JP2021003837A - Agitation mixing granulator - Google Patents

Abstract

To automatize the scraping operation of the treated product of granules stuck to the inside of a treatment container in an agitation mixing granulator.SOLUTION: An agitation mixing granulator 1 comprises an articulation robot 6 arranged at the outside of a treatment container 2. The articulation robot 6 comprises a robot arm 6a movable in an optional direction in a three-dimensional space, an imaging device held by the robot arm 6a and a scraping fixture 14 held by the robot arm 6a. After the treatment of granules, by the movement of the robot arm 6a, the inside of the treatment container 2 is imaged by the imaging device. Then, based on the imaged result, by the movement of the robot arm 6a, the treated product of the granules stuck to the inside of the treatment container 2 is scraped by the scraping fixture 14.SELECTED DRAWING: Figure 2

Description

The present invention relates to a stirring and mixing granulator that binds and granulates powders and granules of pharmaceuticals, foods, pesticides and the like.

A stirring and mixing granulator is used to combine and granulate powders, particles of pharmaceuticals, foods, pesticides, etc. (hereinafter, these are collectively referred to as powders and granules) (hereinafter, these are collectively referred to as powders and granules). For example, see Patent Documents 1 to 3). This stirring and mixing granulator usually includes a processing container for accommodating the powder or granular material to be processed inside, and a stirring blade arranged at the bottom of the processing container.

Japanese Unexamined Patent Publication No. 2011-245415 Japanese Unexamined Patent Publication No. 7-8782 Japanese Unexamined Patent Publication No. 5-115766

By the way, in this stirring and mixing granulator, after the treatment (granulation) of the powder or granular material, the processed product of the powder or granular material is often adhered to the inside of the processing container. Conventionally, in order to improve the production amount of the processed product, the worker manually scrapes the adhered processed product with a jig and adds it to the normal processed product. However, from the viewpoint of production efficiency, automation of this scraping work has been required.

In view of the above circumstances, it is a technical subject of the present invention to automate the scraping operation of the processed product of the powder or granular material adhering to the inside of the processing container in the stirring and mixing granulation apparatus.

The stirring and mixing granulator according to the present invention, which was devised to solve the above problems, includes a processing container for internally containing the powder or granular material to be processed, and a stirring blade arranged at the bottom of the processing container. A stirring and mixing granulator equipped with a robot arm provided with a joint robot arranged outside the processing container, and the joint robot is held by a robot arm that can move in an arbitrary direction in a three-dimensional space and the robot arm. It has an image pickup device and a scraping jig held by the robot arm, and after processing the powder or granular material, the robot arm operates to image the inside of the processing container with the image pickup device, and the image pickup device. It is characterized in that the processed product of the powder or granular material adhering to the inside of the processing container is scraped by the scraping jig by the operation of the robot arm based on the imaging result of the above.

With this configuration, the processed product of the powder or granular material adhering to the processing container can be scraped off by the scraping jig held by the robot arm of the joint robot. Therefore, in the stirring and mixing granulator, it is possible to automate the scraping operation of the processed product of the powder or granular material adhering to the inside of the processing container. Further, since the scraping is performed based on the imaging result, it is possible to intensively scrape the portion where the processed product of the powder or granular material adheres, and thereby efficiently scraping. it can.

In the above configuration, the robot arm can hold the cleaning jig, and after cleaning the inside of the processing container, the robot arm operates to image the inside of the processing container with the image pickup device, and the image pickup of the image pickup device is performed. Based on the result, the cleaning residue in the processing container may be cleaned by the operation of the robot arm holding the cleaning jig.

With this configuration, the cleaning residue in the processing container can be cleaned by the cleaning jig held by the robot arm of the joint robot. Further, since the cleaning is performed based on the imaging result, it is possible to intensively perform the cleaning on the portion having a large amount of cleaning residue, whereby the cleaning can be performed efficiently.

According to the present invention, in the stirring and mixing granulator, it is possible to automate the scraping operation of the processed product of the powder or granular material adhering to the inside of the processing container.

It is a schematic perspective view of the stirring mixing granulation apparatus which concerns on embodiment of this invention. It is an enlarged side view of the main part of a stirring mixing granulation apparatus. It is a schematic cross-sectional view which shows the state of the discharge part, (A) is the figure which shows the state which does not discharge, and (B) is the figure which shows the state which discharges. It is a flowchart which shows the whole discharge process. It is a flowchart which shows the process in the discharge process B. It is a schematic plan view which shows the stop position 1 of a stirring blade. It is a schematic cross-sectional view which shows the state of taking an image of the inside of a processing container by a robot. It is the schematic sectional drawing which shows the state of scraping the inside of a processing container by a robot. It is a flowchart which shows the process in the discharge process C. It is a schematic plan view which shows the stop position 2 of a stirring blade. It is a schematic plan view which shows the stop position 3 of a stirring blade. It is a schematic plan view which shows the stop position 4 of a stirring blade. It is a flowchart which shows the process in the discharge process D. It is schematic cross-sectional view which shows the state of cleaning the cleaning residue in a processing container by a robot. It is the schematic sectional drawing which shows the state of drying the inside of a processing container by a robot. It is a schematic perspective view of the stirring mixing granulation apparatus which concerns on the modification of this invention.

FIG. 1 is a schematic perspective view of the stirring and mixing granulator according to the embodiment of the present invention, and FIG. 2 is an enlarged side view of a main part of the stirring and mixing and granulating device. The stirring / mixing / granulating apparatus 1 includes a processing container 2 that internally houses the powder or granular material to be processed, a stirring blade 3 arranged at the bottom (bottom surface 2a) of the processing container 2, and a side surface of the processing container 2. The crushing blade (cross screw 4) arranged in the processing container 2, the discharging unit 5 arranged on the side of the processing container 2, the joint robot 6 arranged outside the processing container 2, and the processing of powder or granular material. A control unit 7 for controlling the joint robot 6 and the like is provided as a main component.

The stirring and mixing granulator 1 processes the powder or granular material in the processing container 2 as follows. While supplying the binder into the processing container 2 from the binder supply unit (not shown), the powder or granular material is stirred by the stirring blade 3 and the cross screw 4 to bond the powder or granular material and granulate. More specifically, when the stirring blade 3 is rotated, the powder or granular material in the processing container 2 is stirred, and the stirred powder or granular material is appropriately agglomerated by the supplied binder, while the cross-screw 4 is used. It is appropriately sheared and gradually granulated to a desired particle size.

The processing container 2 is attached to the container body 8 having an opening 8a at the upper end and the opening 8a of the container body 8 via a rotation mechanism 9, and the opening 8a is opened by a vertical rotation operation with respect to the container body 8. It has a lid portion 10 that can be opened and closed. The rotating mechanism 9 is arranged on one end side of the lid portion 10, and is a kind of hinge in the present embodiment. Further, the lid portion 10 can be fixed by the clamp mechanism 11 in a closed state.

As shown in FIGS. 3A and 3B, in the container body 8 of the processing container 2, the portion where the discharge portion 5 is arranged is discharged to discharge the processed product of the powder or granular material. An exit 12 is provided. The discharge portion 5 is provided with a cylinder mechanism 5a, and the closing portion 5b opens and closes the discharge port 12 by the expansion / contraction operation of the cylinder mechanism 5a. A discharge opening 5c is provided in the lower part of the discharge portion 5, and the processed product of the powder or granular material discharged from the discharge port 12 is discharged from the discharge portion 5 through the discharge opening 5c.

The articulated robot 6 is a 6-axis vertical articulated robot in the present embodiment, but the present invention is not limited thereto. The joint robot 6 has a robot arm 6a whose tip portion 6b can move in an arbitrary direction in a three-dimensional space. The tip portion 6b of the robot arm 6a can automatically attach / detach an image pickup device 13 (see FIG. 7) such as a digital camera and a plurality of types of jigs.

In the present embodiment, the jigs held by the tip portion 6b of the robot arm 6a are a scraping jig 14, a lid opening / closing jig 15, a cleaning jig 16, and a drying jig 17 (FIGS. 1 and 2). , FIG. 8, FIG. 14, FIG. 15). As shown in FIG. 1, the jig held by the tip portion 6b of the robot arm 6a is arranged at a predetermined position in the vicinity of the joint robot 6 before use. Note that, in FIG. 1, only the scraping jig 14 and the lid opening / closing jig 15 are shown, and the image pickup device 13 and other jigs are not shown.

As shown in FIG. 2, the scraping jig 14 has a spatula portion 14a for scraping the processed product of the powder or granular material. The spatula portion 14a is formed of, for example, a resin such as polyethylene.

Next, a method of discharging the processed product of the powder or granular material from the stirring and mixing granulator 1 after completing the treatment of the powder or granular material will be described.

As shown in FIG. 4, the steps of discharging the powder or granular material treated product (hereinafter referred to as the treated product) from the stirring and mixing granulator 1 are the discharge step A and the discharge step B (first discharge step). , The discharge step C (scraping step) and the discharge step D (second discharge step) are provided in this order.

In the discharge step A, first, as shown in FIG. 3B, the closing portion 5b is detached from the discharge port 12 of the processing container 2 by the degenerate operation of the cylinder mechanism 5a, and the discharge port 12 is opened. After that, the stirring blade 3 is continuously rotated at high speed, and the processed product is discharged from the discharge port 12 by centrifugal force.

In the discharge step B, after the discharge step A, the processed product adhering to the inside of the processing container 2 is scraped off by the scraping jig 14 by the operation of the robot arm 6a of the joint robot 6, and then the stirring blade 3 is continuously moved. By rotating, the processed product is discharged from the discharge port 12.

More specifically, as shown in FIG. 5, first, the stirring blade 3 at the position where it naturally stopped after the continuous rotation of the discharge step A is rotated and stopped at the stop position 1 (S1) (see FIG. 6). The rotation direction d of the stirring blade 3 is counterclockwise in a plan view. Further, the stirring blade 3 is inclined so as to gradually approach the bottom surface 2a of the processing container 2 as it moves forward in the rotation direction.

As shown in FIG. 6, the bottom surface 2a of the processing container 2 is partitioned into three compartment regions Ra, Rb, and Rc by the stirring blades 3 (first to third stirring blades 3a to 3c). Of the stirring blades 3, the partition region formed by the first stirring blade 3a and the second stirring blade 3b is Rb, and the partition region formed by the second stirring blade 3b and the third stirring blade 3c is Rc, the third. The partition region formed by the stirring blade 3c and the first stirring blade 3a is Ra. In the present invention, the partition regions Ra, Rb, and Rc move with the rotational movement of the stirring blade 3.

Next, by the operation of the robot arm 6a of the joint robot 6, the clamp mechanism 11 is operated by the lid opening / closing jig 15, and the fixing of the lid 10 by the clamp mechanism 11 is released. After that, by the operation of the robot arm 6a of the joint robot 6, the lid portion 10 is opened by 45 ° with the lid portion opening / closing jig 15, and the lid portion 10 is fixed by a fixing mechanism (not shown) (S2).

After that, the image pickup device 13 captures the inner surface 10a of the lid 10 by the operation of the robot arm 6a of the joint robot 6 (S3).

Then, based on the imaging result of the imaging device 13, the scraping jig 14 scrapes off the processed product adhering to the inner side surface 10a of the lid portion 10 by the operation of the robot arm 6a of the joint robot 6 (S4). At this time, the portion of the inner side surface 10a of the lid portion 10 to which the treated product adheres is intensively scraped off.

Next, the lid 10 is released from the fixing mechanism, the lid 10 is opened to 90 ° by the lid opening / closing jig 15 by the operation of the robot arm 6a of the joint robot 6, and the lid 10 is opened again by the fixing mechanism. Is fixed (S5).

After that, the inside of the container body 8 is imaged by the image pickup device 13 by the operation of the robot arm 6a of the joint robot 6 (S6) (see FIG. 7).

Then, based on the imaging result of the imaging device 13, the processing product adhering to the inside of the container body 8 is scraped off by the scraping jig 14 by the operation of the robot arm 6a of the joint robot 6 (S7) (see FIG. 8). .. At this time, the portion inside the container body 8 where the treated product adheres a lot is mainly scraped off. At this time, the parts where the processed product is scraped off inside the container body 8 are the side surface 8b inside the container body 8, the R portion 8c between the side surface 8b and the bottom surface 2a, the stirring blade 3, and the boss of the stirring blade 3. Part 3d (see FIG. 2).

Next, the lid portion 10 is released from the fixing mechanism, and the lid portion 10 is closed by the lid portion opening / closing jig 15 by the operation of the robot arm 6a of the joint robot 6. Then, by the operation of the robot arm 6a of the joint robot 6, the clamp mechanism 11 is operated by the lid opening / closing jig 15 to fix the lid 10 by the clamp mechanism 11 (S8).

After that, the stirring blade 3 is continuously rotated at high speed (S9). Then, the treated product is discharged from the discharge port 12 by centrifugal force. After the discharge step A, the discharge port 12 of the processing container 2 remains in the open state.

In the discharge step C, after the discharge step B, with the stirring blade 3 stopped at a predetermined position, the scraping jig is operated by the robot arm 6a of the joint robot 6 with respect to the compartment areas Ra, Rb, and Rc. The processed product is scraped off at 14.

More specifically, as shown in FIG. 9, first, the stirring blade 3 at the position where it naturally stopped after the continuous rotation of the discharge step B is rotated and stopped at the stop position 1 (S10) (see FIG. 6).

Next, by the operation of the robot arm 6a of the joint robot 6, the clamp mechanism 11 is operated by the lid opening / closing jig 15, and the fixing of the lid 10 by the clamp mechanism 11 is released. After that, by the operation of the robot arm 6a of the joint robot 6, the lid portion 10 is opened by 90 ° with the lid portion opening / closing jig 15, and the lid portion 10 is fixed by a fixing mechanism (not shown) (S11).

After that, the inside of the container body 8 is imaged by the image pickup device 13 by the operation of the robot arm 6a of the joint robot 6 (S12) (see FIG. 7).

Then, based on the imaging result of the imaging device 13, the processed product adhered to the inside of the container body 8 by the scraping jig 14 with respect to the compartmentalized areas Ra, Rb, and Rc by the operation of the robot arm 6a of the joint robot 6. It is scraped off, and the processed product scraped off by the scraping jig 14 is scraped off toward the rotation center side (center side of the bottom surface 2a) of the stirring blade (S13) (see FIG. 8). At this time, the portion inside the container body 8 where the treated product adheres a lot is mainly scraped off. In the present embodiment, as shown by the arrow a1 in FIG. 6, the scraping of the bottom surface 2a of the treated product toward the center is performed along the radial direction of the bottom surface 2a, and the treated product is inside the central portion Cp. To move. The radius of the central portion Cp is, for example, 1/2 to 1/3 of the radius of the bottom surface 2a.

At this time, the parts where the processed product is scraped off inside the container body 8 are the lower portion of the side surface 8b and the R portion 8c inside the container body 8. This is because the treated product adheres to these parts due to the centrifugal force of the continuous rotation of the stirring blade 3 in the discharge step B. Further, scraping of the processed product by the scraping jig 14 and scraping to the center side of the bottom surface 2a are continuously performed at each position in the circumferential direction inside the container body 8.

In the discharge step D, after the discharge step C, as shown in FIG. 10, the stirring blade 3 is rotated by a predetermined angle, the partition region Ra is stopped at the discharge position P connected to the discharge port 12, and the joint robot is in the partition region Ra. By the operation of the robot arm 6a of No. 6, the scraping jig 14 scrapes the processed product to the discharge port 12 and discharges it.

After that, as shown in FIGS. 11 and 12, the stirring blade 3 is intermittently rotated so that the remaining partition regions Rb and Rc sequentially stop at the discharge position P, and the partition regions stop at the discharge position P. In Rb and Rc, the processed product is scraped to the discharge port 12 by the scraping jig 14 by the operation of the robot arm 6a of the joint robot 6 and discharged.

More specifically, as shown in FIG. 13, first, after the discharge step C, the stirring blade 3 at the stop position 1 is stopped at the stop position 2 by rotating the stirring blade 3 by a predetermined angle (S14) (FIG. 10). reference). As a result, the processed products collected on the center side of the bottom surface 2a of the partition regions Ra, Rb, and Rc in the discharge step C are moved by each of the stirring blades 3. At the stop position 2, the compartment area Ra is at the discharge position P connected to the discharge port 12. At the stop position 2, the first stirring blade 3a is located in the circumferential direction near the rear in the rotational direction with respect to the circumferential position of the discharge port 12.

After that, by the operation of the robot arm 6a of the joint robot 6, the image pickup device 13 images the partition region Ra and the first stirring blade 3a (S15) (see FIG. 7).

Then, based on the imaging result of the imaging device 13, in the partition region Ra and the first stirring blade 3a, by the operation of the robot arm 6a of the joint robot 6, the scraping jig 14 is used as shown by the arrow a2 in FIG. The processed product is scraped to the discharge port 12 and discharged (S16) (see FIG. 8). At this time, scraping is performed intensively on the portions of the section region Ra and the first stirring blade 3a where there are many processed products.

In the present embodiment, the portions where the processed product is scraped off by the partition region Ra and the first stirring blade 3a are a region near the bottom surface 2a in front of the first stirring blade 3a in the rotation direction and a region in front of the first stirring blade 3a in the rotation direction. It is a part. This is because when the stirring blade 3 is moved to the stop position 2, the processed products are gathered in these regions and parts due to the movement of the first stirring blade 3a.

Next, the stirring blade 3 at the stop position 2 is rotated by 120 ° to stop at the stop position 3 (S17) (see FIG. 11). As a result, the processed products collected on the center side of the bottom surface 2a of the compartment areas Rb and Rc in the discharge step C are moved by the second and third stirring blades 3b and 3c. At the stop position 3, the compartment area Rb is at the discharge position P connected to the discharge port 12. At the stop position 3, the second stirring blade 3b is located in the circumferential direction near the rear in the rotational direction with respect to the circumferential position of the discharge port 12.

After that, by the operation of the robot arm 6a of the joint robot 6, the image pickup device 13 images the partition region Rb and the second stirring blade 3b (S18) (see FIG. 7).

Then, based on the imaging result of the imaging device 13, the scraping jig 14 is used in the partition region Rb and the second stirring blade 3b by the operation of the robot arm 6a of the joint robot 6 as shown by the arrow a3 in FIG. The processed product is scraped to the discharge port 12 and discharged (S19) (see FIG. 8). At this time, the portions of the section region Rb and the second stirring blade 3b where there are many processed products are intensively scraped.

In the present embodiment, the portions where the processed product is scraped off by the partition region Rb and the second stirring blade 3b are a region near the front surface of the second stirring blade 3b in the rotation direction on the bottom surface 2a and a region forward in the rotation direction of the second stirring blade 3b. It is a part. This is because when the stirring blade 3 is moved to the stop position 3, the processed products are gathered in these regions and parts due to the movement of the second stirring blade 3b.

Next, the stirring blade 3 at the stop position 3 is rotated by 120 ° to stop at the stop position 4 (S20) (see FIG. 12). As a result, the processed product scraped to the center side of the bottom surface 2a of the partition region Rc in the discharge step C is moved by the third stirring blade 3c. At the stop position 4, the compartment area Rc is at the discharge position P connected to the discharge port 12. At the stop position 4, the third stirring blade 3c is located in the circumferential direction near the rear in the rotational direction with respect to the circumferential position of the discharge port 12.

After that, by the operation of the robot arm 6a of the joint robot 6, the image pickup device 13 images the partition region Rc and the third stirring blade 3c (S21) (see FIG. 7).

Then, based on the imaging result of the imaging device 13, the scraping jig 14 is used in the partition region Rc and the third stirring blade 3c by the operation of the robot arm 6a of the joint robot 6 as shown by the arrow a4 in FIG. The processed product is scraped to the discharge port 12 and discharged (S22) (see FIG. 8). At this time, scraping is performed intensively on the portions of the partition region Rc and the third stirring blade 3c where there are many treated products.

In the present embodiment, the portions where the processed product is scraped off by the partition region Rc and the third stirring blade 3c are a region near the bottom surface 2a in front of the third stirring blade 3c in the rotation direction and a region in front of the third stirring blade 3c in the rotation direction. It is a part. This is because when the stirring blade 3 is moved to the stop position 4, the processed products are gathered in these regions and parts due to the movement of the third stirring blade 3c.

This completes the process of discharging the processed product from the stirring / mixing / granulating apparatus 1 (discharging steps A to D).

Next, the operation of the stirring and mixing granulator 1 in the washing step will be described.

After cleaning by the reservoir washing operation in the processing container 2, as shown in FIG. 7, the robot arm 6a of the joint robot 6 causes the image pickup device 13 to move the inside of the processing container 2 (the inner side surface 10a of the lid 10 and the container body 8). (Inside) is imaged.

Then, as shown in FIG. 14, based on the imaging result of the imaging device 13, the robot arm 6a of the articulated robot 6 causes the cleaning jig 16 to move inside the processing container 2 (the inner side surface 10a of the lid 10 and the container body). 8) Wash the washing residue. At this time, the portion inside the container body 8 having a large amount of cleaning residue is intensively cleaned. In the present embodiment, the cleaning jig 16 is a cleaning nozzle and ejects a cleaning liquid.

When the opening degree of the lid 10 is 45 ° in the case of imaging the inner surface 10a of the lid 10 and cleaning the cleaning residue as in the discharge step B, and in the case of imaging the inside of the container body 8 and cleaning the cleaning residue. It is preferable that the opening degree of the lid portion 10 of the above is 90 °.

After the imaging of the inside of the processing container 2 (the inner side surface 10a of the lid 10 and the inside of the container body 8) and the cleaning of the cleaning residue are completed, again, as shown in FIG. 7, the robot arm 6a of the joint robot 6 is operated. The inside of the processing container 2 (the inner side surface 10a of the lid 10 and the inside of the container body 8) is imaged by the image pickup device 13.

Then, as shown in FIG. 15, based on the imaging result of the imaging device 13, the robot arm 6a of the joint robot 6 operates inside the processing container 2 (the inner side surface 10a of the lid 10 and the container body) by the drying jig 17. The cleaning solution adhering to (inside 8) is dried. At this time, the portion inside the container body 8 to which a large amount of cleaning liquid is attached is mainly dried. In the present embodiment, the drying jig 17 is an air blow nozzle that ejects air.

In the stirring / mixing / granulating apparatus 1 configured as described above, the processed product adhering to the processing container 2 can be scraped off by the scraping jig 14 held by the robot arm 6a of the joint robot 6. Therefore, in the stirring and mixing granulation apparatus 1, it is possible to automate the scraping operation of the processed product adhering to the processing container 2. Further, since the scraping is performed based on the imaging result, the scraping can be performed intensively on the portion where the processed product adheres a lot, whereby the scraping can be performed efficiently.

The present invention is not limited to the above embodiment, and various modifications can be made within the scope of its technical idea. For example, when treating powders and granules such as highly pharmacologically active drugs and chemical substances harmful to the human body, in order to protect workers and prevent contamination of the external environment, as shown in FIG. The device 1 may include a work room R that is airtightly isolated from the external environment. In this case, the processing container 2, the discharge unit 5, the joint robot 6, the scraping jig 14, the lid opening / closing jig 15, and the like are arranged inside the work room R. Then, the stirring and mixing granulator 1 performs all the work in the work room R, including the charging of the powder or granular material into the processing container 2 and the movement of the processed product discharged from the discharge unit 5, the joint robot 6 It is configured so that it can be done by.

Further, in the above embodiment, the image pickup device 13 is used for imaging by the operation of the robot arm 6a in the discharge step and the cleaning step. However, for example, the robot is used for the operation preparation and maintenance of the stirring and mixing granulation device 1. The image pickup device 13 may perform an image by the operation of the arm 6a, and the presence or absence of an abnormality in the portion may be determined based on the image pickup result.

1 Stirring and mixing granulator 2 Processing container 2a Bottom (bottom)
3,3a, 3b, 3c Stirring blade 6 Joint robot 6a Robot arm 13 Imaging device 14 Scraping jig 16 Cleaning jig

Claims (2)

In a stirring and mixing granulator equipped with a processing container for accommodating powders and granules to be processed inside and a stirring blade arranged at the bottom of the processing container.
It is equipped with a joint robot placed outside the processing container.
The joint robot has a robot arm that can move in an arbitrary direction in a three-dimensional space, an imaging device held by the robot arm, and a scraping jig held by the robot arm.
After processing the powder or granular material, the inside of the processing container is imaged by the imaging device by the operation of the robot arm.
Based on the imaging result of the imaging device, the stirring and mixing granulation apparatus is characterized in that the processed product of the powder or granular material adhering to the inside of the processing container is scraped by the operation of the robot arm. .. The robot arm can hold the cleaning jig and
After cleaning the inside of the processing container, the inside of the processing container is imaged by the imaging device by the operation of the robot arm.
The first aspect of claim 1, wherein the cleaning jig is used to clean the cleaning residue in the processing container by the operation of the robot arm holding the cleaning jig based on the imaging result of the imaging device. Stirring and mixing granulator.