JP2000271464A - Planetary agitating mixer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To rotate a revolution member and an agitating shaft by separate drivers, to control the number of rotations of the drivers so that the number of rotations of the agitating shaft or the ratio of rotation to revolution, or the like becomes a preset value, and accurately and easily perform optimization of agitation performance according to the quality of material to be agitated. SOLUTION: A planetary agitating mixer is provided with: a revolution member 2 rotatably supported on a frame 1; an agitating shaft 3 rotatably supported in the revolution member, offset from the center of rotation of the revolution member: a driver 4 for revolution provided on the frame and for rotating the revolution member; a driver 8 for rotation provided on the frame and for rotating the agitating shaft through a transmission mechanism; and a controller 12 for controlling the driver for revolution and the driver for rotation so that the number of rotations of the agitating shaft or the related quantity of state becomes a preset value. When the preset value of the ratio of rotation to revolutions made integer, an alarm for giving the alarm or a correction device for invalidating its setting is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stirrer in which a stirrer rotates about an axis provided offset from its center of rotation with respect to a frame (hereinafter referred to as revolving) and also rotates by itself (hereinafter referred to as "rotation"). The invention belongs to the technical field of a stirring and mixing machine that stirs a substance to be stirred, and in particular, relates to a planetary stirring and mixing machine in which rotation and revolution of a stirrer are performed by separate driving devices. .

[0002]

2. Description of the Related Art Conventionally, as this type of planetary stirring mixer, for example, as shown in FIG. 6, a revolving member 92 is rotatably supported on a frame 91, and a revolving member 92 is provided with a stirring shaft 93. The rotatable support is rotatably offset from the center of rotation, and the gear 95 of the stirring shaft 93 is meshed with the internal gear 94 cut into the frame 91, and the revolving member 92 is rotated by a driving device (not shown) such as a motor. Accordingly, a stirrer (not shown) attached to the stirrer shaft 93 rotates and revolves in a container (not shown) to stir the substance to be stirred in the container and mix it. Are known.

[0003]

By the way, when such a planetary stirring mixer is introduced, the user proceeds to search for an optimum operating state for the substance to be stirred. As a method of the optimization, for example, a method in which the rotation speed at which the stirring shaft 93 revolves (hereinafter, referred to as the number of revolutions) and the rotation speed at which the stirring shaft 93 rotates (hereinafter, referred to as the rotation speed) are changed and searched, There is a method of changing the ratio obtained by dividing the number of revolutions by the number of revolutions (hereinafter referred to as the revolution ratio). However, in such a planetary stirring mixer,
The self-revolution ratio is determined from the gear ratio between the internal gear 94 and the gear 95 of the stirring shaft 93, and becomes a fixed value. Further, the relative rotation directions of the revolving member 92 and the stirring shaft 93 are fixed, and in the case of the drawing, they rotate only in opposite directions when viewed in the axial direction. Therefore, it is difficult to optimize the stirring performance according to the properties of the substance to be stirred.

Accordingly, the interlocking relationship between the stirring shaft and the revolving member is cut off, and the stirring shaft is rotated by a rotation driving device.
In addition, it is conceivable to optimize the stirring performance by separately rotating the revolving members by the revolving drive devices and appropriately adjusting the number of revolutions of each drive device.

[0005] In this case, there is the following problem in the operation of optimizing the stirring performance by changing the number of rotations. That is, the rotation number of the stirring shaft is not the rotation speed viewed from the revolving member, but the rotation speed when viewed from the frame. However, the stirring shaft is offset by the revolving member from the rotation center thereof and is supported. Since the rotation is effected by the rotation speed and the rotation direction of the revolving member, the rotation speed does not coincide with the rotation speed of the rotation driving device, and sometimes these rotation directions are reversed. On the other hand, optimization of the stirring performance involves a problem how to stir a substance to be stirred which is stationary with respect to the frame. For this reason, even if the optimum operating condition for the substance to be stirred is searched for using the rotation speed of the rotation driving device as a guide, it is only an operation that relies on intuition assuming the rotation speed of the stirring shaft. Optimizing performance can be challenging and inaccurate.

The present invention has been made in view of such a point. It is an object of the present invention to rotate the revolving member and the stirring shaft by separate driving devices, and to set the number of revolutions or the revolution of the stirring shaft. An object of the present invention is to control the rotation speed of a driving device so that a ratio or the like becomes a set value, thereby enabling accurate and easy optimization of the stirring performance according to the property of the substance to be stirred.

[0007] In the conventional planetary stirring mixer, there is a region in the container where the stirrer does not pass, and there is a case where uneven mixing occurs in the mixture. In order to avoid stirring at such a singular point, the inventors repeated the operation of the mixer by changing the number of teeth of the internal gear 94 and the gear 95 of the stirring shaft 93 at the design stage, and We have been set to scrape the inside evenly before shipping the mixer.

According to the present invention, since the revolution ratio can be varied, a measure is taken so that the user can stir while avoiding such a singular point, thereby preventing the mixture from becoming unevenly mixed. It is intended to be a further purpose. In that case, the inventors took such measures by finding out that such a singular point is when the set value of the rotation / revolution ratio, which is a ratio obtained by dividing the rotation number by the number of revolutions, is an integer. .

[0009]

According to a first aspect of the present invention, there is provided a planetary mixer comprising: a revolving member rotatably supported by a frame; and a revolving member offset from a rotation center of the revolving member. A stirring shaft rotatably supported on the frame, a driving device for revolution provided on the frame and rotating the revolving member, a driving device for rotation provided on the frame and rotating the stirring shaft via a transmission mechanism, and a stirring shaft And a control device for controlling the revolution driving device and the revolution driving device such that the number of rotations or the state quantity related thereto becomes a set value.

In this planetary stirring mixer, the revolving drive rotates the revolving member and the rotation driving device rotates the stirring shaft. However, since the stirring shaft is offset from the rotation center of the revolving member, the stirring is performed. The rotation number of the shaft does not match the rotation number of the rotation driving device. In this case, the revolving drive device and the revolving drive device are controlled by the control device such that the number of revolutions of the stirring shaft or the state quantity related thereto becomes the set value. Optimization of the stirring performance according to the nature of the substance is performed accurately and easily.

According to a second aspect of the present invention, there is provided the planetary agitating mixer according to the first aspect, wherein a set value of an auto-revolution ratio, which is a ratio obtained by dividing the number of revolutions by the number of revolutions, is an integer. , An alarm device for issuing an alarm or a correction device for invalidating the setting.

If the revolution ratio is an integer, the stirrer follows the same trajectory for each revolution, and there is a region in the container where the stirrer does not pass. However, according to the second aspect, the set value of the rotation / revolution ratio can be prevented from being an integer, so that the stirrer moves in the container with the trajectory slightly shifted for each revolution. It is difficult to form a region through which the stirrer does not pass, and it is difficult to cause uneven mixing in the mixture.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a planetary stirring mixer according to the first embodiment.

In FIG. 1, reference numeral 1 denotes a plate-like frame in a stirring and mixing machine installed in a work place. This frame 1 is installed substantially horizontally, and has a mounting hole 1a.
Is open. A revolving member 2 is arranged on the frame 1 and is rotatably supported with respect to the frame 1 by, for example, a bearing. The revolving member 2 is provided with a stirring shaft 3 offset from the center of rotation, and is rotatably supported by, for example, a bearing. In the figure, two stirring shafts 3 are provided, but one or three or more stirring shafts may be provided. At the tip of the stirring shaft 3, for example, a plate-like stirring tool 3a for stirring the substance to be stirred is provided. This does not need to be provided on all the stirring shafts 3 and may be one or two or more.
The revolving member 2 revolves by being rotated by a revolving drive device 4 such as a motor provided on the frame 1. In the figure, pulleys 5 and 6 are fixed to the revolving drive unit 4 and the revolving member 2, respectively, and the belt 7 is wound around these, so that the rotation of the revolving drive unit 4 is revolved.
However, instead of such a belt transmission mechanism, a gear transmission mechanism or another known mechanism may be used. The stirring shaft 3 is rotated by a rotation driving device 8 such as a motor provided on the frame 1 so that the rotation shaft is coaxial with the rotation center of the revolving member 2. In the figure, gears 9 and 10 are fixed to the rotation shaft of the rotation driving device 8 and the stirring shaft 3, respectively, and these are meshed to transmit the rotation of the rotation driving device 8 to the stirring shaft 3. Instead of such a gear transmission mechanism, a belt transmission mechanism or another known mechanism may be used.

Numeral 11 denotes a bottomed cylindrical container disposed on the lower side of the frame 1. The container 11 has a flange formed at the periphery of the opening attached to the periphery of the mounting hole 1 a of the frame 1. Thereby, it is airtightly attached to the frame 1. The container 11 can be divided into two parts in the middle part in order to allow the substance to be stirred in and out.

As shown in FIG. 2, the planetary stirring mixer controls the revolution driving device 4 and the revolution driving device 8 such that the number of revolutions of the stirring shaft 3 or a state quantity related thereto becomes a set value. A control device 12 is provided. here,
The state quantity related to the number of revolutions of the stirring shaft 3 includes the revolution ratio of the stirring shaft 3. As shown in FIG.
2 is a run / stop switch 13 for issuing a run / stop command
Rotation mode selection means 14 for selecting a rotation mode;
Orbit number setting means 15 for setting the number of orbits of the orbiting member 2,
Rotation number setting means 16 for setting the rotation number of the stirring shaft 3 and rotation ratio setting means 17 for setting the rotation number of the stirring shaft 3
And a shift instructing means 18 for instructing a shift,
Revolution detecting means 1 for detecting the number of revolutions of revolution driving device 4
9, a rotation detecting means 20 for detecting the number of rotations of the rotation driving device 8, and a signal received from each of these means 13 to 20 is calculated, and a signal is output to the revolution driving device 4 and the rotation driving device 8. And an arithmetic control unit 21.

For example, a rotary encoder is used as the number-of-revolutions setting means 15, the number-of-revolutions setting means 16, the rotation-ratio setting means 17, and the shift instruction means 18, and a setting pulse corresponding to the set value is sent to the arithmetic control means 21. Can be The speed command signal output from the arithmetic and control unit 21 is DA
After being converted into analog signals by the converters 22 and 23, the signals are sent to the motor drivers 4 a and 8 a of the revolution driving device 4 and the rotation driving device 8. Furthermore, the revolution detecting means 19
The output signal of the rotation detecting means 20 is sent to the motor drivers 4a and 8a to be feedback-controlled so that the revolution driving device 4 and the rotation driving device 8 have the number of rotations according to the speed command signal. It is also sent to the control means 21 and is used for measuring the rotation speed of the revolution driving device 4 and the rotation driving device 8.

In the arithmetic control means 21, the number of revolutions setting means 1
5 and the number of revolutions of the stirring shaft 3 set by the number-of-rotations setting means 16 and the number of revolutions of the rotation shaft of the rotation driving device 8 corresponding thereto are obtained, and the result is obtained as a signal of the speed command. 8 is output. For example, (the number of rotations of the rotation driving device 8) = the number of rotations ± (number of revolutions × R). Here, + indicates that the revolving member 2 and the stirring shaft 3 are rotating in the opposite direction in plan view, and − indicates that the revolving member 2 and the stirring shaft 3 rotate in the same direction in plan view. R is a speed increase ratio between the gears 9 and 10 of the rotating shaft and the stirring shaft 3. The revolution number of the stirring shaft 3 set by the revolution number setting means 15 is output to the revolution driving device 4 as a speed command signal as it is.

Next, the control by the arithmetic control means 21 will be specifically described. First, the rotation mode selection unit 14 selects one rotation mode from the four rotation modes of the free rotation mode, the ratio rotation mode, the correction rotation mode, and the simulated rotation mode. The set values are input to the means 16, the rotation ratio setting means 17, and the shift instructing means 18, and then the operation / stop switch 13 is turned on to issue an operation command, and the revolution driving device 4 and the rotation driving device 8 are operated. At the same time, the control by the arithmetic control means 21 is started. Then, at the end of the work, the operation / stop switch 13 is turned off to stop the operation command.

In the free rotation mode among the four rotation modes, the rotation member 2 is rotated at the set number of revolutions, and the rotation number set as the number of rotations is not the original number of rotations as viewed from the frame 1, but the rotation driving device 8. In this mode, the rotation driving device 8 is controlled so as to be recognized as the set value of the number of rotations and to rotate to the set value. Therefore, the rotation number of the stirring shaft 3 is affected by the rotation of the revolving member 2 in addition to the set rotation number. That is, the correction calculation such as the correction rotation mode is not performed. This is a mode in which an optimum stirring point is searched by mainly adjusting the rotation speed.

The ratio rotation mode is a mode in which the revolution member 2 and the stirring shaft 3 are rotated at a set revolution ratio.
The arithmetic control means 21 feedback-controls the rotation speeds of the revolution driving device 4 and the revolution driving device 8 so that the revolution ratio set by the revolution ratio setting means 17 is obtained. In this case, by operating the shift instructing means 18, the number of revolutions and the number of revolutions can be changed while keeping the revolution number at the set value, and the optimal revolution number and the revolution number can be changed according to the properties of the material to be stirred. The combination of the revolution ratio, the number of revolutions, and the number of revolutions can be searched.

The correction rotation mode is a mode in which the revolving member 2 is rotated at the set number of revolutions and the stirring shaft 3 is rotated at the set number of revolutions.
The number of revolutions of the revolution driving device 4 is feedback-controlled so that the revolution number is set by the revolution number setting means 15, and the revolution driving device 8 is adjusted so that the revolution number is set by the revolution number setting means 16. The number of rotations is feedback controlled. In this case, the number of revolutions and / or the number of revolutions can be changed by operating the shift instructing means 18, and an optimal combination of the number of revolutions and the number of revolutions can be searched for according to the properties of the substance to be stirred. When the number of rotations is set to zero, an operation in which the stirring shaft 3 revolves without rotating can be performed.

The simulated rotation mode is a mode for reproducing a state in which the speed increasing ratio from the revolution driving device 4 to the revolution member 2 and the speed increasing ratio from the rotation driving device 8 to the stirring shaft 3 are changed.

Therefore, in the first embodiment, the revolving drive unit 4 rotates the revolving member 2 and the rotation driving unit 8 rotates the stirring shaft 3.
, The rotation number of the stirring shaft 3 does not match the rotation number of the rotation driving device 8. In this case, the revolution driving device 4 is controlled by the control device 12 so that the number of revolutions of the stirring shaft 3 or a state quantity related thereto becomes a set value.
In addition, since the rotation driving device 8 is controlled, the workability can be greatly improved, and the stirring performance according to the properties of the material to be stirred can be optimized accurately and easily.

Next, a planetary stirring mixer according to a second embodiment will be described. Hereinafter, the description of the first embodiment including the reference numerals will be used as it is, and only the differences between the first embodiment and the first embodiment will be described. In the second embodiment, FIG.
Is the same as that of the first embodiment, but the configuration of the control device 12 is different. As shown in FIG. 3, the planetary stirring mixer according to the second embodiment includes an alarm device 24 that issues an alarm when a set value of a rotation / revolution ratio, which is a ratio obtained by dividing the rotation number by the number of revolutions, is an integer. When the set value of the rotation / revolution ratio, which is a ratio of the number of rotations divided by the number of revolutions, is set to an integer, a correction device 25 for invalidating the setting is provided. That is, when the set value of the revolution ratio input to the rotation ratio setting means 17 of the arithmetic control means 21 is an integer, an alarm is issued by the alarm device 24 and a signal for invalidating the setting is issued by the correction device 25. It is sent to the arithmetic and control unit 21. In this embodiment, both the alarm device 24 and the correction device 25 are provided.
4 and the embodiment including only one of the correction devices 25.

The operation of the second embodiment will be described. First, FIG. 5 shows a trajectory of a point A (see FIG. 1) of the stirrer 3a at a singular point where the rotation and revolution ratio is an integer in a plan view. Point A is offset from the stirring shaft 3 in the radial direction, and is located at the outer peripheral end of the stirring tool 3a. (A) of FIG.
Is when the number of revolutions and the number of revolutions are 2 to 1 and the revolution number is 2; (b) is when the number of revolutions and the number of revolutions is 3 to 1 and the revolution number is 3; The trajectory of the point A when the number and the number of revolutions are 4 to 1 and the revolution ratio is 4 is illustrated. Thus, point A follows the same trajectory for each revolution,
The tracing continues on a series of chrysanthemum flowers in the container 11. Then, a portion (a portion between the stirring shaft 3 and the point A) of the stirrer 3a whose offset amount is shorter than the point A passes through the inside of the closed curve forming the trajectory. Therefore,
The outside of the closed curve of this locus is an area through which the stirrer 3a does not pass. However, if the warning device 24 is provided as in the second embodiment, the user hears this warning and re-inputs a different set value of the revolution ratio to the rotation ratio setting means 17. The setting value can be prevented from becoming an integer. In addition, if the correction device 25 is provided, the set value of the integer revolution ratio is invalidated. Therefore, at this time, the user has to re-input a different revolution value set to the rotation ratio setting means 17. Since it cannot be obtained, it is possible to prevent the set value of the revolution ratio from being an integer. The effect obtained by this will be described in the case of the revolution ratio 4. Point A is the first revolution in the container 11 as shown in FIG.
A locus similar to that in the case of (c) is drawn, but when entering the second revolution, the locus is drawn slightly shifted from the first revolution shown by the solid line as shown by the broken line in FIG. 4B. . Then, as the number of revolutions increases, the trajectories shift and overlap with each other, so that the area becomes denser, and the area of the container 11 through which the stirrer 3a does not pass decreases (see FIG. 4C). For this reason, uneven mixing is less likely to occur in the mixture, and the mixture can be uniformly mixed. Note that, as in this embodiment, the stirring shaft 3
The point B (see FIG. 1), which is offset in the radial direction by the same distance from the point A to the opposite side from the point A, continues to trace the same locus as the point A with a time lag. Will overlap.

In the above embodiment, the revolution driving device 4 and the rotation driving device 8 are controlled in a closed loop, but may be controlled in an open loop such as a feedforward control. In addition, the state quantity related to the number of revolutions of the stirring shaft 3 includes, for example, a difference between the number of revolutions and the number of revolutions in addition to the revolution ratio of the stirring shaft 3. Further, in the above embodiment, the revolving drive device and the revolving drive device are controlled by the control device such that the number of revolutions of the stirring shaft or a state quantity related thereto becomes a set value. An embodiment in which one of the rotation drive devices is maintained at a desired set rotation speed and the other drive device is controlled such that the rotation speed of the stirring shaft or a state quantity related thereto becomes a set value. including.

[0028]

As described above, according to the planetary stirring mixer of the first aspect, the stirring shaft and the revolving member are rotated by different driving devices, and the number of revolutions or the revolution ratio of the stirring shaft is controlled. Since the number of revolutions of the revolving drive unit and the rotation drive unit is controlled to be the set value, it is possible to accurately and easily optimize the stirring performance according to the properties of the material to be stirred while greatly improving workability. It can be carried out.

According to the second aspect of the present invention, since the stirrer moves in the container with its trajectory slightly shifted for each revolution, it is difficult to form an area in the container where the stirrer does not pass. Uneven mixing is less likely to occur in the mixture, and the mixture can be uniformly mixed.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view showing a planetary stirring mixer according to a first embodiment.

FIG. 2 is a block diagram illustrating a configuration of a control system according to the first embodiment.

FIG. 3 is a block diagram illustrating a configuration of a control system according to a second embodiment.

FIG. 4 is an explanatory diagram showing a locus of one point on an outer peripheral end of a stirrer according to a second embodiment.

FIG. 5 is an explanatory diagram showing a locus of one point on the outer peripheral end of the stirrer at a singular point.

FIG. 6 is a longitudinal sectional view showing a conventional example.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 frame 2 orbiting member 3 stirring shaft 4 orbital driving device 8 rotation driving device 12 control device 24 alarm device 25 correction device

Claims (2)

[Claims] A revolving member rotatably supported by a frame, a stirring shaft offset from a rotation center of the revolving member and rotatably supported by the revolving member, and a revolving member provided on the frame for rotating the revolving member. A rotation driving device, a rotation driving device provided on the frame and rotating the stirring shaft via a transmission mechanism, and a revolution driving device and a rotation driving device so that the rotation number of the stirring shaft or a state quantity related thereto becomes a set value. A planetary mixer comprising a control device for controlling a diversion drive device. 2. The planetary stirring mixer according to claim 1, wherein an alarm is issued when a set value of a rotation / revolution ratio, which is a ratio obtained by dividing the rotation number by the number of revolutions, is set to an integer, or a setting thereof. Planetary agitator-mixer equipped with a compensating device for invalidating