attached to the front end of the robot, comprising a first gripper unit on one side for gripping a dosing head or for gripping or releasing a tube on the other side; A sample dispensing device comprising a sample dispensing unit lifting device on which a dosing head is mounted and which is movable up and down, and a tube holding cup positioned below the sample dispensing unit lifting device on which a tube is mounted, configured to dispense the sample from the dosing head into the tube mounted in the tube holding cup; An acid injection device configured to inject acid into a tube into which a sample has been introduced, or to inject distilled water into a tube containing acid in which a sample has been dissolved; A heat shaker configured to dissolve the sample in acid by applying heat and shaking a tube containing the sample and the acid mixed together; A vision device that acquires an image of a designated portion of a tube containing a sample solution in which the sample has been dissolved in acid; It may also include a pipetting device configured to transfer a portion of the solution in one tube to another tube.

[0010] The aforementioned preprocessing system includes a dosing head stand on which multiple dosing heads can be mounted; A tube stand capable of holding multiple tubes, each with a tube cap attached to the tube body; The system further includes a cap opening / closing device configured to separate a tube cap from a tube body or to attach a tube cap to a tube body, and the dosing head stand, tube stand, sample loading device, cap opening / closing device, acid injection device, heat shaker, vision device, and pipetting device can be positioned at least partially within the working radius of the robot.

[0011] The tube-holding cup is placed on the first weighing scale, and the amount of sample placed in the tube can be detected by the first weighing scale.

[0012] The acid injection device can be configured to inject liquid into a tube while the tube, which is placed on the acid injection device, is tilted and rotated.

[0013] The cap opening and closing device can be configured to rotate the tube cap in a first rotational direction to separate the tube cap from the tube body, and to rotate the tube cap in a second rotational direction to connect the tube cap to the tube body, and to raise or lower the tube cap according to the amount of rotation of the tube cap.

[0014] The cap opening and closing device can be configured to press the tube cap against the tube body before rotating the tube cap in the second rotational direction.

[0015] The heat shaker is a shaker unit configured to shake a shaker rod; A heating block that is positioned on a shaker rod and heats the stationary tube; The heating block is placed on top of the heating block and includes an insulating cover that surrounds the heating block at a distance from it, and the tube can be inserted between the insulating cover and the heating block and placed in position.

[0016] The robot can attach a tube cap to the tube body via a cap opening / closing device before transferring the tube containing the acid mixed with the sample to the heat shaker, and then shake the tube with the tube cap attached to mix the sample and the acid.

[0017] The pipetting device can be configured to transfer a portion of the sample solution from one tube to another, the robot to transfer yet another tube to an acid injection device to add distilled water to yet another tube, and the pipetting device to inject the distilled water contained in yet another tube into another tube containing a portion of the sample solution to dilute the portion of the sample solution in the other tube.

[0018] The pretreatment system further includes a controller that controls the operation of the robot, gripper device, dosing head stand, tube stand, sample loading device, cap opening / closing device, acid injection device, heat shaker, vision device, and pipetting device, wherein the controller can be configured to receive an image of a set portion of a tube containing the sample solution from the vision device and process the image of the set portion with a preset image processing program to detect the solubility of the sample.

[0019] The gripper device further includes a gripper body rotatably mounted on the foremost arm of a robot, a first gripper unit mounted on one side of the gripper body, a second gripper unit mounted on the other side of the gripper body, and the first gripper unit having first and second gripping fingers that are movable toward or away from each other; A cylindrical guide bushing having one open side and one closed side, fixed within the tips of the first and second gripping fingers; A first or second pusher positioned on one open surface of the guide bushing and slidable along the inner circumferential surface of the guide bushing; A guide shaft that extends to one side through a guide shaft hole formed in the other closed surface of the guide bushing and is connected to the first pusher or the second pusher; And it can include a guide spring that elastically supports the first pusher or the second pusher with respect to the guide bushing.

[0020] The guide shaft may be separated from the inner peripheral surface of the guide bushing, and the guide spring may be disposed between the guide shaft and the guide bushing.

[0021] The movement of the first pusher and the second pusher and the guide shaft to the other axial side is restricted by a step formed on the inner peripheral surface of the guide bushing, and the movement of the first pusher and the second pusher and the guide shaft to the one axial side is restricted by the other end of the guide shaft. The diameter of the other end of the guide shaft may be larger than the diameter of other parts of the guide shaft.

[0022] The second gripper unit includes a third gripping finger and a fourth gripping finger that are movable toward each other or away from each other; a first tube tong portion and a second tube tong portion provided at the tip portions of the third gripping finger and the fourth gripping finger and having a shape corresponding to the tube so as to be able to grip the tube; It can include a first gripping bar groove and a second gripping bar groove provided at the tip portions of the third gripping finger and the fourth gripping finger and having a shape corresponding to the gripping bar so as to be able to grip the gripping bar of the tube mounting base on which the tube is placed.

[0023] The second gripper unit can further include a first position limiter and a second position limiter that project upward from the tip portions of the third gripping finger and the fourth gripping finger to limit the movement of the second gripper unit toward the gripping bar.

[0024] The control unit is configured to control the robot and the first and second gripper units, and the control unit can be configured to control the first and second pushers to press a first or second mounting button provided on the dosing head stand or sample loading device, the robot to move the first gripper unit down to install the dosing head, the first and second pushers to press a first or second mounting button, the robot to move the first gripper unit up to remove the dosing head.

[0025] The cap opening and closing device comprises a first tube holder on one side and a second tube holder on the other, and a capping work table that can rotate to position one of the two tube holders in one of two positions: a first position for placing or gripping a tube, and a second position for attaching a tube cap to a tube body or detaching a tube cap from a tube body; and the other of the two tube holders in one of two positions; A support base lifting block that moves up and down by a cap unit lifting actuator; a cap gripper support base that is rotatably mounted on the support base lifting block; A first cap gripper and a second cap gripper are mounted on a cap gripper support base, positioned to correspond to the tube cap of a tube in a second position, and configured to move toward each other to grip the tube cap or move away from each other to place the tube cap down; A first tube body gripper and a second tube body gripper are positioned to correspond to the tube body of a tube in a second position, and are configured to move toward each other to grip the tube body or move away from each other to place the tube body; The system may include a cap rotation actuator that is attached to a support lifting block and has a lower end that penetrates the support lifting block and connects to a cap gripper support, and is configured to rotate the cap gripper support in a first rotational direction to separate the tube cap from the tube body, and to rotate the cap gripper support in a second rotational direction opposite to the first rotational direction to reattach the tube cap to the tube body.

[0026] The cap opening and closing device may further include a first exhaust hood mounted in a position corresponding to a second position and configured to draw in gases generated from the liquid inside the tube.

[0027] The cap opening and closing device may further include a work table rotation actuator configured to rotate the capping work table by 180° to position one of the first tube holder and the second tube holder in a first position, and the other of the first tube holder and the second tube holder in a second position.

[0028] The cap opening and closing device may further include sensors configured to detect whether a tube is placed in the first tube holder or the second tube holder in the first position, whether a tube is placed in the first tube holder or the second tube holder in the second position, or whether a tube cap is placed there, and / or whether the first cap gripper and the second cap gripper are gripping the tube cap.

[0029] The control unit can be configured to receive a signal corresponding to the value detected by the sensor and to control the operation of the work table rotation actuator, the first cap gripper and the second cap gripper, the first tube body gripper and the second tube body gripper, the cap unit lifting actuator and / or the cap rotation actuator based on the signal.

[0030] If a tube is positioned in the first or second tube holder in the first position, and the sensor detects that the tube cap is not positioned in the first or second tube holder in the second position, the controller can rotate the capping work table by 180° via the work table rotation actuator to move the tube to the second position.

[0031] When a sensor detects that a tube is placed in the first or second tube holder in the first position, and a tube cap is located in the first or second tube holder in the second position, the controller can lower the first and second cap grippers via the cap unit lifting actuator to grasp the tube cap, and then raise the first and second cap grippers again.

[0032] If the sensor detects that no tube is placed in the first or second tube holder in the first position, and that a tube is placed in the first or second tube holder in the second position, and that the first and second cap grippers are not gripping the tube cap, the controller can control the first and second cap grippers to grip the tube cap, control the cap rotation actuator to rotate the tube cap coupled to the tube body in the first rotation direction, and control the cap unit lifting actuator to lift the tube cap according to the amount of rotation by the cap rotation actuator.

[0033] If the sensor detects that no tube is placed in the first or second tube holder in the first position, but a tube is placed in the first or second tube holder in the second position, and that the first and second cap grippers are gripping the tube cap, the controller can control the cap unit lifting actuator to lower the tube cap toward the tube body, control the cap rotation actuator to rotate the tube cap in the second rotational direction relative to the tube body, and control the cap unit lifting actuator to lower the tube cap according to the amount of rotation by the cap rotation actuator.

[0034] The control unit controls the cap unit lifting actuator before rotating the tube cap relative to the tube body in the second rotational direction, thereby allowing the tube cap to press against the tube body with a constant load.

[0035] The acid injection device includes an acid supply unit which is configured to pump liquids contained in multiple liquid bottles; An acid injection chamber body having an acid injection chamber formed inside; an injection nozzle attached to an injection nozzle mounting section within the acid injection chamber and connected to a liquid pumping section, configured to inject the liquid pumped by the liquid pumping section into the tube; and an acid injection section attached to the acid injection chamber body and connected to the injection nozzle mounting section, including a nozzle lifting actuator for moving the injection nozzle mounting section up and down; The system includes a tube loader section configured to place a tube on it, tilt the placed tube and insert it into the acid injection chamber, and rotate the tilted tube. The nozzle lifting actuator lowers the injection nozzle mounting section to position it above the tube when the tube is tilted and rotated and positioned inside the acid injection chamber, and the injection nozzle can inject the liquid pumped by the liquid pumping section into the tilted and rotating tube.

[0036] The acid injection section includes a drain fan located at the bottom of the acid injection chamber body; and The system may further include a funnel movement actuator that moves the funnel movement link and the funnel between a first funnel position, which is connected to and attached to a funnel movement link extending into the acid injection chamber, and is located directly below the injection nozzle and capable of receiving liquid ejected from the injection nozzle, and a second funnel position, which does not overlap with the movement of the tube and the movement of the injection nozzle attachment within the acid injection chamber.

[0037] The acid injection unit may further include a second exhaust hood configured to at least partially surround the injection nozzle and to draw in gas generated from the liquid injected from the injection nozzle.

[0038] The tube loader section is, A frame extending from the front of the acid injection chamber toward the acid injection chamber; A loader frame rail extending along the support frame; A loader frame transfer actuator configured to move the loader frame between a first loader position where the tube can be placed or gripped, and a second loader position where the tube can be tilted and enter the acid injection chamber; A tilt actuator that tilts a tilt frame, which is attached to a loader frame, between a tilted position and an initial position; It may include a rotating plate actuator configured to rotate a rotating plate that is rotatably mounted on a tilting frame.

[0039] The tube loader section may further include a third tube holder provided on the rotating plate on which a tube is placed.

[0040] The acid injection device may further include sensors for detecting whether a tube is placed in the third tube holder, whether the loader frame is in the first loader position or the second loader position, and / or whether the tilting frame is in its initial position or tilted to an inclined position.

[0041] Each of the aforementioned liquid bottles is placed on a second weighing scale, which can be configured to measure the amount of liquid contained in each of the liquid bottles.

[0042] The front of the acid injection chamber body is open, and the acid injection section has an acid injection chamber shutter that selectively closes the open front of the acid injection chamber body; The acid injection chamber shutter may further include a shutter actuator configured to close or open the open front surface of the acid injection chamber body.

[0043] The pipetting apparatus includes a pipette tip tray on which multiple pipette tips are placed; A pipetting work table having a first pipette tube holder on one side and a second pipette tube holder on the other, wherein one of the first and second pipette tube holders can be positioned in either a first pipette tube position for placing or gripping a tube, or a second pipette tube position for drawing solution from or injecting solution into a tube, and the other of the first and second pipette tube holders can be positioned in either the first pipette tube position or the other of the second pipette tube position; A pipette unit configured to attach pipette tips at a position corresponding to a pipette tip tray, and to collect a portion of the solution contained in the first tube or inject the collected solution into the second tube at a position corresponding to a pipetting work table; A pipette transfer unit may be included to move the pipette unit between a position corresponding to a pipette tip tray and a position corresponding to a pipetting work table.

[0044] The pipetting apparatus may further include a pipette tip tray transfer unit for moving the pipette tip tray toward or away from the pipette unit.

[0045] The pipetting apparatus may further include a pipetting work table rotation actuator configured to rotate the pipetting work table by 180° to position one of the first pipette tube holder and the second pipette tube holder at the first pipette tube position, and to position the other of the first pipette tube holder and the second pipette tube holder at the second pipette tube position.

[0046] The pipette unit is connected to a pipette transfer unit, and the pipette guide frame is moved by the pipette transfer unit between a position corresponding to the pipette tip tray and a position corresponding to the pipetting work table; A pipette slider that is mounted so as to be able to slide vertically along the pipette guide frame; A pipette module comprising a pipette module body fixedly attached to a pipette slider, and a pipette piston that is movable relative to the pipette module body in a vertical direction; It may include a pipette push actuator that is mounted vertically movably on the pipette slider and configured to push the upper end of the pipette piston.

[0047] The pipette piston may be elastically attached to the pipette module body.

[0048] The lower end of the pipette piston may have a mounting end formed thereon to which a pipette tip is attached.

[0049] The mounting end can be configured to descend while pushing the pipette tip downward so that the lower end of the pipette tip is immersed in the solution contained in the first tube, and while the lower end of the pipette tip is immersed in the solution contained in the first tube, the mounting end elastically rises to collect a portion of the solution contained in the first tube, and when the pipette tip contains the solution, the mounting end pushes the pipette tip downward to inject the solution into the second tube.

[0050] The pipetting device may further include a pipette tip ejector configured to push the upper end of the pipette piston downward to remove the pipette tip attached to the mounting end.

[0051] The amount of pressure applied by the pipette tip ejector to the pipette piston may be greater than the amount of pressure applied by the pipette push actuator to the pipette piston.

[0052] The metal component analysis is performed after dissolving the sample in a tube in acid to detect the metal components contained in the sample, and the vision device is configured to attach the tube containing the acid in which the sample has been dissolved, and to rotate the tube, consisting of a drive roller and a backup roller. An image acquisition device configured to acquire an image of the lower part of a rotating tube mounted between the drive roller and the backup roller; The system includes an illumination module configured to irradiate the tube with light on the opposite side of the image acquisition device, and the controller can be configured to process the lower image of the tube acquired by the image acquisition device to check the dissolution rate of the sample. The controller can be configured to detect a tube region from an image of a set portion of the tube using an image feature-based vision algorithm, to detect a region of interest by applying a shape recognition algorithm to the tube region, to classify the pixels within the detected region of interest according to a set criterion, to assign a pixel value to the classified pixels, and to detect the dissolution rate of the sample using the pixel value of each pixel.

[0053] The vision device comprises a tube rotation actuator configured to rotate a tube via a drive roller; The system may further include a backup roller actuator configured to move the backup roller toward or away from the drive roller.

[0054] The vision device may further include a lighting module actuator that moves the lighting module between an illumination position, where it moves toward the tube to illuminate the tube, and an initial position away from the tube, where it does not interfere with mounting the tube between the drive roller and the backup roller.

[0055] The controller can detect the tube region as a circle from the lower image of the tube using a circle-Hough transform, and can cut out the tube region using the coordinates of the center point and radius of the circle.

[0056] The controller can be configured to set a region corresponding to the object of interest within the tube region through a dynamic contour model, find singularities while gradually narrowing the region, and detect the region of interest from the singularities.

[0057] The controller can be configured to classify the detected pixels within the region of interest into two types of pixels according to a set criterion, and to binary the classified pixels by assigning a pixel value of 0 or 1.

[0058] The controller can be configured to calculate the average brightness of all pixels in the detected region of interest, assign a pixel value of 0 to pixels that are darker than the average brightness by a set amount, assign a pixel value of 1 to the remaining pixels, and calculate the dissolution rate as the ratio of the total number of pixels to the number of pixels with a pixel value of 1.

[0059] The controller can be configured to provide feedback on the dissolution rate if it is lower than a set dissolution rate.

[0060] The controller may be configured to adjust the component of the acid in which the sample is dissolved, the amount of acid, the heating time of the tube containing the acid in which the sample is dissolved, and / or the temperature, based on the feedbacked dissolution rate.

[0061] Another embodiment of the present invention relates to a sample pretreatment method for testing metal components in a sample, which involves dissolving the sample by injecting acid into a tube containing the sample according to set pretreatment conditions using a sample dissolving device; A step in which the solubility of a sample is detected in a sample solution in which the sample is dissolved in acid using a sample solubility detection device; The procedure may include a step of diluting the sample solution using a dilution device in response to the sample's solubility being equal to or greater than a set solubility.

[0062] The pretreatment method may further include the step of adjusting the set pretreatment conditions using a pretreatment condition adjustment device in response to the dissolution rate of the sample being less than the set dissolution rate.

[0063] A pretreatment method for testing metal components in a sample according to another embodiment of the present invention involves the step of introducing the sample in the dosing head into a first tube using a sample loading device; The acid injection device injects acid into the first tube containing the sample; A heat shaker is used to heat the first tube containing the acid in which the sample has been dissolved, while shaking it; A step of acquiring an image of the set portion of the first tube using a vision device; A control device performs image processing on the setting portion of the first tube to inspect the dissolution rate of the sample; and The process may include a step of diluting the sample solution in response to the sample's solubility being equal to or greater than a set solubility.

[0064] The aforementioned pretreatment method involves a robot equipped with a gripper device at its forefront to remove the dosing head from the dosing head mounting base, and then attaching the removed dosing head to the sample loading lifting device; A robot equipped with a gripper device removes the first tube from the tube resting stand; A step of separating the tube cap from the first tube using a cap opening / closing device; The process may further include the step of using a robot equipped with a gripper device to place the first tube, from which the tube cap has been separated, into a tube resting cup.

[0065] The tube-holding cup is placed on the first weighing scale, and the amount of sample placed in the first tube can be detected by the first weighing scale.

[0066] The acid injection device can be configured to inject liquid into a tube while the tube, which is placed on the acid injection device, is tilted and rotated.

[0067] In one embodiment, the step of diluting the sample solution is to inject distilled water into the first tube using an acid injection device to perform a primary dilution of the sample solution; A pipetting device is used to transfer a portion of the primary diluted sample solution in the first tube to the second tube; The process may include a step of secondary dilution of the sample solution by injecting distilled water into the second tube using an acid injection device or pipetting device.

[0068] In another embodiment, the step of diluting the sample solution is to transfer a portion of the sample solution in the first tube to the second tube using a pipetting device; The first step involves injecting distilled water into the second tube using an acid injection device to perform a primary dilution of the sample solution; The process may include a step of secondary dilution of the sample solution by injecting distilled water into the second tube using an acid injection device or pipetting device.

[0069] The step of acquiring an image of the setting portion of the first tube can be performed while the first tube, which contains the acid in which the sample is dissolved, is rotating.

[0070] The step of processing an image of the setting portion of the first tube to examine the dissolution rate of the sample involves detecting the tube region from the image of the setting portion of the first tube using an image feature-based vision algorithm; A step of detecting a region of interest by applying a shape recognition algorithm to the tube region; A step of classifying the pixels within the detected region of interest according to a set criterion, and assigning pixel values ​​to the classified pixels; The procedure may include a step of detecting the solubility of the sample using the pixel value of each pixel.

[0071] The controller can be configured to detect the tube region as a circle from the lower image of the first tube using a circle-Hough transform, and to cut out the tube region using the coordinates of the center point and radius of the circle.

[0072] The controller can be configured to set a region corresponding to the object of interest within the tube region through a dynamic contour model, find singularities while gradually narrowing the region, and detect the region of interest from the singularities.

[0073] The controller can be configured to classify the detected pixels within the region of interest into two types of pixels according to a set criterion, and to binary the classified pixels by assigning a pixel value of 0 or 1.

[0074] The controller can be configured to calculate the average brightness of all pixels in the detected region of interest, assign a pixel value of 0 to pixels that are darker than the average brightness by a set amount, assign a pixel value of 1 to the remaining pixels, and calculate the dissolution rate as the ratio of the total number of pixels to the number of pixels with a pixel value of 1.

[0075] The aforementioned pretreatment method may further include a step of adjusting the set pretreatment conditions in response to the fact that the dissolution rate of the sample is less than the set dissolution rate. [Effects of the Invention]

[0076] According to the present invention, a safe working environment can be achieved by automating the pretreatment process using toxic substances such as acids, reducing worker fatigue from repetitive tasks, and minimizing the occurrence of measurement errors.

[0077] Furthermore, the dissolution rate of the sample can be automatically confirmed through various image processing methods, and this dissolution rate can be reflected in the sample pretreatment process to improve the accuracy of metal component analysis within the sample.

[0078] Further effects obtained or predicted by the embodiments of the present invention will be disclosed directly or implicitly in the detailed description of the embodiments. That is, various effects predicted by the embodiments of the present invention will be disclosed in the detailed description below. [Brief explanation of the drawing]

[0079] The embodiments described herein can be better understood by referring to the following description in conjunction with the attached drawings, in which similar reference numerals refer to elements that are identical or functionally similar. [Figure 1] This is a schematic diagram of a sample pretreatment system for metal component analysis according to an embodiment of the present invention. [Figure 2] This is a perspective view of a gripper device according to an embodiment of the present invention. [Figure 3] This is a plan view of a gripper device according to an embodiment of the present invention. [Figure 4] This is a cross-sectional view taken along line AA in Figure 3. [Figure 5] This is another perspective view of a gripper device according to an embodiment of the present invention. [Figure 6] This is a schematic diagram showing a partial configuration of a dosing head mounting stand according to an embodiment of the present invention. [Figure 7] This is a schematic perspective view of a tube support stand according to an embodiment of the present invention. [Figure 8] This is an enlarged view of section B in Figure 7. [Figure 9] This is a schematic diagram of a sample loading device according to an embodiment of the present invention. [Figure 10] This is a schematic diagram of a cap opening and closing device according to an embodiment of the present invention. [Figure 11] This is a schematic diagram of a cap opening and closing mechanism according to an embodiment of the present invention. [Figure 12] This is a schematic diagram showing a first exhaust hood, a first tube body gripper, and a second tube body gripper according to an embodiment of the present invention. [Figure 13] This is a schematic diagram showing the rear view of another acid injection apparatus as an embodiment of the present invention. [Figure 14] This is a schematic diagram of an acid injection section according to an embodiment of the present invention. [Figure 15] This is a perspective view of Figure 14. [Figure 16] This is a schematic cross-sectional view of an acid injection section according to an embodiment of the present invention. [Figure 17]This is a schematic diagram of a tube loader according to an embodiment of the present invention. [Figure 18] This is a plan view showing a tube placed in a tube loader according to an embodiment of the present invention. [Figure 19] This is a cross-sectional view taken along the CC line in Figure 18. [Figure 20] This is a plan view showing a state in which a tube placed in a tube loader according to an embodiment of the present invention has been placed into an acid injection chamber. [Figure 21] This is a cross-sectional view taken along the DD line in Figure 20. [Figure 22] This is an enlarged view of section E in Figure 21. [Figure 23] This is a schematic perspective view of a heat shaker according to an embodiment of the present invention. [Figure 24] This is a schematic cross-sectional view of a heat shaker according to an embodiment of the present invention. [Figure 25] This is a schematic perspective view of a pipetting apparatus according to an embodiment of the present invention. [Figure 26] This is a schematic diagram of a pipette unit according to an embodiment of the present invention. [Figure 27] These are other schematic drawings of a pipette unit according to an embodiment of the present invention. [Figure 28] This is a schematic drawing of a vision device according to an embodiment of the present invention. [Figure 29] This is a schematic perspective view of a vision device according to an embodiment of the present invention. [Figure 30] This is a cross-sectional view taken along the FF line in Figure 28. [Figure 31] This is a flowchart of a sample pretreatment method for metal component analysis according to an embodiment of the present invention. [Figure 32] This is a flowchart of a method for testing the solubility of a sample according to an embodiment of the present invention. [Figure 33] This is an original image of a tube containing a sample dissolved in acid. [Figure 34] This is the image obtained by performing a circle-Hough transform on the original image in Figure 33. [Figure 35] This image shows the result of applying a dynamic contour model to the image in Figure 34. [Figure 36] This image shows the region of interest evolved in the same way as in Figure 35.

[0080] The drawings referenced above are not necessarily shown to scale and should be understood as presenting a somewhat simplified representation of various preferred features illustrating the fundamental principles of this disclosure. For example, certain design features of this disclosure, including specific dimensions, orientations, positions, and shapes, are determined in part by the specific intended use and environment in which they will be used. [Modes for carrying out the invention]

[0081] The terms used herein are for the purpose of describing specific embodiments and are not intended to limit the present disclosure. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise. The terms “including” and / or “including,” as used herein, identify the presence of the mentioned features, integers, steps, acts, components and / or components, but are not understood to exclude the presence or addition of one or more other features, integers, steps, acts, components, and / or groups thereof. As used herein, the terms “and / or” include any one or all combinations of the items listed relating to them.

[0082] Furthermore, it will be understood that one or more of the methods or embodiments thereof described below can be performed by at least one controller. The term “controller” may refer to a hardware device including memory and a processor. The memory is configured to store program instructions, and the processor is specifically programmed to execute program instructions to perform one or more processes, which will be described in more detail below. A controller can control the operation of a unit, module, component, device, or similar, as described herein. It will also be understood that the methods described below are performed by a device including a controller together with one or more other components, as will be recognized by those skilled in the art.

[0083] Furthermore, the controllers of this disclosure can be implemented as non-temporary computer-readable recording media containing executable program instructions executed by a processor. Examples of computer-readable recording media include, but are not limited to, ROM, RAM, compact disk (CD)ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage devices. The computer-readable recording media can further distribute the program instructions across a computer network, storing and executing them in a distributed manner, such as on a telematics server or a Controller Area Network (CAN).

[0084] According to the present invention, a robot includes a plurality of arms rotatable relative to each other, with a gripper device attached to the foremost arm of the plurality of arms, and a dosing head stand, a tube stand, a sample dispenser, a cap opener / closer, an acid injection device, a heat shaker, a pipetting device, and a vision device are arranged within the robot's operating radius. The robot can move the gripper device freely and without restriction within the robot's operating radius via the plurality of arms. Therefore, the robot can transfer a dosing head or tube via the gripper device to the dosing head stand, tube stand, sample dispenser, cap opener / closer, acid injection device, heat shaker, pipetting device, or vision device in a predetermined sequence and / or predetermined operating manner. Furthermore, once the dosing head or tube is transferred to the sample dispenser, cap opener / closer, acid injection device, heat shaker, pipetting device, or vision device, the sample dispenser, cap opener / closer, acid injection device, heat shaker, pipetting device, or vision device operates in a predetermined operating manner. Therefore, by automating the pretreatment process using toxic acids without human intervention, a safe working environment can be achieved, reducing worker fatigue from repetitive tasks and minimizing measurement errors. Furthermore, the dissolution rate of the sample can be automatically confirmed through various image processing methods, and this dissolution rate can be reflected in the pretreatment process to improve the accuracy of metal component analysis within the sample.

[0085] The embodiments of this disclosure will be described in detail below with reference to the attached drawings.

[0086] Figure 1 is a schematic diagram of a sample pretreatment system for metal component analysis according to an embodiment of the present invention.

[0087] A sample pretreatment system 10 for metal component testing in a sample according to an embodiment of the present invention includes: a sample dissolution device configured to put a sample into a tube 70 according to set pretreatment conditions, inject acid into the tube 70 containing the sample, and dissolve the sample; a sample dissolution rate detection device configured to detect the dissolution rate of the sample in a sample solution in which the sample has been dissolved in acid; a dilution device configured to dilute the sample solution in response to the dissolution rate of the sample being equal to or greater than a set dissolution rate; and a pretreatment condition adjustment device configured to adjust the set pretreatment conditions in response to the dissolution rate of the sample being less than a set dissolution rate.

[0088] As shown in Figure 1, a sample pretreatment system 10 for metal resistance testing of a sample according to another embodiment of the present invention includes a robot 20, a gripper device 30, a dosing head stand 80, a tube stand 90, a sample loading device 110, a cap opening / closing device 130, an acid injection device 170, a heat shaker 230, and a pipetting device 240. Although not shown in Figure 1, the pretreatment system 10 further includes a vision device 290. The robot 20 is fixedly mounted at the center (C1) of the pretreatment system 10, and the dosing head stand 80, tube stand 90, sample loading device 110, cap opening / closing device 130, acid injection device 170, heat shaker 230, pipetting device 240, and vision device 290 are arranged within the working radius (R1) of the robot 20. The pretreatment system 10 further includes a controller 280. The controller 280 is positioned outside the operating radius (R1) of the robot 20. For example, the controller 280 is positioned remotely, physically separated from the robot 20.

[0089] The sample dissolution device, sample dissolution rate detection device, dilution device, and pretreatment condition adjustment device are functionally distinct components of the pretreatment system 10, while the robot 20, gripper device 30, dosing head stand 80, tube stand 90, sample input device 110, cap opening / closing device 130, acid injection device 170, heat shaker 230, pipetting device 240, controller 280, and vision device 290 are functionally distinct components of the pretreatment system 10. Therefore, each of the sample dissolution device, sample dissolution rate detection device, dilution device, and pretreatment condition adjustment device can be realized by a combination of some or all of the robot 20, gripper device 30, dosing head stand 80, tube stand 90, sample input device 110, cap opening / closing device 130, acid injection device 170, heat shaker 230, pipetting device 240, controller 280, and vision device 290.

[0090] The robot 20 includes a number of arms 22a, 22b, 22c, 22d, 22e, 22f, and 22g, where each arm is rotatably connected to an adjacent arm. For this purpose, each arm and the adjacent connection point are provided with at least one actuator, so that each arm is rotatable relative to the adjacent arm. For example, the second arm 22b is rotatably connected to the first arm 22a, and the connection point between the first arm 22a and the second arm 22b is provided with an actuator that allows the second arm 22b to rotatably connect to the first arm 22a. Similarly, the third arm 22c is rotatably connected to the second arm 22b, and the connection point between the second arm 22b and the third arm 22c is provided with an actuator that allows the third arm 22c to rotatably connect to the second arm 22b.

[0091] A gripper device 30 is rotatably mounted on the foremost arm 22g of the plurality of arms 22a, 22b, 22c, 22d, 22e, 22f, 22g. The gripper device 30 can move freely and without restriction within the operating radius (R1) of the robot 20 via the plurality of arms 22a, 22b, 22c, 22d, 22e, 22f, 22g included in the robot 20. The more arms included in the robot 20, the more freely the gripper 30 can move. Thus, this specification exemplifies a robot 20 including seven arms 22a, 22b, 22c, 22d, 22e, 22f, 22g, or the number of arms included in the robot 20 is not limited to seven and can be adjusted as needed by the designer.

[0092] Figure 2 is a perspective view of a gripper device according to an embodiment of the present invention, Figure 3 is a plan view of a gripper device according to an embodiment of the present invention, Figure 4 is a cross-sectional view obtained by cutting along line AA in Figure 3, and Figure 5 is another perspective view of a gripper device according to an embodiment of the present invention.

[0093] As shown in Figures 2 to 5, the gripper device 30 is attached to the tip of the robot 20, i.e., the foremost arm 22g of the robot 20, and rotates with the foremost arm 22g, and can be moved by the robot 20 to the dosing head stand 80, the tube stand 90, the sample loading device 110, the cap opening / closing device 130, the acid injection device 170, the heat shaker 230, the pipetting device 240, or the vision device 290 to grip or release the dosing head 50 and / or tube 70. For this purpose, the gripper device 30 includes a gripper body 32, a first gripper unit 40, and a second gripper unit 60.

[0094] The gripper body 32 is attached to the leading edge arm 22g and rotates with the leading edge arm 22g. A gripper body mounting hole 33 is formed in the center of the gripper body 32, and the gripper body 32 is attached to the leading edge arm 22g through the gripper body mounting hole 33. The gripper body 32 includes a first gripper unit mounting portion 34 on one side and a second gripper unit mounting portion 36 on the other side. A first gripper unit 40 configured to grip or release the dosing head 50 is attached to the first gripper unit mounting portion 34, and a second gripper unit 60 configured to grip or release the tube 70 is attached to the second gripper unit mounting portion 36.

[0095] The first gripper unit 40 is attached to the first gripper unit mounting section 34 and is configured to grip or release the dosing head 50, and to be able to press the first mounting button 82 on the dosing head stand 80 (see Figure 6) or the second mounting button 112 on the sample loading device 110 (see Figure 9).

[0096] The first gripper unit 40 includes first gripping fingers 42a and second gripping fingers 42b that are movable toward each other or toward each other. The first gripping fingers 42a and second gripping fingers 42b can move toward each other to grip a dosing head 50 placed between them, and can move toward each other to release the gripped dosing head 50. Here, the dosing head 50 contains a sample for metal component analysis inside and includes a sample container section 52 and a sample supply section 54. The sample container section 52 contains the sample and is connected to the sample supply section 52 and configured to selectively discharge the sample contained in the sample container section 52. For this purpose, the sample container section 52 is provided with an elastically supported valve button 58. When an external force presses the valve button 58, the valve button 58 opens the discharge port of the sample supply section 54 connected to the sample container section 52, thereby discharging the sample from the sample container section 52. When the external force pressing the valve button 58 is removed, the valve button 58 elastically returns to its original position, closing the outlet of the sample supply unit 54. Such dosing heads 50 are well known to those skilled in the art, so no further detailed explanation is provided.

[0097] The first gripping finger 42a and the second gripping finger 42b are configured to grip both sides of the sample supply section 54 of the dosing head 50. For example, the first gripping projection 44a and the second gripping projection 44b are formed on the opposing surfaces of the tips of the first gripping finger 42a and the second gripping finger 42b, respectively, so as to face each other, and the first gripping projection 44a and the second gripping projection 44b are configured to grip both flat sides of the sample supply section 54.

[0098] The dosing head 50 is typically mounted on a dosing head stand 80 or a sample loading device 110. For this purpose, mounting pin passages 56 and mounting pin grooves 57 extending upward from the mounting pin passages 56 are formed on both sides of the sample supply section 54 of the dosing head 50. The dosing head stand 80 is equipped with a first mounting pin 84, on which a first mounting pin tip 86 is formed to correspond to the mounting pin passages 56 and mounting pin grooves 57, and the sample loading device 110 is equipped with a second mounting pin 114, on which a second mounting pin tip 116 is formed to correspond to the mounting pin passages 56 and mounting pin grooves 57. Therefore, the first mounting pin 84 or the second mounting pin 114 is inserted into the mounting pin passages 56, and the first mounting pin tip 86 or the second mounting pin tip 116 is inserted into the mounting pin grooves 57, and the dosing head 50 is mounted on the dosing head stand 80 or the sample loading device 110. In other words, the gripper device 30 moves the dosing head 50 horizontally to insert the first mounting pin 84 or the second mounting pin 114 into the mounting pin passage 56, and then moves the dosing head 50 vertically downward to insert the first mounting pin tip 86 or the second mounting pin tip 116 into the mounting pin groove 57.

[0099] To remove the dosing head 50 from the dosing head stand 80 or the sample loading device 110, the first gripping projections 44a and 44b of the gripper device 30 grip the flat sides of the sample supply unit 54, raise the dosing head 50 vertically, remove the first mounting pin tip 86 or the second mounting pin tip 116 from the mounting pin groove 57, and move the dosing head 50 horizontally to remove the first mounting pin 84 or the second mounting pin 114 from the mounting pin passage 56.

[0100] Furthermore, in order to minimize the vertical movement of the dosing head 50 by the gripper device 30 during the dosing head 50 installation or removal process, the tips of the first gripping finger 42a and the second gripping finger 42b are elastically equipped with a first pusher 46a and a second pusher 46b, respectively, and the dosing head installation stand 80 and the sample loading device 110 are equipped with a first mounting button 82 and a second mounting button 112, respectively. During the dosing head 50 installation or removal process, when the first pusher 46a and the second pusher 46b press the first mounting button 82 or the second mounting button 112, the first mounting pin 84 or the second mounting pin 114 moves downward, partially removing the first mounting pin tip 86 or the second mounting pin tip 116 from the mounting pin groove 57. Thus, the amount of vertical movement of the dosing head 50 for installation or removal can be reduced.

[0101] To reduce the amount of impact that may occur when the first pusher 46a and the second pusher 46b press the first mounting button 82 or the second mounting button 112, the tips of the first gripping finger 42a and the second gripping finger 42b are provided with a guide bushing 74, a guide shaft 76, and a guide spring 78.

[0102] The guide bushing 74 is cylindrical in shape with one open side and the other closed side, and is fixed within the tips of the first gripping fingers 42a and the second gripping fingers 42b. The first pusher 46a or the second pusher 46b is slidably positioned on the open side of the guide bushing 74 along the inner circumferential surface of the guide bushing 74, and a guide shaft hole is formed on the closed side of the guide bushing 74. The guide shaft 76 is inserted into the guide shaft hole and extends to one side, and is connected to the first pusher 46a or the second pusher 46b. Thus, the guide shaft 76 is axially movable along the guide bushing 74 together with the first pusher 46a or the second pusher 46b. The guide shaft 76 is spaced away from the inner circumferential surface of the guide bushing 74, and a guide spring 78 is positioned between the guide shaft 76 and the guide bushing 74. The guide spring 78 elastically supports the first pusher 46a or the second pusher 46b with respect to the guide bushing 74. When the first pusher 46a and the second pusher 46b press the first mounting button 82 or the second mounting button 112, the first pusher 46a and the second pusher 46b move axially to the other side together with the guide shaft 76 due to the reaction force, and the guide spring 78 is compressed. When the force exerted by the first pusher 46a and the second pusher 46b on the first mounting button 82 or the second mounting button 112 is released, the first pusher 46a and the second pusher 46b move axially to one side together with the guide shaft 76 due to the elastic force of the guide spring 78 and return to their original positions. The axial movement of the first pusher 46a and the second pusher 46b and the guide shaft 76 in the other direction is restricted by a step formed on the inner circumferential surface of the guide bushing 74, and the axial movement of the first pusher 46a and the second pusher 46b and the guide shaft 76 in one direction is restricted by the other end of the guide shaft 76, which has a relatively larger diameter.

[0103] The second gripper unit 60 is attached to the second gripper unit mounting section 36 and is configured to grip and release the tube 70. For this purpose, the second gripper unit 60 includes third gripping fingers 62a and fourth gripping fingers 62b that are movable toward each other or toward each other. The third and fourth gripping fingers 62a, 62b can move toward each other to grip the tube 70 placed between them, and can move toward each other to release the gripped tube 70. Here, the tube 70 includes a tube body 71 with a closed lower end and a tube cap 72 that is screw-connected to the upper part of the tube body 71 and closes the open upper part of the tube body 71. The tube body 71 is made of a transparent material so that its interior can be seen and is made of a material that is resistant to toxic substances such as acids.

[0104] The tips of the third gripping finger 62a and the fourth gripping finger 62b are provided with a first tube tong portion 64a and a second tube tong portion 64b. The first tube tong portion 64a and the second tube tong portion 64b have a shape corresponding to the tube cap 72 so that they can grip the tube cap 72. For example, the first tube tong portion 64a and the second tube tong portion 64b are each formed in a semicircular or arc shape with a diameter the same as or very similar to the diameter of the tube cap 72, so as to grip the tube cap 72. In one example, the first tube tong portion 64a and the second tube tong portion 64b may each be arc-shaped. In addition, the surfaces of the first tube tong portion 64a and the second tube tong portion 64b that come into contact with the tube cap 72 so that they can firmly grip the tube cap 72 may be made of an elastic material.

[0105] The tips of the third gripping finger 62a and the fourth gripping finger 62b are further provided with a first gripping bar groove 66a and a second gripping bar groove 66b, and a first position limiter 68a and a second position limiter 68b. The first gripping bar groove 66a and the second gripping bar groove 66b have a shape corresponding to the gripping bar 108 (see Figures 7 and 8) of the tube stand 90 so as to be able to grip the gripping bar 108. For example, the first gripping bar groove 66a and the second gripping bar groove 66b are each formed in a semicircular or arc shape with a diameter the same as or very similar to the diameter of the gripping bar 108, so as to grip the gripping bar 108. In one example, the diameter of the gripping bar 108 is smaller than the diameter of the tube cap 72, and the first gripping bar groove 66a and the second gripping bar groove 66b may each be semicircular. The first position limiter 68a and the second position limiter 68b restrict the movement of the second gripper unit 60 toward the gripping bar 108 so that the first gripping bar groove 66a and the second gripping bar groove 66b are positioned in the precise location corresponding to the gripping bar 108.

[0106] Figure 6 is a schematic diagram showing a partial configuration of a dosing head mounting stand according to an embodiment of the present invention.

[0107] As shown in Figures 1 and 6, the dosing head mounting base 80 may have at least one dosing head 50 mounted on it. For this purpose, the dosing head mounting base 80 may include a plurality of dosing head mounting sections, and one dosing head 50 may be mounted on one dosing head mounting section. Each dosing head mounting section includes a pair of first mounting pins 84 extending to the front, and the front end of each first mounting pin 84 has a first mounting pin tip 86 projecting upward. The dosing head 50 is positioned between the pair of first mounting pins 84, the first mounting pins 84 are inserted into the mounting pin passages 56, and the first mounting pin tips 86 are inserted into the mounting pin grooves 57, thereby mounting the dosing head 50 on the dosing head mounting section. A first mounting button 82 may be attached to each dosing head mounting section. When the first mounting button 82 is pressed, the first mounting button 82 moves the first mounting pin 84 downward, partially removing the first mounting pin tip 86 from the mounting pin groove 57. In this state, the robot 20 slightly raises the first gripper unit 40 to allow the first mounting pin tip 86 to be completely removed from the mounting pin groove 57, and then retracts from the dosing head stand 80, removing the dosing head 50 from the dosing head stand 80.

[0108] Figure 7 is a schematic perspective view of a tube mounting stand according to an embodiment of the present invention, and Figure 8 is an enlarged view of portion B of Figure 7.

[0109] As shown in Figures 1, 7, and 8, the tube stand 90 includes at least one tube tray 96 that is slidable by the gripper device 30, and at least one tube 70 is placed in each tube tray 96. Figure 7 illustrates a configuration in which the tube trays 96 are arranged in two rows on the tube stand 90, with three tube trays 96 in each row, but the number of rows of tube trays 96 and the number of tube trays 96 in each row are not limited to these.

[0110] The tube stand 90 includes a base frame 94 and at least two vertical frames. Figure 7 illustrates the arrangement of two rows of tube trays 96, and the tube stand 90 in Figure 7 includes a first vertical frame 92a, a second vertical frame 92b, and a third vertical frame 92c. The first vertical frame 92a, the second vertical frame 92b, and the third vertical frame 92c are mounted on the base frame 94 spaced apart from each other. Each of the first vertical frame 92a, the second vertical frame 92b, and the third vertical frame 92c extends vertically upward.

[0111] At least one tube tray 96 is slidably positioned between two adjacent vertical frames in a first direction (X1), where the first direction (X1) is perpendicular to the direction in which the vertical frames separate. The tube tray 96 includes an upper tray 98, a lower tray 100 positioned separately below the upper tray 98, and at least one tray spacer 106 that maintains the separation between the upper tray 98 and the lower tray 100 and connects them. In one example, a plurality of tray spacers 106 are positioned spaced apart from each other along the edges of the upper tray 98 and the lower tray 100.

[0112] The upper tray 98 has a plurality of first upper tube holes 102, and the lower tray 100 has a plurality of first lower tube holes 104 corresponding to the first upper tube holes 102. The tube body 71 is inserted into the first upper tube holes 102, at least a portion of the lower part of the tube body 71 is inserted into the first lower tube holes 104, and the remaining portion of the lower part of the tube body 71 is supported by the first lower tray 100. For this reason, the diameter of the lower part of the tube body 71 decreases towards the bottom, the diameter of the first upper tube holes 102 is larger than the diameter of the middle part of the tube body 71, and the diameter of the first lower tube holes 104 is smaller than the diameter of the middle part of the tube body 71.

[0113] A sliding rail 109 is attached to the opposing faces of two adjacent vertical frames, and both sides of at least one of the upper tray 98 and the lower tray 100 include a sliding mechanism attached to the sliding rail 109 that is slidable in a first direction (X1). In one example, the sliding mechanism is a roller that can roll on the sliding rail 109. However, the sliding mechanism is not limited to rollers and includes various sliding mechanisms that can slide the tube tray 96.

[0114] A gripping bar 108 is formed to protrude vertically upward from the lower tray 100. The first gripping bar groove 66a and the second gripping bar groove 66b of the second gripper unit 60 grip the gripping bar 108, allowing the tube tray 96 to be pulled or pushed and slid in a first direction (X1). That is, the robot 20 grips the gripping bar 108 in the first gripping bar groove 66a and the second gripping bar groove 66b of the second gripper unit 60 of the gripper device 30 and pulls or pushes the tube tray 96 and slids it in a first direction (X1). This sliding of the tube tray 96 allows the robot 20 to position the tube tray 96 in a position where it is easy to place the tubes 70 on it or remove the tubes 70 from it. As the robot 20 moves the first gripping bar groove 66a and the second gripping bar groove 66b of the second gripper unit 60 toward the gripping bar 108, the first position limiter 68a and the second position limiter 68b, provided at the tips of the third gripping finger 62a and the fourth gripping finger 62b, engage with the corners of the upper tray 98, preventing the second gripper unit 60 from moving any further toward the gripping bar 108. When the first position limiter 68a and the second position limiter 68b engage with the corners of the upper tray 98, the first gripping bar groove 66a and the second gripping bar groove 66b are positioned precisely in a location corresponding to the gripping bar 108.

[0115] Figure 9 is a schematic diagram of a sample loading device according to an embodiment of the present invention.

[0116] As shown in Figures 1 and 9, the sample loading device 110 is configured to transfer a fixed amount of sample contained in the sample container section 52 of the dosing head 50 into an empty tube 70. The sample loading device 110 includes a sample loading section lifting device 111 and a sample loading chamber 126.

[0117] A dosing head 50 is attached to the sample loading section lifting device 111. For this purpose, the sample loading section lifting device 111 includes a pair of second mounting pins 114 extending to the front, with the front end of each second mounting pin 114 having a second mounting pin tip 116 protruding upward. The dosing head 50 is positioned between the pair of second mounting pins 114, and the second mounting pins 114 are inserted into the mounting pin passage 56, and the second mounting pin tips 116 are inserted into the mounting pin groove 57, thereby attaching the dosing head 50 to the sample loading section lifting device 111. A second mounting button 112 is attached to the sample loading section lifting device 111. When the second mounting button 112 is pressed, it moves the second mounting pins 114 downward, partially removing the second mounting pin tips 116 from the mounting pin groove 57. In this state, the robot 20 slightly lowers the first gripper unit 40 so that the second mounting pin tip 116 is fully inserted into the mounting pin groove 57, and then places the dosing head 50.

[0118] The sample input unit lifting device 111 descends toward the sample input chamber 126 so that the dosing head 50 attached to the sample input unit lifting device 111 is positioned directly above the tube 70. The sample input unit lifting device 111 is further equipped with a valve switch 118 configured to press the valve button 58 of the sample container unit 52. When the sample input unit lifting device 111 has descended and the dosing head 50 is positioned directly above the tube 70, the valve switch 118 presses the valve button 58 to open the outlet of the sample supply unit 54 connected to the sample container unit 52, and a certain amount of sample from the sample container unit 52 is dispensed into the empty tube 70. Once a certain amount of sample has been dispensed into the tube 70, the valve switch 118 does not press the valve button 58 any further, and the outlet of the sample supply unit 54 is closed. The sample input unit lifting device 111 then rises back up to its original position. When the sample input lifting device 111 rises to its original position, the robot 20 can remove the dosing head 50 from the sample input lifting device 111 via the second gripper unit 60 and place it back on the dosing head stand 80.

[0119] The sample input chamber 126 is located below the sample input lifting device 111 and has an open top. A sliding door 124 is installed on the front of the sample input chamber 126, and the sliding door 124 selectively opens and closes the front of the sample input chamber 126. A first weighing scale 120 is attached to the sample input chamber 126, and a tube resting cup 122 is placed on the first weighing scale 120. A tube 70 is placed in the tube resting cup 122. When the tube 70, with its tube cap 72 removed, is placed in the tube resting cup 122, the sample input lifting device 111 descends, and the valve switch 118 presses the valve button 58, opening the outlet of the sample supply unit 54 connected to the sample container unit 52, and introducing the sample from the sample container unit 52 into the tube 70. The amount of sample placed in tube 70 is detected by the first weighing scale 120, and when the amount of sample placed in tube 70 reaches a certain amount, the valve switch 118 closes the outlet of the sample supply unit 54 without pressing the valve button 58. Then the sample input unit lifting device 111 rises to its original position, and the robot 20 causes the first pusher 46a and the second pusher 46b of the first gripper unit 40 to press the second mounting button 112, partially removing the second mounting pin tip 116 from the mounting pin groove 57, and the robot 20 slightly raises the first gripper unit 40 to completely remove the second mounting pin tip 116 from the mounting pin groove 57, and removes the dosing head 50 from the sample input unit lifting device 111. Then the robot 20 places the dosing head 50 back on the dosing head stand 80.

[0120] Figure 10 is a schematic diagram of a cap opening and closing device according to an embodiment of the present invention, Figure 11 is a schematic diagram of a cap opening and closing section according to an embodiment of the present invention, and Figure 12 is a schematic diagram showing a first exhaust hood, a first tube body gripper, and a second tube body gripper according to an embodiment of the present invention.

[0121] As shown in Figures 1 and 10-12, the cap opening / closing device 130 is configured to separate the tube cap 72 from the tube body 71 or to attach the tube cap 72 to the top of the tube body 71. The cap opening / closing device 130 includes a capping work table 132 and a cap opening / closing section 140, and optionally further includes a first exhaust hood 160.

[0122] The capping work table 132 includes a first tube holder 134 on one side and a second tube holder 136 on the other side. Tubes 70 can be placed in the first tube holder 134 and the second tube holder 136. The capping work table 132 further includes a work table rotation actuator 138, which rotates the capping work table 132 by 180°. As a result, one of the first tube holder 134 and the second tube holder 136 is positioned in a first position where the robot 20 can place or remove the tube 70, and the other of the first tube holder 134 and the second tube holder 136 is positioned in a second position where the cap opening / closing section 140 can separate the tube cap 72 from the tube body 71 or attach the tube cap 72 to the tube body 71. In this state, when the work table rotation actuator 138 rotates the capping work table 132 by 180°, one of the first tube holder 134 and the second tube holder 136 will be in the second position, and the other of the first tube holder 134 and the second tube holder 136 will be in the first position.

[0123] The cap opening / closing section 140 is mounted in a position corresponding to the second position and includes a first cap gripper 142a and a second cap gripper 142b, a first tube body gripper 154a and a second tube body gripper 154b, a cap rotation actuator 148, and a cap unit lifting actuator 150.

[0124] The first cap gripper 142a and the second cap gripper 142b are positioned to correspond to the tube cap 72 of a tube 70 mounted on the first tube holder 134 or the second tube holder 136 in a second position, and can move toward each other to grip the tube cap 72 or move toward each other to release the tube cap 72. The opposing surfaces of the first cap gripper 142a and the second cap gripper 142b may have a shape corresponding to the outer circumferential surface of the tube cap 72. The first cap gripper 142a and the second cap gripper 142b are mounted on a cap gripper support 144 which is rotatably mounted on a support lifting block 146. The first tube body gripper 154a and the second tube body gripper 154b are positioned to correspond to the tube body 71 of the tube 70 mounted on the first tube holder 134 or the second tube holder 136 in a second position, and can move toward each other to grip the tube body 71 or move toward each other to release the tube body 71. The opposing surfaces of the first tube body gripper 154a and the second tube body gripper 154b have grooves 156a and 156b formed on them, and the grooves 156a and 156b may have shapes corresponding to the outer circumferential surface of the tube body 71. The first tube body gripper 154a and the second tube body gripper 154b are mounted on a tube body support base 158.

[0125] The cap rotation actuator 148 is attached to the support base lifting block 146, and the lower end of the cap rotation actuator 148 passes through the support base lifting block 146 and is connected to the cap gripper support base 144. The cap rotation actuator 148 rotates the cap gripper support base 144 in a first rotational direction to separate the tube cap 72 from the tube body 71, and rotates the cap gripper support base 144 in a second rotational direction opposite to the first rotational direction to connect the tube cap 72 to the tube body 71.

[0126] The cap unit lifting actuator 150 is connected to the support base lifting block 146 via the cap unit lifting actuator shaft 152, causing the support base lifting block 146 to move up and down. As a result, the cap gripper support base 144 attached to the support base lifting block 146, and the first cap gripper 142a and second cap gripper 142b attached to the cap gripper support base 144, also move up and down together with the support base lifting block 146.

[0127] The first exhaust hood 160 is mounted in a position corresponding to the second position and is configured to draw in gases generated from toxic substances such as acids inside the tube 70. The first exhaust hood 160 includes a suction port 164 directed toward the tube 70 at the second position and a first exhaust port 162 for discharging the gas drawn in through the suction port 164 to the outside of the pretreatment system 10.

[0128] The cap opening / closing device 130 further includes a sensor 166. The sensor 166 detects whether the tube 70 or the tube cap 72 is placed in the first tube holder 134 or the second tube holder 136 in the second position, whether the tube 70 is placed in the first tube holder 134 or the second tube holder 136 in the first position, and whether the first cap gripper 142a and the second cap gripper 142b are gripping the tube cap 72, and transmits a signal corresponding to these to the controller 280.

[0129] If the tube 70 is positioned in the first tube holder 134 or the second tube holder 136 in the first position, and the tube cap 72 is not positioned in the first tube holder 134 or the second tube holder 136 in the second position, the work table rotation actuator 138 rotates the capping work table 132 by 180° to move the tube 70 to the second position. If the tube 70 is positioned in the first tube holder 134 or the second tube holder 136 in the first position, and the tube cap 72 is positioned in the first tube holder 134 or the second tube holder 136 in the second position, the cap unit lifting actuator 150 lowers the first cap gripper 142a and the second cap gripper 142b to grip the tube cap 72, and then raises the first cap gripper 142a and the second cap gripper 142b again.

[0130] If the tube 70 is not positioned in the first tube holder 134 or the second tube holder 136 in the first position, and the tube 70 is positioned in the first tube holder 134 or the second tube holder 136 in the second position, and the first cap gripper 142a and the second cap gripper 142b are not gripping the tube cap 72, the controller 280 controls the first cap gripper 142a and the second cap gripper 142b to grip the tube cap 72, controls the cap rotation actuator 148 to rotate the tube cap 72 coupled to the tube body 71 in the first rotational direction, and controls the cap unit lifting actuator 150 to lift the tube cap 72 according to the amount of rotation by the cap rotation actuator 148. As a result, the tube cap 72 is separated from the tube body 71. Subsequently, the work table rotation actuator 138 rotates the capping work table 132 another 180° to move the tube 70 to the first position, and the controller 280 controls the first cap gripper 142a and the second cap gripper 142b to place the tube cap 72 in the second position.

[0131] If the tube 70 is not positioned in the first tube holder 134 or the second tube holder 136 in the first position, but is positioned in the first tube holder 134 or the second tube holder 136 in the second position, and the first cap gripper 142a and the second cap gripper 142b are gripping the tube cap 72, the controller 280 controls the cap unit lifting actuator 150 to lower the tube cap 72 toward the tube body 71 and press the tube body 71 with a constant load using the tube cap 72, controls the cap rotation actuator 148 to rotate the tube cap 72 in a second rotational direction relative to the tube body 71, and controls the cap unit lifting actuator 150 to lower the tube cap 72 according to the amount of rotation by the cap rotation actuator 148. As a result, the tube cap 72 is coupled to the tube body 71. After the tube cap 72 presses the tube body 71 with a constant load, the tube cap 72 is rotated in a second rotational direction relative to the tube body 71, so that the tube cap 72 does not bend when it is joined to the tube body 71. Then the work table rotation actuator 138 rotates the capping work table 132 a further 180° to move the tube 70 to the first position.

[0132] Figure 13 is a schematic diagram showing the rear view of another acid injection device according to an embodiment of the present invention; Figure 14 is a schematic diagram of the acid injection section according to an embodiment of the present invention; Figure 15 is a perspective view of Figure 14; Figure 16 is a schematic cross-sectional view of the acid injection section according to an embodiment of the present invention; Figure 17 is a schematic diagram of the tube loader section according to an embodiment of the present invention; Figure 18 is a plan view showing the tube loader section according to an embodiment of the present invention with a tube placed on it; Figure 19 is a cross-sectional view cut along the CC line in Figure 18; Figure 20 is a plan view showing the tube placed on the tube loader section according to an embodiment of the present invention being inserted into the acid injection chamber; Figure 21 is a cross-sectional view cut along the DD line in Figure 20; and Figure 22 is an enlarged view of section E in Figure 21.

[0133] As shown in Figures 1 and 13 to 22, the acid injection device 170 is configured to inject acid into the tube 70 to dissolve the sample in the tube 70. The acid injection device 170 is also configured to inject distilled water into the tube 70 containing the acid in which the sample has been dissolved (hereinafter referred to as the "sample solution") to dilute the sample solution first. The acid injection device 170 includes an acid supply unit 172, a tube loader unit 174, and an acid injection unit 176.

[0134] The acid supply unit 172 includes a plurality of liquid bottles 178, each containing a liquid of a specific component. For example, one liquid bottle 178 may contain acid, and another liquid bottle 178 may contain distilled water. Each liquid bottle 178 is placed on a second weighing scale 180, and the amount of liquid in the liquid bottle 178 is measured. Alternatively, the amount of liquid supplied from the liquid bottle 178 may be measured via the second weighing scale 180. This allows a set amount of liquid to be supplied to the tube 70. The acid supply unit 172 further includes a liquid pumping unit 182 configured to fluidly communicate the plurality of liquid bottles 178 and the acid injection unit 176. The liquid pumping unit 182 is configured to pump the liquid in the liquid bottles 178 and supply it to the acid injection unit 176. In one example, a controller 280 can control the liquid pumping unit 182 so that a set amount of liquid is supplied to the tube 70.

[0135] The acid injection unit 176 is located near the acid supply unit 172 and is configured to supply liquid supplied from the acid supply unit 172 to the tube 70 attached to the tube loader unit 174. The acid injection unit 176 includes an acid injection chamber body 184 in which an acid injection chamber 186 is formed. An injection nozzle connector 190, a nozzle lifting actuator 192, a funnel moving actuator 194, and a second exhaust hood 196 are attached to the acid injection chamber body 184. A drain fan 202 is also provided at the bottom of the acid injection chamber body 184, and liquid injected during the process of pre-filling the injection nozzle 200 and / or injection nozzle mounting unit 193 can be discharged to the drain fan 202. The front of the acid injection chamber body 184 is open, and the open front is selectively closed by an acid injection chamber shutter 228. For this purpose, the acid injection device 170 further includes a shutter actuator 226. The shutter actuator 226 can cause the acid injection chamber shutter 228 to close or open the open front surface of the acid injection chamber body 184.

[0136] The injection nozzle connector 190 is fluidically connected to the liquid pumping unit 182 to receive liquid from the liquid pumping unit 182, and is connected to the injection nozzle 200 to supply the received liquid to the injection nozzle 200.

[0137] The nozzle lifting actuator 192 is connected to an injection nozzle mounting section 193 that extends into the acid injection chamber 186, and can move the injection nozzle mounting section 193 up and down. An injection nozzle 200 is attached to the injection nozzle mounting section 193, and a passage for supplying liquid to the injection nozzle 200 is formed therein. The passage is connected to an injection nozzle connector 190, and the injection nozzle 200 and the injection nozzle connector 190 are fluidically connected. When the nozzle lifting actuator 192 moves the injection nozzle mounting section 193 downward, the liquid pumping section 182 pumps the liquid in the liquid bottle 178 and supplies it to the injection nozzle 200 via the injection nozzle connector 190 and the injection nozzle mounting section 193, and the injection nozzle 200 injects the liquid into the tube 70.

[0138] The funnel movement actuator 194 is connected to a funnel movement link 195 that extends into the acid injection chamber 186 and moves the funnel 198 attached to the funnel movement link 195 between a first funnel position and a second funnel position. Here, the first funnel position is located directly below the injection nozzle 200 and is a position where it can receive the liquid injected from the injection nozzle 200, and the second funnel position is a position where the funnel movement link 195 and the funnel 198 do not overlap with the movement of the tube 70 and the injection nozzle mounting part 193 within the acid injection chamber 186. Before inserting the tube 70 into the acid injection chamber 186 and injecting liquid into the tube, the funnel movement actuator 194 positions the funnel 198 in the first funnel position, and the controller 280 controls the liquid pumping unit 182 to prefill the injection nozzle 200 and the injection nozzle mounting part 193 with liquid. In this process, liquid may be sprayed from the injection nozzle 200 into the funnel 198, which receives the liquid sprayed from the injection nozzle 200 to prevent the liquid from scattering and discharges the liquid to the drain fan 202. By pre-filling the injection nozzle 200 and the injection nozzle mounting portion 193 with liquid before injecting the liquid into the tube 70, any gas present in the injection nozzle 200 and the injection nozzle mounting portion 193 can be removed, and the amount of liquid injected into the tube 70 can be precisely controlled.

[0139] The second exhaust hood 196 is configured to at least partially surround the injection nozzle 200 and to draw in gas generated from the liquid injected from the injection nozzle 200. The lower part of the second exhaust hood 196 is open to draw in the gas, and the upper part of the second exhaust hood 196 is connected to the second exhaust port 188 to discharge the drawn-in gas to the outside of the pretreatment system 10. The acid injection chamber body 184 is also connected to the second exhaust port 188 to discharge gas that is not drawn in by the second exhaust hood 196 to the outside of the pretreatment system 10.

[0140] The tube loader section 174 includes a support frame 204, a loader frame 206, a loader frame transfer actuator 208, a tilting frame 216, a tilting actuator 222, a rotating plate 218, and a rotating plate rotation actuator 224.

[0141] The support frame 204 extends in a second direction (X2) toward the acid injection chamber 186 in front of the acid injection chamber 186, where the second direction (X2) is the direction in which the support frame 204 extends. The support frame 204 is equipped with a loader frame rail 205 extending along the second direction (X2), and a loader frame transfer actuator 208 is attached to which the loader frame 206 can be moved along the loader frame rail 205 between a first loader position and a second loader position. Here, the first loader position is the position in which the robot 20 can place the tube 70 on the third tube holder 220 on the rotating plate 218 or grasp the tube 70 from the third tube holder 220, and the second loader position is the position in which the tilting frame 216 is tilted so that the tube 70 can enter the acid injection chamber 186.

[0142] The loader frame transfer actuator 208 includes a first pulley 210 and a second pulley 212, and a belt 214. The first pulley 210 and the second pulley 212 are rotatably mounted on the support frame 204, spaced apart from each other, along a second direction (X2). The belt 214 is connected to the first pulley 210 and the second pulley 212 and is movable in the second direction (X2) by the rotation of the first pulley 210 and the second pulley 212. The loader frame 206 is connected to the belt 214, and the belt 214 can move the loader frame 206 between a first loader position and a second loader position in the second direction (X2).

[0143] The loader frame 206 is formed in a set shape, and one end of the loader frame 206 is slidably attached to the loader frame rail 205 and simultaneously connected to the belt 214. The other end of the loader frame 206 is fitted with a tilting frame 216 that tilts by a set angle, and a tilting actuator 222 is fitted to tilt the tilting frame 216 between the tilted position and the initial position. In one example, the tilting frame 216 is hinged to the other end of the loader frame 206, and the tilting actuator 222 can rotate the tilting frame 216 by pulling or pushing it relative to the loader frame 206.

[0144] A rotating plate 218 is rotatably mounted on the tilting frame 216, and a rotating plate actuator 224 is mounted on the rotating plate 218, which can rotate the rotating plate 218 around its central axis. A third tube holder 220 is provided on the rotating plate 218, and a tube 70 is placed on the third tube holder 220.

[0145] The acid injection device 170 may further include sensors that detect whether the tube 70 is placed in the third tube holder 220, whether the loader frame 206 is in the first loader position or the second loader position, and whether the tilting frame 216 is in its initial position or tilted to an inclined position. The sensors can transmit signals to the controller 280 regarding the detected information. For example, when the loader frame 206 is in the first loader position, the controller 280 places the tube 70 in the third tube holder 220 via the robot 20. Once the tube 70 is placed in the third tube holder 220, the controller 280 moves the loader frame 206 to the second loader position via the loader frame transfer actuator 208. When the loader frame 206 is in the second loader position, the controller 280 tilts the tilting frame 216 to an inclined position via the tilting actuator 222. When the tilting frame 216 is tilted to an inclined position, the controller 280 lowers the injection nozzle 200 over the tube 70 via the nozzle lifting actuator 192, rotates the rotating plate 218 via the rotating plate rotation actuator 224, and injects a liquid (e.g., acid or distilled water) into the tube 70 through the injection nozzle 200.

[0146] According to the present invention, since the liquid is injected into the tube 70 while it is tilted at a set angle and rotating around the tilted central axis, the liquid flows along the inner wall of the tube 70 and mixes with the sample. Therefore, it is possible to prevent the liquid from directly falling onto the sample and causing it to scatter. Also, because the tube 70 is rotating, the liquid injected into the tube 70 flows along the entire inner wall of the tube 70. As a result, any sample adhering to the inner wall of the tube 70 also flows down with the liquid.

[0147] Figure 23 is a schematic perspective view of a heat shaker according to an embodiment of the present invention, and Figure 24 is a schematic cross-sectional view of a heat shaker according to an embodiment of the present invention.

[0148] As shown in Figures 1, 23, and 24, the heat shaker 230 is configured to hold a tube 70 containing a sample mixed with a liquid, and to apply heat to the tube 70 and shake the tube 70 to dissolve the sample in the liquid. The heat shaker 230 includes a shaker unit 238, a shaker rod 237, a heating block 233, a heating plate 236, and an insulating cover 231.

[0149] The shaker unit 238 is configured to shake a shaker rod 237, a heating plate 236 is mounted on the shaker rod 237, and a heating block 233 is mounted on the heating plate 236. An insulating cover 231 is mounted on the heating block 233 so as to surround the heating plate 236 and the heating block 233. The insulating cover 231 has at least one second upper tube hole 232, and the heating block 233 has at least one second lower tube hole 234 corresponding to the at least one second upper tube hole 232. The lower part of the tube 70 is inserted into the second upper tube hole 232 and the second lower tube hole 234 and placed on the heating plate 236. In order to stably hold the tube 70 inserted into the second upper tube hole 232 and the second lower tube hole 234, the insulating cover 231 is positioned away from the heating block 233. The heating plate 236 and heating block 233 generate heat and transfer it to the tube 70. The heating plate 236 and heating block 233 heat the sample mixed with the liquid in the tube 70, while the shaker unit 238 shakes the tube 70 via the shaker rod 237 to dissolve the sample in the liquid (e.g., acid).

[0150] Figure 25 is a schematic perspective view of a pipetting apparatus according to an embodiment of the present invention, Figure 26 is a schematic drawing of a pipette unit according to an embodiment of the present invention, and Figure 27 is another schematic drawing of a pipette unit according to an embodiment of the present invention.

[0151] As shown in Figures 1 and 25-27, the pipetting apparatus 240 is configured to transfer a portion of the solution in one tube 70 to another tube 70. The pipetting apparatus 240 includes a pipette tip tray 252, a pipette tip tray transfer unit 254, a pipetting work table 256, a pipette unit 242, a pipette transfer unit 244, and a pipette tip ejector 264. The pipette tip tray 252 is located on one side of the pipette unit 242, and the pipetting work table 256 is located on the other side of the pipette unit 242.

[0152] The pipette tip tray 252 holds several unused pipette tips 275, which can be moved toward or away from the pipette unit 242 by the pipette tip tray transfer unit 254. When the pipette tip tray 252 is positioned near the pipette unit 242, the pipette unit 242 moves downward to attach the pipette tips 275. Here, the pipette tip 275 is formed in a roughly cylindrical shape with its upper and lower ends open, and its diameter gradually decreases towards the bottom.

[0153] The pipetting work table 256 includes a first pipette tube holder 258 on one side and a second pipette tube holder 260 on the other side. Tubes 70 can be placed in the first pipette tube holder 258 and the second pipette tube holder 260. The pipetting work table 256 further includes a pipetting work table rotation actuator 262, which rotates the pipetting work table 256 by 180°. As a result, one of the first pipette tube holder 258 and the second pipette tube holder 260 is positioned at the first pipette tube position, and at the first pipette tube position, the robot 20 can place the tube 70 on one of the first pipette tube holder 258 and the second pipette tube holder 260 or grasp the tube 70 at the first pipette tube position, and the other of the first pipette tube holder 258 and the second pipette tube holder 260 is positioned at the second pipette tube position, and at the second pipette tube position, the pipette unit 242 can collect a solution from the tube 70 at the second pipette tube position or inject a solution into the tube 70 at the second pipette tube position.As a result, one of the first pipette tube holder 258 and the second pipette tube holder 260 is positioned in the first pipette tube position, and the robot 20 places one tube 70 in one of the first pipette tube holder 258 and the second pipette tube holder 260, or the pipetting work table rotation actuator 262 rotates the pipetting work table 256 by 180° to position one of the first pipette tube holder 258 and the second pipette tube holder 260 in the second pipette tube position, and the other of the first pipette tube holder 258 and the second pipette tube holder 260 in the first pipette tube position, and the pipette unit The pipette unit 242 takes a portion of the solution in one tube 70, the robot 20 places the other tube 70 in the other of the first pipette tube holder 258 and the second pipette tube holder 260, the pipetting work table rotation actuator 262 rotates the pipetting work table 256 again by 180° to position one of the first pipette tube holder 258 and the second pipette tube holder 260 in the first pipette tube position and the other of the first pipette tube holder 258 and the second pipette tube holder 260 in the second pipette tube position, and the pipette unit 242 injects the portion of the taken solution into the other tube 70. Through this process, a portion of the solution in one tube 70 is transferred to the other tube 70. Also, if there is distilled water in one tube 70, the solution in the other tube 70 may be diluted.

[0154] The pipette unit 242 is configured to attach a pipette tip 275 at a position corresponding to a pipette tip tray 252 on one side, and to collect a solution from one tube 70 or inject the collected solution into another tube 70 at a position corresponding to a pipetting work table 256 on the other side. The pipette unit 242 includes a pipette guide frame 266, a pipette slider 268, a pipette module 270, and a pipette push actuator 274.

[0155] The pipette guide frame 266 is connected to the pipette transfer unit 244 and moves between a position corresponding to the pipette tip tray 252 and a position corresponding to the pipetting work table 256 by the pipette transfer unit 244. The pipette guide frame 266 extends vertically.

[0156] The pipette slider 268 is attached to the pipette guide frame 266 and is slidable vertically along the pipette guide frame 266.

[0157] The pipette module 270 is attached to the pipette slider 268 and moves vertically with the pipette slider 268. The pipette module 270 includes a pipette module body 271 fixedly attached to the pipette slider 268 and a pipette piston 272 that is movable relative to the pipette module body 271 in a vertical direction. The pipette piston 272 is elastically attached to the pipette module body 271. The pipette piston 272 has a mounting end 273 formed at its lower end to which a pipette tip 275 is attached. When the pipette slider 268 moves downward with the pipette unit 242 in a position corresponding to the pipette tip tray 252, the mounting end 273 of the pipette piston 272 is inserted into one of the pipette tips 275 placed in the pipette tip tray 252, and the pipette tip 275 is attached to the mounting end 273. Subsequently, the pipette slider 268 rises to its original position with the pipette tip 275 attached to the mounting end 273.

[0158] The pipette push actuator 274 is located above the pipette piston 272 and is mounted vertically movably on the pipette slider 268. When the pipette push actuator 274 moves downward and pushes the upper end of the pipette piston 272, the pipette piston 272 moves downward relative to the pipette module body 271 and pushes the pipette tip 275, which is attached to the mounting end 273, downward. If the pipette tip 275 contains a solution, the mounting end 273 pushes the pipette tip 275 downward and discharges the solution contained in the pipette tip 275. When the pipette push actuator 274 moves upward and the force pushing the pipette piston 272 is released, the pipette piston 272, which is elastically attached to the pipette module body 271, moves upward and pulls the pipette tip 275, which is attached to the mounting end 273, upward. To collect the solution contained in tube 70 with pipette tip 275, the pipette slider 268 moves downward while the mounting end 273 pushes the pipette tip 275 downward, so that the lower end of pipette tip 275 is immersed in the solution contained in tube 70. In this state, when pipette push actuator 274 is moved upward, the pipette tip 275 attached to the mounting end 273 is pulled upward, and the solution from tube 70 is collected.

[0159] The pipette transfer unit 244 moves the pipette unit 242 between a position corresponding to the pipette tip tray 252 and a position corresponding to the pipetting work table 256. The pipette transfer unit 244 includes a pipette rail 250, a track fixing base 246, and a track 248. However, this is merely an example of one form of the pipette transfer unit 244, and the pipette transfer unit 244 is not limited to the form illustrated herein.

[0160] The pipette rail 250 extends from one side where the pipette tip tray 252 is located to the other side where the pipetting work table 256 is located. A pipette guide frame 266 is slidably mounted on the pipette rail 250 along the pipette rail 250.

[0161] The track anchoring base 246 extends from one side to the other on the pipette rail 250.

[0162] The track 248 is fixed at one end to the track mounting base 246 and connected at the other end to the pipette guide frame 266. The track 248 includes multiple joints, one joint flexing or extending relative to another, controlling the position of the other end of the track 248 relative to the position of the other end.

[0163] The pipette tip ejector 264 is located between the pipette tip tray 252 on one side and the pipetting work table 256 on the other side. The pipette tip ejector 264 extends to the corresponding pipette unit 242 and can push the upper end of the pipette piston 272 downward. When the pipette tip ejector 264 moves downward and pushes the upper end of the pipette piston 272, the pipette piston 272 moves downward relative to the pipette module body 271 and pushes the pipette tip 275 attached to the mounting end 273 downward. In this case, the amount of pressure applied by the pipette tip ejector 264 to the pipette piston 272 is large, and the pipette tip 275 is removed from the mounting end 273.

[0164] To push the upper end of the pipette piston 272, the pipette tip ejector 264 is positioned vertically between the upper end of the pipette piston 272 and the lower end of the pipette push actuator 274. As mentioned above, the vertical position of the upper end of the pipette piston 272 and the vertical position of the lower end of the pipette push actuator 274 may change, so the pipette tip ejector 264 may collide with the pipette piston 272 or the pipette push actuator 274 as the pipette unit 242 moves along the pipette rail 250. To prevent such collisions, the controller 280 can only allow the pipette unit 242 to move along the pipette rail 250 when the pipette slider 268 is in a preset vertical position and the pipette push actuator 274 is in a preset vertical position.

[0165] On the other hand, without providing a separate pipette tip ejector 264, the pipette push actuator 274 can remove the pipette tip 275 from the mounting end 273 by adjusting the amount of movement of the pipette push actuator 274.

[0166] Figure 28 is a schematic drawing of a vision device according to an embodiment of the present invention, Figure 29 is a schematic perspective view of a vision device according to an embodiment of the present invention, and Figure 30 is a cross-sectional view obtained by cutting along the FF line in Figure 28.

[0167] As shown in Figures 28 to 30, the vision device 290 is configured to inspect the dissolution rate of a sample by processing an image of a set portion of a tube 70 containing a sample solution using a pre-set image processing program. In one example, the set portion of the tube 70 may be the lower part of the tube 70, but is not limited thereto. The vision device 290 includes a vision frame 294, an image acquisition device 292, an illumination module 296, an illumination module actuator 298, a drive roller 304, a backup roller 306, a tube rotation actuator 300, and a backup roller actuator 308. The image acquisition device 292 is attached to the vision frame 294, and the illumination module 296, illumination module actuator 298, drive roller 304, backup roller 306, tube rotation actuator 300, and backup roller actuator 308 are attached to the vision frame 294.

[0168] The image acquisition device 292 is configured to acquire an image of a set portion of the tube 70 containing the sample solution. For this purpose, the image acquisition device 292 is mounted in a suitable position on the vision frame 294 for acquiring an image of the set portion of the tube 70. In one example, the image acquisition device 292 may be mounted below the vision frame 294 to acquire an image of the lower part of the tube 70. The image of the set portion of the tube 70 acquired by the image acquisition device 292 is transmitted to the controller 280 and processed by a pre-configured image processing program.

[0169] The illumination module 296 illuminates the tube 70, facilitating the image acquisition device 292 to acquire an image of a specified portion of the tube 70. The illumination module 296 is mounted in a suitable position on the vision frame 294 for illuminating the tube 70. In one example, if the image acquisition device 292 acquires an image of the lower part of the tube 70, the illumination module 296 may be mounted on top of the vision frame 294.

[0170] The lighting module actuator 298 moves the lighting module 296 between an illumination position, where it moves toward the tube 70 and illuminates the tube 70, and an initial position, away from the tube 70 and not interfering with the placement of the tube 70. In the initial position, the lighting module 296 is positioned away from the drive roller 304 and the backup roller 306 so as not to interfere with the robot 20 mounting the tube 70 between the drive roller 304 and the backup roller 306. Once the tube 70 is mounted between the drive roller 304 and the backup roller 306 and the robot 20 moves backward, the lighting module actuator 298 moves the lighting module 296 to the illumination position.

[0171] The drive roller 304 is rotatable in a set position on the vision frame 294, and the backup roller 306 is movable toward or toward the drive roller 304. A tube 70 is positioned between the drive roller 304 and the backup roller 306, and the tube 70 is fitted between the drive roller 304 and the backup roller 306 by moving the backup roller 306 toward the drive roller 304.

[0172] The drive roller 304 is rotatable by the tube rotation actuator 300. In one example, the tube rotation actuator 300 may include, but is not limited to, a tube rotation motor 302. With the tube 70 mounted between the drive roller 304 and the backup roller 306, the tube rotation actuator 300 rotates the drive roller 304, thereby rotating the tube 70. This also causes the backup roller 306 to rotate. As the tube 70 rotates, the sample precipitated in the acid inside the tube 70 is evenly dispersed, allowing for accurate testing of the sample's solubility.

[0173] The backup roller 306 is moved by the backup roller actuator 308 toward or toward the drive roller 304. The backup roller actuator 308 can push the backup roller 306 toward the drive roller 304 to increase the frictional force between the drive roller 304, the tube 70, and the backup roller 306. This ensures that the tube 70 is stably mounted and can be smoothly rotated by the drive roller 304.

[0174] The controller 280 is wirelessly or wiredly connected to the robot 20, gripper device 30, sample loading device 110, cap opening / closing device 130, acid injection device 170, heat shaker 230, pipetting device 240, and vision device 290 to control the operation of the robot 20, gripper device 30, sample loading device 110, cap opening / closing device 130, acid injection device 170, heat shaker 230, pipetting device 240, and vision device 290. For this purpose, the controller 280 is implemented as one or more processors that operate according to a set program, and the memory of the controller 280 stores program instructions programmed to perform each step of the sample pretreatment method for metal component analysis and sample dissolution rate analysis method according to embodiments of the present invention via the one or more processors.

[0175] The following describes in detail, with reference to Figure 31, a sample pretreatment method for metal component analysis according to an embodiment of the present invention.

[0176] Figure 31 is a flowchart of a sample pretreatment method for metal component analysis according to an embodiment of the present invention.

[0177] As shown in Figure 31, a sample pretreatment method for metal component analysis according to an embodiment of the present invention includes the steps of first placing the sample into a tube 70 according to set pretreatment conditions, and then injecting acid into the tube 70 containing the sample to dissolve the sample. Here, the set pretreatment conditions may include the components of the acid in which the sample is dissolved, the amount of acid, the time for which the heat shaker 230 heats the tube 70 containing the acid in which the sample has been dissolved, and / or the temperature.

[0178] More specifically, the pretreatment method is started with multiple dosing heads 50 containing samples placed on a dosing head stand 80, multiple empty tubes 70 placed on a tube stand 90, and multiple unused pipette tips 275 placed on a pipette tip tray 252.

[0179] The robot 20, with the gripper device 30 attached to its foremost position, moves to the dosing head stand 80, removes the dosing head 50, moves to the sample loading device 110, and attaches the removed dosing head 50 to the sample loading lifting device 111. In this case, the first pusher 46a and second pusher 46b of the first gripper unit 40 press the second mounting button 112 provided on the sample loading lifting device 111, causing them to descend slightly so that the second mounting pin tip 116 is inserted into the mounting pin groove 57, after which the first gripper unit 40 releases the dosing head 50.

[0180] Next, the robot 20 moves to the tube resting stand 90, removes the first tube 70 from the tube resting stand 90 and places it in the tube resting cup 122 on the first weighing scale 210 of the sample loading device 110, and checks if the first weighing scale 210 is functioning correctly. If the robot determines that the first weighing scale 210 is functioning correctly, it removes the first tube 70 from the tube resting cup 122 and moves the first tube 70 to the cap opening / closing device 130 and places it in one of the first tube holder 134 or the second tube holder 136.

[0181] The work table rotation actuator 138 rotates the capping work table 132 by 180°, causing the first tube 70, which is placed in one of the first tube holders 134 and the second tube holder 136, to move to the second position. Sensor 166 detects that the first tube 70 is not positioned in the first tube holder 134 or the second tube holder 136 in the first position, the first tube 70 is positioned in the first tube holder 134 or the second tube holder 136 in the second position, and that the first cap gripper 142a and the second cap gripper 142b are not gripping the tube cap 72. The controller 280 then controls the first cap gripper 142a and the second cap gripper 142b to grip the tube cap 72, controls the cap rotation actuator 148 to rotate the tube cap 72 coupled to the tube body 71 in the first rotational direction, and controls the cap unit lifting actuator 150 to lift the tube cap 72 according to the amount of rotation by the cap rotation actuator 148. As a result, the tube cap 72 is separated from the tube body 71. Subsequently, the work table rotation actuator 138 rotates the capping work table 132 another 180° to move the first tube 70 to the first position, and the controller 280 controls the first cap gripper 142a and the second cap gripper 142b to place the tube cap 72 to the second position.

[0182] The robot 20 removes the first tube 70 from either the first tube holder 134 or the second tube holder 136 using the second gripper unit 60, moves it back to the sample loading device 110, and places the first tube 70 in the tube resting cup 122 on the first weighing scale 210.

[0183] Then, the sample input lifting device 111 descends toward the sample input chamber 127, and the valve switch 118 presses the valve button 58 to open the outlet of the sample supply unit 54 connected to the sample container unit 52, and a certain amount of the sample from the sample container unit 52 is introduced into the first tube 70 (S400). The amount of sample introduced into the first tube 70 is detected by the first weighing scale 210.

[0184] Robot 20 moves the first tube 70 containing the sample to the acid injection device 170 and places the first tube 70 in the third tube holder 220 at the first loader position. The nozzle lifting actuator 192 lowers the injection nozzle mounting part 193, the funnel moving actuator 194 positions the funnel 198 at the first funnel position, and the liquid pumping unit 182 prefills the injection nozzle 200 and the injection nozzle mounting part 198 with acid. In this state, the loader frame 206 moves to the second loader position, the tilting frame 216 tilts by a set angle so that the first tube 70 enters the acid injection chamber 186, the rotating plate rotation actuator 224 rotates the rotating plate 218, and the injection nozzle 200 injects a set amount of acid into the first tube 70 (S410).

[0185] Subsequently, the rotating plate 218 stops rotating, the tilting frame 216 returns to its initial position, and the loader frame 206 returns to the first loader position. The robot 20 removes the first tube 70 from the third tube holder 220, moves it to the cap opening / closing device 130, and places the first tube 70 in one of the first tube holder 134 and second tube holder 136 of the cap opening / closing device 130, which is in the first position.

[0186] The sensor 166 detects that the first tube 70 is placed in the first tube holder 134 or the second tube holder 136 in the first position, and that the tube cap 72 is located in the first tube holder 134 or the second tube holder 136 in the second position. The controller 280 then lowers the first cap gripper 142a and the second cap gripper 142b to grasp the tube cap 72, and then raises the first cap gripper 142a and the second cap gripper 142b again.

[0187] The sensor 166 detects that the first tube 70 is positioned in the first tube holder 134 or the second tube holder 136 in the first position, and that the tube cap 72 is not positioned in the first tube holder 134 or the second tube holder 136 in the second position. The controller 280 then rotates the capping work table 132 by 180° to move the first tube 70 to the second position.

[0188] If the sensor 166 detects that the tube 70 is not positioned in the first tube holder 134 or second tube holder 136 in the first position, and the first tube 70 is positioned in the first tube holder 134 or second tube holder 136 in the second position, and the first cap gripper 142a and the second cap gripper 142b are gripping the tube cap 72, the controller 280 controls the cap unit lifting actuator 150 to lower the tube cap 72 toward the tube body 71, so that the tube cap 72 presses against the tube body 71 with a constant load, controls the cap rotation actuator 148 to rotate the tube cap 72 in a second rotational direction relative to the tube body 71, and controls the cap unit lifting actuator 150 to lower the tube cap 72 according to the amount of rotation by the cap rotation actuator 148. As a result, the tube cap 72 is coupled to the tube body 71. Subsequently, the control unit 280 rotates the capping work table 132 another 180° to move the first tube 70 to the first position.

[0189] The robot 20 removes the first tube 70 from either the first tube holder 134 or the second tube holder 136 using the second gripper unit 60, and shakes the first tube 70 multiple times to ensure that the sample and acid are well mixed. Then, the robot 20 places the first tube 70 in the heat shaker 230, and the heat shaker 230 heats and shakes the first tube 70 for a set time to dissolve the sample in the acid (S420).

[0190] Subsequently, the pretreatment method further includes the step of detecting the solubility of the sample in a sample solution in which the sample is dissolved in acid. More specifically, the robot 20 removes the first tube 70 from the heat shaker 230, moves the first tube 70 to the vision device 290 and mounts it between the drive roller 304 and the backup roller 306, rotates the first tube 70 with the tube rotation actuator 300 and acquires an image of the lower part of the first tube 70.

[0191] The control unit 280 processes the image of the lower part of the first tube 70 using a pre-set image processing program to check the dissolution rate of the sample (S430). The method for checking the dissolution rate of the sample will be explained in more detail below.

[0192] Subsequently, the pretreatment method further includes a step of diluting the sample solution in response to the sample's solubility being equal to or greater than a set solubility. More specifically, when it is determined that the sample's solubility is equal to or greater than a set solubility (for example, when it is determined that the sample has completely dissolved in the acid), the robot 20 moves the first tube 70 to the cap opening / closing device 130 to separate the tube cap 72 from the first tube 70, moves the first tube 70 containing the sample solution to the acid injection device 170, and the acid injection device 170 injects distilled water into the first tube 70 to perform a primary dilution of the sample solution in the first tube 70 (S440). The robot 20 places the first tube 70 containing the primary diluted sample solution in the first pipette tube position, and the controller 280 rotates the pipetting work table 256 by 180° to move the first tube 70 to the second pipette tube position. In this case, the pipette unit 242 is positioned in the position corresponding to the pipette tip tray 252.

[0193] The controller 280 lowers the pipette slider 268, attaches the pipette tip 275 to the mounting end 273 of the pipette piston 272, and raises the pipette slider 268 back to its original position. The controller 280 moves the pipette unit 242 via the pipette transfer unit 244 to a position corresponding to the pipetting work table 256, and while the pipette push actuator 274 presses the upper end of the pipette piston 272, the controller 280 lowers the pipette slider 268 to immerse the pipette tip 275 in the sample solution in the first tube 70, moves the pipette push actuator 274 upward to collect a portion of the sample solution, and raises the pipette slider 268.

[0194] The robot 20 moves to the tube stand 90, removes the second tube 70 from the tube stand 90 with the second gripper unit 60, moves the second tube 70 to the cap opening / closing device 130, separates the tube cap 72 from the second tube 70, and places the empty second tube 70 in the first pipette tube position. The controller 280 rotates the pipetting work table 256 by 180° to move the first tube 70 to the first pipette tube position and the second tube 70 to the second pipette tube position.

[0195] The controller 280 lowers the pipette slider 268 to position the pipette tip 275 inside the second tube 70, moves the pipette push actuator 274 downward to inject a portion of the collected sample solution into the second tube 70, and raises the pipette slider 268. The controller 280 rotates the pipetting work table 256 by 180° to move the first tube 70 to the second pipette tube position, and then moves the second tube 70 to the first pipette tube position. Here, we illustrate that the pipette push actuator 274 moves downward to push the pipette piston 272 once to inject a portion of the collected sample solution into the second tube 70, but if necessary, the pipette push actuator 274 may reciprocate two or more times to push the pipette piston 272 two or more times in order to inject the collected sample solution into the second tube 70.

[0196] Subsequently, the control unit 280 places the second tube 70 on the tube stand 90, removes the new second tube 70, separates the tube cap 72, and repeats the process of collecting the sample solution from the first tube 70 and injecting the collected sample solution into the second tube 70, thereby dividing the sample solution from the first tube 70 into multiple second tubes 70.

[0197] Subsequently, the robot 20 moves to the tube stand 90, removes the empty third tube 70 from the tube stand 90 using the second gripper unit 60, moves it to the acid injection device 170, and injects distilled water into the third tube 70. The robot 20 then moves the third tube 70 containing the distilled water to the pipetting device 240, collects the distilled water from the third tube 70, and injects the collected distilled water into the second tube 70 to secondarily dilute the sample solution (S450). The robot 20 then places the second tube 70 containing the secondarily diluted sample solution on the tube stand 90, and the pretreatment method is completed.

[0198] Here, we have illustrated that the sample solution is primarily diluted by injecting distilled water into the first tube 70 containing the sample solution using the acid injection device 170. However, the sample solution contained in the first tube 70 can also be divided and placed in a second tube 70, and then primarily diluted by injecting distilled water into the second tube 70 using the acid injection device 170. Furthermore, while we have illustrated that secondary dilution is performed using the pipetting device 240, secondary dilution can also be performed using the acid injection device 170. Here, the number of dilutions of the sample solution is not limited to two. If the sample solution is sufficiently diluted in one dilution, only primary dilution may be performed. Conversely, the sample solution may be diluted three or more times to ensure sufficient dilution.

[0199] According to the present invention, the sample solution is primaryly diluted in the acid injection device 170 and secondaryly diluted in the pipetting device 240. Since the pipette push actuator 274 can precisely adjust the amount that the pipette piston 272 pushes, the secondary dilution of the sample solution can be precisely controlled. Therefore, measurement errors during metal component testing can be reduced.

[0200] On the other hand, the pretreatment method further includes a step of adjusting the pretreatment conditions in response to the dissolution rate of the sample being less than the set dissolution rate. For example, if the dissolution rate is lower than the set dissolution rate, the controller 280 may adjust the component or amount of acid in which the sample is dissolved, or the time and / or temperature at which the heat shaker 230 heats the tube 70 containing the acid in which the sample is dissolved.

[0201] Subsequently, the control unit 280 can return to the step of introducing the sample into the tube according to the adjusted pretreatment conditions, or to the step of injecting acid into the tube containing the sample to dissolve the sample.

[0202] The method for testing the solubility of a sample according to an embodiment of the present invention will be described in detail below with reference to Figures 32 to 36.

[0203] Figure 32 is a flowchart of a sample dissolution rate testing method according to an embodiment of the present invention; Figure 33 is an original image of a tube containing a sample dissolved in acid; Figure 34 is an image obtained by performing a circle-Hough transform on the original image of Figure 33; Figure 35 is an image obtained by applying a dynamic contour model to the image of Figure 34; and Figure 36 is an image obtained by performing a binary transformation of the region of interest on the image of Figure 35. For the sake of explanation, Figures 32 to 36 illustrate a method in which an image of the lower part of tube 70 is acquired by an image acquisition device 292, and the dissolution rate of the sample is tested using the image of the lower part of tube 70. However, the image of the setting portion of tube 70 necessary for testing the dissolution rate of the sample is not limited to the image of the lower part of tube 70.

[0204] As shown in Figure 32, the method for testing the dissolution rate of a sample according to an embodiment of the present invention is started by attaching a tube 70 containing the acid in which the sample has been dissolved between a drive roller 304 and a backup roller 306, rotating the tube 70 with a tube rotation actuator 300, and acquiring an image of a set portion of the tube 70 with an image acquisition device 292. Here, we illustrate the acquisition of a lower image of the tube 70 with the image acquisition device 292. Figure 33(a) is a lower image of the tube 70 containing the acid in which sample 1 has been dissolved, and Figure 33(b) is a lower image of the tube 70 containing the acid in which sample 2 has been dissolved.

[0205] The image of the set portion of the tube 70 acquired by the image acquisition device 292 is transmitted to the controller 280, which processes the image of the set portion of the tube 70 using a pre-configured image processing program.

[0206] More specifically, the controller 280 detects the shape corresponding to the outer surface of the tube 70 in the tube region from the image of the set portion of the tube 70 using an image feature-based computer vision algorithm such as Circle Hough Transformation or Laplacian of Gaussian (LoG) (S500). Here, an image feature-based computer vision algorithm means a vision algorithm that detects a set region based on the shape features of the image. In one example, since the lower image of the tube 70 has a circular shape, the controller 280 can detect a circle corresponding to the outer surface of the tube 70 as the tube region using the Circle Hough Transform in the lower image of the tube 70 (S500). The controller 280 uses the center point coordinates and radius of the circle to cut out the tube region. That is, it removes the background other than the tube region. Figure 34(a) is an image obtained by applying a circle-Hough transform to Figure 33(a) to detect the tube region, and Figure 34(b) is an image obtained by applying a circle-Hough transform to Figure 33(b) to detect the tube region. The dotted circles in Figures 34(a) and 34(b) correspond to the tube region.

[0207] The controller 280 detects the region of interest by applying a shape recognition algorithm such as an active contour model to the tube region (S510). More specifically, an approximate region corresponding to the object of interest is set in the tube region, and the region of interest is detected by gradually narrowing the region and finding singularities where the brightness, shape, etc., differ from the surroundings. Figure 35(a) is an image of Figure 34(a) with the active contour model applied, and Figure 35(b) is an image of Figure 34(b) with the active contour model applied. In Figures 35(a) and 35(b), the outer circle shown by the dotted line indicates that an approximate region corresponding to the object of interest has been set, and the inner circle shown by the dotted line indicates the region of interest detected from the singularity.

[0208] The controller 280 classifies the detected pixels within the region of interest into two or more types of pixels according to a set criterion and assigns pixel values ​​to the classified pixels (S520). For example, the controller 280 can binary-encode the detected pixels within the region of interest according to a set criterion by utilizing rule-based computer vision algorithms, machine learning, deep learning, etc. (S520). More specifically, the controller 280 can calculate the average brightness of all pixels in the detected region of interest, assign a pixel value of 0 to pixels that are darker by a set amount than the average brightness, and assign a pixel value of 1 to the remaining pixels. Figure 36(a) is an image obtained by binary-encoding Figure 35(a) with pixel values ​​of 0 displayed in yellow and pixel values ​​of 1 displayed in black, and Figure 36(b) is an image obtained by binary-encoding Figure 35(b) with pixel values ​​of 0 displayed in yellow and pixel values ​​of 1 displayed in black. However, the present invention is not limited to classifying the detected pixels within the region of interest into two types of pixels and binary evolving them; they can be classified into three or more types of pixels as needed, and the pixel values ​​assigned to different types of pixels can be set differently.

[0209] The controller 280 detects the dissolution rate of the sample using the pixel value assigned to each pixel (S530). For example, the controller 280 can detect the dissolution rate of the sample using the pixel value of the binary-evolved pixels (S530). More specifically, the dissolution rate can be defined as the ratio of the total number of pixels to the number of pixels with a pixel value of 1. Thus, the dissolution rate of sample 1 is 10%, and the dissolution rate of sample 2 is 100%.

[0210] If the dissolution rate is lower than the set dissolution rate, the controller 280 provides feedback on the dissolution rate and modifies the pretreatment method that affects the dissolution rate (S540). For example, the set dissolution rates are 50%, 60%, 70%, 80%, 90%, or 100%. If the dissolution rate is lower than the set dissolution rate, the controller 280 may adjust the component or amount of acid in which the sample is dissolved, or adjust the time and / or temperature at which the heat shaker 230 heats the tube 70 containing the acid in which the sample is dissolved.

[0211] Preferred embodiments of the present invention have been described above, but the present invention is not limited to the embodiments described above and includes all modifications that are readily available to a person with ordinary skill in the art to which the invention pertains and are deemed equivalent to the embodiments of the present invention. [Explanation of symbols]

[0212] 10 Pre-processing system 20 Robots 30 Gripper device 80 Dorsing head mounting stand 90 Tube Stand 110 Sample loading device 130 Cap opening and closing device 170 Acid injection device 230 Heat Shaker 240 Pipetting device 290 Vision Devices 280 Control Unit

Claims

1. A robot that includes multiple arms capable of relative rotation to each other, and whose leading edges can move within an operating radius, A gripper device attached to the front end of the robot, including a first gripper unit on one side for gripping or releasing a dosing head, and a second gripper unit on the other side for gripping or releasing a tube, A sample feeding device comprising a dosing head mounted on a sample feeding section lifting device that is movable up and down, and a tube holding cup positioned below the sample feeding section lifting device, wherein the sample in the dosing head is loaded into the tube placed in the tube holding cup, and the sample feeding device is configured to load the sample in the dosing head into the tube placed in the tube holding cup, An acid injection device configured to inject acid into a tube into which a sample has been introduced by a sample introduction device, and / or to inject distilled water into a tube containing the acid in which the sample has been dissolved, A heat shaker configured to dissolve the sample in the acid by applying heat and shaking a tube containing the sample and the acid mixed together, A vision device that acquires an image of a portion of a tube containing a sample solution in which the sample is dissolved in acid, A pipetting device configured to transfer a portion of the solution in one tube to another tube, A sample pretreatment system for testing metal components within a sample.

2. A dosing head stand capable of accommodating multiple dosing heads, A tube stand on which multiple tubes, each with a tube cap attached to the tube body, can be placed, A cap opening and closing device configured to separate the tube cap from the tube body and / or to attach the tube cap to the tube body, It further includes, A sample pretreatment system for metal component analysis according to claim 1, wherein a dosing head stand, a tube stand, a sample loading device, a cap opening / closing device, an acid injection device, a heat shaker, a vision device, and a pipetting device are at least partially arranged within the working radius of the robot.

3. The tube-holding cup is placed on a first weighing scale, and the amount of sample to be placed in the tube is detected by the first weighing scale, in the pretreatment system for metal component analysis in a sample according to claim 1.

4. The pretreatment system for metal component analysis in a sample according to claim 1, wherein the acid injection device is configured to inject liquid into a tube while the tube, which is placed on the acid injection device, is tilted and rotated.

5. The cap opening and closing device rotates the tube cap in a first rotational direction to separate the tube cap from the tube body, and rotates the tube cap in a second rotational direction to connect the tube cap to the tube body. The pretreatment system for metal component analysis in a sample according to claim 2, wherein the cap opening and closing device is configured to lift and / or lower the tube cap in accordance with the amount of rotation of the tube cap.

6. The pretreatment system for metal component analysis in a sample according to claim 5, wherein the cap opening / closing device is configured to press the tube cap against the tube body before rotating the tube cap in a second rotational direction.

7. The aforementioned heat shaker is A shaker unit configured to shake the shaker rod, A heating block located on the shaker rod, which heats the stationary tube, An insulating cover that surrounds the heating block, placed on top of the heating block and separated from it, Includes, The tube is inserted into and placed in an insulating cover and a heating block, a pretreatment system for testing metal components in a sample according to claim 1.

8. The robot attaches a tube cap to the tube body via a cap opening / closing device before transferring the tube containing the acid mixed with the sample to a heat shaker, and shakes the tube with the tube cap attached to mix the sample and the acid, according to claim 2, pretreatment system for metal component analysis in a sample.

9. The pipetting device is configured to transfer a portion of the sample solution in one tube to another tube, the robot to transfer yet another tube to an acid injection device to add distilled water to yet another tube, and the pipetting device to inject the distilled water contained in yet another tube into another tube containing a portion of the sample solution to dilute a portion of the sample solution contained in the other tube, according to claim 1.

10. The robot further includes a gripper device, a dosing head stand, a tube stand, a sample loading device, a cap opening / closing device, an acid injection device, a heat shaker, a vision device, and a controller for controlling the operation of the pipetting device. The pretreatment system for metal component analysis in a sample according to claim 2, wherein the control unit is configured to receive an image of a designated portion of a tube containing a sample solution from a vision device, and to process the image of the designated portion with a pre-set image processing program to detect the dissolution rate of the sample.

11. The gripper device further includes a gripper body that is rotatably mounted on the leading arm of the robot. The first gripper unit is attached to one side of the gripper body, and the second gripper unit is attached to the other side of the gripper body. The first gripper unit is, A first gripping finger and a second gripping finger that are movable toward each other or toward each other, A cylindrical shape including one open side and the other closed side, a guide bushing fixed within the tip of each of the first gripping finger and the second gripping finger, A first or second pusher is positioned on one open surface of the guide bushing and is slidable along the inner circumferential surface of the guide bushing. A guide shaft extends to one side through a guide shaft hole formed on the other side of the closed guide bushing and is connected to the first pusher or the second pusher, A guide spring that elastically supports the first or second pusher with respect to the guide bushing, A sample pretreatment system for testing for metal components in a sample according to claim 1, comprising:

12. The pretreatment system for inspecting metal components in a sample according to claim 11, wherein the guide shaft is spaced apart from the inner circumferential surface of the guide bushing, and the guide spring is positioned between the guide shaft and the guide bushing.

13. The pretreatment system for metal component analysis in a sample according to claim 11, wherein the axial movement of the first and second pushers and the guide shaft to the other side is restricted by a step formed on the inner circumferential surface of the guide bushing, and the axial movement of the first and second pushers and the guide shaft to one side is restricted by the other end of the guide shaft, and the diameter of the other end of the guide shaft is greater than the diameter of the other part of the guide shaft.

14. The second gripper unit is, Third and fourth gripping fingers that are movable toward each other or toward each other, The third and fourth gripping fingers are provided with a first tube tong portion and a second tube tong portion, which are shaped to correspond to a tube so as to be able to grip the tube, The tips of the third and fourth gripping fingers are provided with a first gripping bar groove and a second gripping bar groove, which have a shape corresponding to the gripping bar so that they can grip the gripping bar of the tube stand on which the tube is placed, A sample pretreatment system for testing for metal components in a sample according to claim 11, comprising:

15. The second gripper unit is, A sample pretreatment system for metal component analysis according to claim 14, further comprising a first position limiter and a second position limiter that protrude upward from the tips of the third and fourth gripping fingers to restrict the movement of the second gripper unit toward the gripping bar.

16. A dosing head stand capable of accommodating multiple dosing heads, A control unit configured to control the robot, the first gripper unit, and the second gripper unit, It further includes, The control unit controls the first and second pushers to press the first or second mounting button provided on the dosing head mounting base or sample loading device, and the robot moves the first gripper unit downward to install the dosing head. A gripper device for a sample pretreatment system for metal component analysis according to claim 11, wherein a first pusher and a second pusher are controlled to press a first mounting button or a second mounting button, and a robot is configured to move the first gripper unit upward to remove the dosing head.

17. The cap opening and closing device is A capping work table is provided with a first tube holder on one side and a second tube holder on the other side, and can be positioned in one of two positions: a first position in which a tube can be placed and / or gripped, and a second position in which a tube cap can be attached to and / or separated from the tube body, and the other of the first and second tube holders can be positioned in the other of the first and second positions, A support base lifting block that moves up and down by a cap unit lifting actuator, A cap gripper support base is rotatably attached to the aforementioned support base lifting block, A first cap gripper and a second cap gripper are attached to the cap gripper support base, positioned to correspond to the tube cap of the tube in the second position, and configured to move toward each other to grip the tube cap and / or move toward each other to release the tube cap. A first tube body gripper and a second tube body gripper are positioned to correspond to the tube body of a tube in a second position, and are configured to move toward each other to grip the tube body, and / or move toward each other to release the tube body, A cap rotation actuator is attached to the support base lifting block and includes a lower end that penetrates the support base lifting block and connects to the cap gripper support base, and is configured to rotate the cap gripper support base in a first rotational direction to separate the tube cap from the tube body, and to rotate the cap gripper support base in a second rotational direction opposite to the first rotational direction to connect the tube cap to the tube body, A sample pretreatment system for testing for metal components in a sample according to claim 2, comprising:

18. The sample pretreatment system for metal component analysis according to claim 17, further comprising a first exhaust hood mounted in a position corresponding to a second position and configured to draw in gas generated from the liquid in the tube, wherein the cap opening and closing device is further a first exhaust hood.

19. The pretreatment system for metal component analysis in a sample according to claim 17, further comprising a work table rotation actuator configured to rotate the capping work table by 180° to position one of the first tube holder and the second tube holder in a first position and the other of the first tube holder and the second tube holder in a second position.

20. A sample pretreatment system for metal component analysis according to claim 19, further comprising a sensor configured to detect whether a tube is placed in the first tube holder or the second tube holder in the first position, whether a tube or a tube cap is placed in the first tube holder or the second tube holder in the second position, and / or whether the first cap gripper and the second cap gripper are gripping a tube cap.

21. A sample pretreatment system for metal component testing according to claim 20, wherein the control unit is configured to receive a signal for a value detected by the sensor and to control the operation of the work table rotation actuator, the first cap gripper and the second cap gripper, the first tube body gripper and the second tube body gripper, the cap unit lifting actuator and / or the cap rotation actuator based on the signal.

22. A sample pretreatment system for metal component analysis according to claim 21, wherein a tube is placed in a first tube holder or a second tube holder in a first position, and when the sensor detects that the tube cap is not positioned in the first tube holder or the second tube holder in a second position, the controller rotates the capping work table by 180° via a work table rotation actuator to move the tube to the second position.

23. A sample pretreatment system for metal component inspection according to claim 21, wherein a tube is placed in the first tube holder or the second tube holder in the first position, and when the sensor detects that a tube cap is located in the first tube holder or the second tube holder in the second position, the controller lowers the first cap gripper and the second cap gripper via the cap unit lifting actuator to grasp the tube cap, and then raises the first cap gripper and the second cap gripper again.

24. A sample pretreatment system for metal component inspection according to claim 21, wherein, when the sensor detects that no tube is placed in the first tube holder or second tube holder in the first position, and a tube is placed in the first tube holder or second tube holder in the second position, and the first cap gripper and the second cap gripper are not gripping the tube cap, the controller controls the first cap gripper and the second cap gripper to grip the tube cap, controls the cap rotation actuator to rotate the tube cap coupled to the tube body in a first rotation direction, and controls the cap unit lifting actuator to lift the tube cap according to the amount of rotation by the cap rotation actuator.

25. A sample pretreatment system for metal component inspection according to claim 21, wherein when a sensor detects that a tube is not placed in the first tube holder or second tube holder in the first position, and a tube is placed in the first tube holder or second tube holder in the second position, and the first cap gripper and the second cap gripper are gripping the tube cap, the controller controls the cap unit lifting actuator to lower the tube cap toward the tube body, controls the cap rotation actuator to rotate the tube cap in a second rotational direction relative to the tube body, and controls the cap unit lifting actuator to lower the tube cap according to the amount of rotation by the cap rotation actuator.

26. The pretreatment system for metal component analysis in a sample according to claim 25, wherein the control unit controls the cap unit lifting actuator before rotating the tube cap relative to the tube body in a second rotational direction, thereby pressing the tube body with a constant load using the tube cap.

27. The acid injection apparatus is, An acid supply unit including a liquid pumping unit configured to pump liquids contained in multiple liquid bottles, An acid injection chamber body having an acid injection chamber formed inside; an injection nozzle attached to an injection nozzle mounting section within the acid injection chamber and connected to a liquid pumping section, configured to inject the liquid pumped by the liquid pumping section into the tube; and an acid injection section attached to the acid injection chamber body and connected to the injection nozzle mounting section, including a nozzle lifting actuator that moves the injection nozzle mounting section up and down. A tube loader section is configured to place a tube on it, tilt the placed tube and insert it into the acid injection chamber, and rotate the tilted tube, Includes, The nozzle lifting actuator lowers the injection nozzle mounting portion to position it above the tube when the tube is tilted and rotated and positioned inside the acid injection chamber, and the injection nozzle injects the liquid pumped by the liquid pumping portion into the tilted and rotating tube, according to claim 1, a pretreatment system for metal component analysis in a sample.

28. The acid injection section is, A drain fan is located at the bottom of the acid injection chamber body, A funnel movement actuator moves the funnel, which is connected to a funnel movement link extending into the acid injection chamber and attached to the funnel movement link, between a first funnel position where the funnel is located directly below the injection nozzle and can receive the liquid injected from the injection nozzle, and a second funnel position where the funnel movement link and the funnel do not overlap with the movement of the tube and the injection nozzle attachment part within the acid injection chamber. A sample pretreatment system for metal component analysis according to claim 27, further comprising:

29. The sample pretreatment system for metal component analysis according to claim 27, further comprising a second exhaust hood configured to at least partially surround the injection nozzle and to draw in gas generated from the liquid injected from the injection nozzle.

30. The tube loader section is, A support frame extending toward the acid injection chamber at the front of the acid injection chamber, The aforementioned support frame includes a loader frame rail extending along the support frame, A loader frame transfer actuator is configured to move the loader frame between a first loader position where the tube can be placed or the tube can be gripped, and a second loader position where the tube can be tilted and enter the acid injection chamber. A tilting actuator that tilts the tilting frame attached to the loader frame between a tilted position and an initial position, A rotating plate actuator configured to rotate a rotating plate rotatably mounted on the tilting frame, A sample pretreatment system for testing for metal components in a sample according to claim 27, including the above.

31. The tube loader section further comprises a third tube holder on the rotating plate on which a tube is placed, according to claim 30, a pretreatment system for metal component analysis in a sample.

32. A sample pretreatment system for metal component analysis according to claim 31, further comprising sensors for detecting whether a tube is placed in a third tube holder, whether the loader frame is in a first loader position or a second loader position, and / or whether the tilting frame is in an initial position or tilted to an inclined position.

33. A sample pretreatment system for metal component analysis according to claim 27, wherein each of the plurality of liquid bottles is placed on a second weighing scale, and the second weighing scale is configured to measure the amount of liquid contained in each of the plurality of liquid bottles.

34. The front of the acid injection chamber body is open, The acid injection section is, An acid injection chamber shutter selectively closes the open front surface of the acid injection chamber body, A shutter actuator configured to close or open the open front surface of the acid injection chamber body with the acid injection chamber shutter, A sample pretreatment system for metal component analysis according to claim 27, further comprising:

35. The aforementioned pipetting apparatus is A pipette tip tray on which multiple pipette tips are placed, A pipetting work table is provided with a first pipette tube holder on one side and a second pipette tube holder on the other side, and one of the first pipette tube holder and the second pipette tube holder can be positioned at one of two pipette tube positions: a first pipette tube position where a tube can be placed or grasped, and a second pipette tube position where a solution can be drawn from or injected into a tube, and the other of the first pipette tube holder and the second pipette tube holder can be positioned at the other of the first pipette tube position and the second pipette tube position, A pipette unit configured to attach a pipette tip at a position corresponding to a pipette tip tray, to collect a portion of the solution contained in a first tube at a position corresponding to a pipetting work table, and / or to inject the collected solution into a second tube, A pipette transfer unit moves the pipette unit between a position corresponding to the pipette tip tray and a position corresponding to the pipetting work table, A sample pretreatment system for testing for metal components in a sample according to claim 1, comprising:

36. The sample pretreatment system for metal component analysis according to claim 35, further comprising a pipette tip tray transfer unit for moving the pipette tip tray toward or away from the pipette unit.

37. The sample pretreatment system for metal component analysis according to claim 35, further comprising a pipetting work table rotation actuator configured to rotate the pipetting work table by 180° to position one of the first pipette tube holder and the second pipette tube holder at the first pipette tube position, and position the other of the first pipette tube holder and the second pipette tube holder at the second pipette tube position.

38. The aforementioned pipette unit is A pipette guide frame connected to the pipette moving unit, which moves between a position corresponding to the pipette tip tray and a position corresponding to the pipetting work table by the pipette moving unit, A pipette slider is mounted so as to be slidable vertically along the pipette guide frame, A pipette module including a pipette module body fixedly attached to the pipette slider, and a pipette piston that is movable relative to the pipette module body in a vertical direction, A pipette push actuator is mounted vertically movably on the pipette slider and configured to press the upper end of the pipette piston, A sample pretreatment system for testing for metal components in a sample according to claim 35, including the above.

39. The pipette piston is elastically attached to the pipette module body in the sample pretreatment system for metal component analysis according to claim 38.

40. The sample pretreatment system for metal component analysis according to claim 38, wherein a mounting end is formed at the lower end of the pipette piston to which the pipette tip is attached.

41. The mounting end lowers while pushing the pipette tip downwards, so that the lower end of the pipette tip is immersed in the solution contained in the first tube, and with the lower end of the pipette tip immersed in the solution contained in the first tube, the mounting end elastically rises to collect a portion of the solution contained in the first tube. The sample pretreatment system for metal component analysis according to claim 40, wherein, when a solution is contained in the pipette tip, the mounting end is configured to push the pipette tip downward to inject the solution into a second tube.

42. The sample pretreatment system for metal component analysis according to claim 38, further comprising a pipette tip ejector configured to press the upper end of the pipette piston downward to remove the pipette tip attached to the mounting end.

43. The sample pretreatment system for metal component analysis according to claim 42, wherein the amount of pressure applied by the pipette tip ejector to the pipette piston is greater than the amount of pressure applied by the pipette push actuator to the pipette piston.

44. The aforementioned metal component analysis of the sample is performed after dissolving the sample in the tube in acid in order to detect the metal components contained in the sample. The aforementioned vision device is A drive roller and a backup roller are configured to rotate a tube containing an acid in which a sample has been dissolved, and to attach the tube to the drive roller. An image acquisition device configured to acquire an image of the lower part of a rotating tube mounted between the drive roller and the backup roller, A lighting module configured to illuminate the tube with light on the opposite side of the image acquisition device, with the tube as the reference point, A controller configured to perform image processing on the lower part of the tube acquired by the aforementioned image acquisition device to inspect the dissolution rate of the sample, Includes, The aforementioned control unit is An image feature-based vision algorithm is used to detect the tube region from the image of the defined portion of the tube. A shape recognition algorithm is applied to the tube region to detect the region of interest. The pixels within the detected region of interest are classified according to the set criteria, and pixel values ​​are assigned to the classified pixels. A sample pretreatment system for metal component analysis according to claim 1, configured to detect the dissolution rate of the sample using the pixel value of each pixel.

45. A tube rotation actuator configured to rotate the tube via the drive roller, A backup roller actuator configured to move the backup roller toward or away from the drive roller, A sample pretreatment system for metal component analysis according to claim 44, further comprising:

46. The pretreatment system for metal component analysis in a sample according to claim 44, further comprising a lighting module actuator that moves the lighting module between an illumination position where it moves toward the tube to irradiate the tube with light, and an initial position away from the tube and not interfering with mounting the tube between the drive roller and the backup roller.

47. The controller detects the tube region as a circle from the lower image of the tube using a circle-Hough transform, A sample pretreatment system for metal component analysis according to claim 44, wherein the tube region is cut out using the coordinates of the center point of the circle and its radius.

48. The controller sets a region in the tube region corresponding to the object of interest using a dynamic contour model. By gradually narrowing the aforementioned region, we find the singularity. A sample pretreatment system for metal component analysis according to claim 44, configured to detect a region of interest from the aforementioned singularity.

49. The pretreatment system for metal component analysis in a sample according to claim 44, wherein the controller is configured to classify the detected pixels in the region of interest into two types of pixels according to a set criterion, and to binary the classified pixels by assigning a pixel value of 0 or 1.

50. The pretreatment system for metal component analysis in a sample according to claim 49, wherein the controller is configured to calculate the average brightness of all pixels in the detected region of interest, assign a pixel value of 0 to pixels that are darker by a set amount than the average brightness, assign a pixel value of 1 to the remaining pixels, and calculate the ratio of the total number of pixels to the number of pixels with a pixel value of 1 as the dissolution rate.

51. The pretreatment system for metal component analysis in a sample according to claim 50, wherein the control unit is configured to provide feedback on the dissolution rate when the dissolution rate is lower than a set dissolution rate.

52. The pretreatment system for metal component analysis in a sample according to claim 51, wherein the control unit is configured to adjust the component of the acid in which the sample is dissolved, the amount of the acid, the time for heating the tube containing the acid in which the sample is dissolved, and / or the temperature, based on the feedbacked dissolution rate.