JP5100268B2 - Granule supply system - Google Patents

Description

  The present invention relates to a granular material supply system.

As a conventional powder supply system, in a state where a container for receiving powder is placed on a measuring instrument arranged below the powder supply device, until the measurement result of the measuring instrument reaches a predetermined value, What is comprised so that a granular material may be supplied to a container from a granular material supply apparatus is known (for example, refer patent document 1).
JP 2004-251683 A (paragraphs [0027] to [0030], FIG. 1)

  However, in the above-described conventional granular material supply system, containers are placed on the weighing instrument one by one and weighed. Therefore, when distributing granular materials to a plurality of containers, the containers are loaded and unloaded onto the weighing instrument. And it took time for the taring to go with it, and the efficiency was bad.

  This invention is made | formed in view of the said situation, and aims at provision of the granular material supply system which can distribute and supply a granular material to a some distribution container efficiently from a granular material supply apparatus.

In order to achieve the above object, the powder supply system according to the first aspect of the present invention includes a container rotating member in a powder container containing the powder, and rotates the container rotating member. A powder supply device capable of driving and discharging powder particles downward from a particle discharge port provided on the lower surface of the particle storage container, and a robot capable of positioning and controlling the particle supply device at an arbitrary position And a plurality of distribution containers whose upper surfaces are open and positioned, and a distribution container measuring device capable of measuring the mass of all of the plurality of distribution containers. The granular material discharge port is sequentially positioned and controlled at a position facing the opening of each distribution container, and a predetermined target supply amount of granular material is supplied from the granular material supply device to each distribution container. Judgment whether the supply amount of the granular material to the distribution container has reached the target supply amount And the granular material supply system for based on the change in the dispensing container meter of the weighing result, granular material container has a large diameter cylindrical portion and, its is arranged below the large-diameter portion larger cylindrical portion A small-diameter cylindrical portion having a smaller inner diameter, and a flat intermediate step wall that joins between the lower end portion of the side wall of the large-diameter cylindrical portion and the upper end portion of the side wall of the small-diameter cylindrical portion, The granular rotating material is discharged from the lower surface opening of the small-diameter cylindrical portion, and the in-container rotating member is overlapped with the upper surface of the intermediate step wall and has an annular gap with the inner peripheral surface of the large-diameter cylindrical portion, and has a small diameter. The upper opening of the cylinder part and its periphery are covered from above, and the container inner rotating disk that is driven to rotate about the axis of the small diameter cylinder part, and the outer edge of the upper surface of the intermediate step wall provided on the lower surface of the container inner rotating disk While sliding up the granular material deposited on the part, it slides on the intermediate step wall and puts the granular material on the upper surface of the intermediate step wall. The guide part that guides from the outer edge part to the small diameter cylindrical part, and the lower step of the in-container rotating disk, slides on the intermediate step wall together with the granular material that could not fit into the small diameter cylindrical part, and these powders It is characterized in that it comprises a guide part for guiding the granules from the central part of the inner rotating disk to the outer edge part and to the outer edge part on the upper surface of the intermediate step wall .

In order to achieve the above object, the powder supply system according to the second aspect of the present invention includes a container rotating member in a powder container containing the powder, and rotates the container rotating member. A powder supply device capable of driving and discharging powder particles downward from a particle discharge port provided on the lower surface of the particle storage container, and a robot capable of positioning and controlling the particle supply device at an arbitrary position And a plurality of distribution containers whose upper surfaces are open and positioned, and a distribution container measuring device capable of measuring the mass of all of the plurality of distribution containers. The granular material discharge port is sequentially positioned and controlled at a position facing the opening of each distribution container, and a predetermined target supply amount of granular material is supplied from the granular material supply device to each distribution container. Judgment whether the supply amount of the granular material to the distribution container has reached the target supply amount In the granular material supply system that performs the measurement based on the change in the measurement result of the distribution container weighing device, the granular material container is disposed below the large diameter cylindrical portion and the large diameter cylindrical portion. A small-diameter cylindrical portion having a smaller inner diameter, and a flat intermediate step wall that joins between the lower end portion of the side wall of the large-diameter cylindrical portion and the upper end portion of the side wall of the small-diameter cylindrical portion, A screen having a plurality of granular material passage holes that can be closed by a granular arch formed by adhering the granular materials in the small diameter cylindrical portion while discharging the granular material from the lower surface opening of the small diameter cylindrical portion A wall is provided, and the rotating member in the container is overlapped with the upper surface of the intermediate stepped wall and has an annular gap between the inner peripheral surface of the large-diameter cylindrical portion, and the upper-surface opening of the small-diameter cylindrical portion and its periphery from above Covering and rotating on the axis of the small-diameter cylindrical portion, the container inner rotating disk, and provided on the lower surface of the container inner rotating disk An introduction guide unit that slides on the intermediate step wall while collecting the powder particles accumulated on the outer edge portion on the upper surface of the intermediate step wall and guides the powder particles from the outer edge portion on the upper surface of the intermediate step wall to the small diameter cylindrical portion. And the powder that has formed the granular arch by extending from the lower surface of the inner rotating disk toward the screen wall and turning in the small-diameter cylindrical portion with the rotation of the inner rotating disk to apply an external force to the granular arch. It is characterized in that it is provided with arch crushing legs for forcibly dropping the granule downward from the granule passage hole .

In order to achieve the above object, the powder supply system according to the invention of claim 3 is provided with an in-container rotating member in a granular material containing container containing the granular material, and rotates the in-container rotating member. A powder supply device capable of driving and discharging powder particles downward from a particle discharge port provided on the lower surface of the particle storage container, and a robot capable of positioning and controlling the particle supply device at an arbitrary position And a plurality of distribution containers whose upper surfaces are open and positioned, and a distribution container measuring device capable of measuring the mass of all of the plurality of distribution containers. The granular material discharge port is sequentially positioned and controlled at a position facing the opening of each distribution container, and a predetermined target supply amount of granular material is supplied from the granular material supply device to each distribution container. Judgment whether the supply amount of the granular material to the distribution container has reached the target supply amount In the granular material supply system that performs the measurement based on the change in the measurement result of the distribution container weighing device, the granular material container is disposed below the large diameter cylindrical portion and the large diameter cylindrical portion. A small-diameter cylindrical portion having a smaller inner diameter, and a flat intermediate step wall that joins between the lower end portion of the side wall of the large-diameter cylindrical portion and the upper end portion of the side wall of the small-diameter cylindrical portion, The granular rotating material is discharged from the lower surface opening of the small-diameter cylindrical portion, and the in-container rotating member is overlapped with the upper surface of the intermediate step wall and has an annular gap with the inner peripheral surface of the large-diameter cylindrical portion, and has a small diameter. The upper opening of the cylinder part and its periphery are covered from above, and the container inner rotating disk that is driven to rotate about the axis of the small diameter cylinder part, and the outer edge of the upper surface of the intermediate step wall provided on the lower surface of the container inner rotating disk While sliding up the granular material deposited on the part, it slides on the intermediate step wall and puts the granular material on the upper surface of the intermediate step wall. An opening / closing member capable of opening and closing the lower surface opening of the small diameter cylindrical portion, and closing the lower surface opening of the small diameter cylindrical portion with the opening / closing member. By rotating and driving the in-container rotating disk, the granular material is accumulated in the small-diameter cylindrical portion, and the lower-surface opening of the small-diameter cylindrical portion is opened by the opening / closing member to once accumulate the granular particles in the small-diameter cylindrical portion. It has a feature in that it can be discharged .

According to a fourth aspect of the present invention, in the granular material supply system according to any one of the first to third aspects, the robot is replaced with a plurality of granular material supply devices that contain different granular materials. And a device holding unit that can hold the target, and a target supply amount is set for each different granular material, and a different granular material is supplied to each distribution container for each target supply amount and stacked. .

[Inventions of Claims 1, 2 , and 3 ]
According to the invention of claim 1, 2, 3, powder or granular material feeder, while being positioned controlled to an arbitrary position in the robot, granular material inside the vessel the vessel rotated at member granular material feeder Rotates so that the granular material is discharged from the granular material discharge port. When distributing granular materials to a plurality of distribution containers, place the plurality of distribution containers in a state where they are positioned on the distribution container measuring device, and use a robot to place the powder at a position facing the opening of each distribution container. The granular material discharge port of the granular material supply device is sequentially positioned and controlled to supply a predetermined target supply amount of granular material from the granular material supply device to each distribution container. Since the determination of whether or not the supply amount of the granular material to each distribution container has reached the target supply amount is made based on the change in the measurement result of the distribution container meter, the distribution container to the distribution container meter It is possible to save time for loading and unloading and taring associated therewith, and to distribute and supply the granular material to the distribution container more efficiently than before.

According to the invention of claim 1, when the in-container rotating disk rotates, the granular material deposited on the outer edge portion of the intermediate step wall of the granular material containing container is provided on the lower surface of the in-container rotating disk. It is taken in below the in-container turntable by the guide. As the in-container turntable rotates, the introduction guide part slides on the intermediate step wall while pushing the granular material taken in the lower part of the in-container turntable. Guide from the outer edge to the small diameter tube. Thereby, a granular material is discharged | emitted from a granular material discharge port.

Here, if the amount of the granular material guided to the small diameter cylindrical portion by the introduction guide portion is excessive and a part of the guided granular material does not completely enter the small diameter cylindrical portion, The lead-out guide part extending from the center part of the lower surface of the rotating disk to the outer edge part slides on the bottom wall of the powder-containing container while pushing the powder that has not entered, so that the powder-like substance Is guided from the center of the inner rotating disk to the outer edge and the outer edge of the intermediate step wall. Thereby, clogging of a small diameter cylinder part (powder body discharge port) can be prevented.

According to the invention of claim 2, when the in-container rotating disk rotates, the granular material deposited on the outer edge portion of the intermediate step wall of the granular material containing container is introduced on the lower surface of the in-container rotating disk. It is taken in below the in-container turntable by the guide part. As the in-container turntable rotates, the introduction guide part slides on the intermediate step wall while pushing the granular material taken in the lower part of the in-container turntable. Guide from the outer edge to the small diameter tube.

A screen wall is provided in the small-diameter cylindrical portion, and the granular material passage hole formed through the screen wall can be closed by a granular arch in which the granular materials adhere to each other. When the member is stopped, the granular material does not pass through the granular material passage hole. That is, the granular material is not discharged from the granular material discharge port.

On the other hand, when the in-container rotating member rotates, the arch crushing leg turns inside the small-diameter cylindrical portion, the granular arch is broken, and the granular material constituting the granular arch is the granular material. Pass through the passage hole. That is, the granular material is discharged from the granular material discharge port. Further, as soon as the lower end of the arch crushing leg passes above the granular material passage hole, a new granular material arch is formed and the granular material passage hole is closed.

And since the amount of the granular material passing through the granular material passage hole is extremely small before the granular material arch collapses and the granular material arch is formed again, the rotating member in the container is swung at a constant speed. During this period, a certain amount of powder can be discharged from the powder discharge port.

According to the invention of claim 3, when the in-container rotating disk rotates, the granular material deposited on the outer edge portion of the intermediate step wall of the granular material containing container is provided on the lower surface of the in-container rotating disk. It is taken in below the in-container turntable by the guide part. As the in-container turntable rotates, the introduction guide part slides on the intermediate step wall while pushing the granular material taken in the lower part of the in-container turntable. Guide from the outer edge to the small diameter tube.

Here, while the powder and granular material supply device is moving toward the position facing the opening of the distribution container, the container rotating member is driven to rotate while the lower surface opening of the small-diameter cylindrical portion is closed by the opening / closing member. Then, a granular material accumulates in a small diameter cylinder part in the meantime. Then, when the powder supply device is positioned at a position facing the opening of the distribution container, the lower surface opening of the small diameter cylindrical portion is opened by the opening / closing member, and the granular material accumulated in the small diameter cylindrical portion is removed. If it supplies to a distribution container at once, a granular material can be distributed and supplied to a some distribution container in a shorter time.

[Invention of claim 4]
According to the fourth aspect of the present invention, it is possible to supply and stack different powder particles in a single distribution container by a set target supply amount.

[First Embodiment]
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a first embodiment according to the invention will be described with reference to FIGS. FIG. 1 shows the entirety of a granular material supply system 100 of the present invention. As shown in the figure, the granular material supply system 100 measures the supply amount of the granular material from the granular material supply device 90 to the distribution container 99, and the granular material supply device 90 containing the granular material. A mass meter 60 (specifically, an electronic balance, which corresponds to the “distribution container meter” of the present invention), and a transport robot 110 for moving the granular material supply device 90 above the mass meter 60. It has. A plurality of distribution containers 99 are placed on the mass meter 60 in a state of being positioned by the container holder 98, and the transfer robot 110 connects the granular material discharge port 121 of the granular material supply device 90 to each distribution container. Positioning control is performed at a position facing 99 openings.

  Specifically, the transport robot 110 includes a first linear motion mechanism 111 and a second linear motion mechanism 112 for moving the granular material supply device 90 in two directions orthogonal to each other in a horizontal plane. The first linear motion mechanism 111 includes a pair of guide rails 111R and 111R along both sides of the table 113 on which the mass meter 60 is placed, and a portal slider 111S is directly connected to the guide rails 111R and 111R. It is movably engaged. Among the sliders 111S, two sliders 112S and 112S are engaged with a guide rail 112R spanned above the mass meter 60 so as to be linearly movable. The guide rail 112R and the sliders 112S and 112S allow A two-linear motion mechanism 112 is configured.

  On one of the sliders 112 </ b> S and 112 </ b> S of the second linear motion mechanism 112, a powder and particle supply device 90 is fixed. Then, by moving the slider 111S linearly back and forth and right and left by servo motors 111M and 112M (see FIG. 9) respectively provided in the first linear motion mechanism 111 and the second linear motion mechanism 112, the granular material supply device 90 Can be positioned and controlled at a position opposite to the opening of each distribution container 99.

  Here, each slider 112S provided in the second linear motion mechanism 112 incorporates a third linear motion mechanism that linearly moves in the vertical direction, and a device holding device (not shown) provided at the lower end portion of the linear motion shaft 115S. The granular material supply device 90 is held by the unit. Thereby, the space | interval of the lower end part of the granular material supply apparatus 90 and the opening of the distribution container 99 can be set arbitrarily. If the lower end of the powder supply device 90 is too far away from the opening of the distribution container 99, the discharged powder will easily spill out of the distribution container 99, and if it is too close, the supply of the distribution container 99 and the powder Since the lower end portion of the device 90 is easily contacted, the interval between the lower end portion of the powder body supply device 90 and the opening of the distribution container 99 is appropriately set according to the properties of the granular material and the height of the distribution container 99. It is desirable to do.

  The granular material supply apparatus 90 is detachable from the apparatus holding unit. Then, the transfer robot 110 can automatically replace the granular material supply device 90 held by the device holding unit with a different granular material supply device 90 held by the holder 113H on both sides of the table 113. ing.

  Next, the granular material supply apparatus 90 will be described. As shown in FIG. 2, the granular material container 10 that accommodates the granular material in the granular material supply device 90 includes a large-diameter cylindrical portion 300 and a small-diameter cylindrical portion 301 and is reduced in diameter toward the lower side. It has a structure. The lower end portion of the side wall of the large-diameter cylindrical portion 300 and the upper end portion of the side wall of the small-diameter cylindrical portion 301 are joined by a flat plate-shaped intermediate step wall 302, and the lower surface opening of the small-diameter cylindrical portion 301 is discharged from the granular material. It is an exit 121.

  The upper end of the granular material container 10 (large-diameter cylindrical portion 300) is open, and is closed by an upper end cap 13 screwed to the outer peripheral surface of the upper end. On the upper surface of the upper end cap 13, a charging port 13 </ b> A for charging the granular material into the granular material container 10 is formed. The input port 13A is provided unevenly at a position shifted from the center of the upper surface.

  A supply motor 14 is fixedly placed at the center of the upper surface of the upper end cap 13. The rotation drive shaft 141 connected to the supply motor 14 extends through the upper end cap 13 along the central axis in the large diameter cylindrical portion 300. An in-container turntable 40 is attached to the lower end of the rotation drive shaft 141.

  The in-container turntable 40 is disposed so as to overlap the upper surface of the intermediate stepped wall 302, and the intermediate stepped wall 302 has a free play in the large diameter cylindrical portion 300 so as to cover the upper surface opening of the small diameter cylindrical portion 301 and its periphery. It is fitted. Specifically, the in-container turntable 40 is a flat disk (FIG. 4) having a diameter smaller than the inner diameter of the large-diameter cylindrical portion 300 and larger than the inner diameter of the small-diameter cylindrical portion 301 (powder body outlet 121). (See (A)).

  The granular material charged into the granular material storage container 10 from the charging port 13A of the upper end cap 13 temporarily accumulates on the in-container turntable 40. In order to scrape the accumulated granular material into the annular gap 35 between the peripheral edge of the in-container rotating disk 40 and the side wall of the large-diameter cylindrical portion 300, an upper surface standby guide 39 is provided inside the granular material container 10. Is provided. As shown in FIG. 2, the upper surface standby guide 39 includes a horizontal plate 391 disposed adjacent to the upper surface of the in-container rotating disk 40, and extends vertically upward from the base end portion of the horizontal plate 391, and its upper end portion is connected to the upper end cap 13. And a fixed vertical plate 392.

  Then, as shown in FIG. 3, the horizontal plate 391 is attached so that the flat surface of the horizontal plate 391 is in contact with the side surface of the rotation drive shaft 141 of the supply motor 14. The horizontal plate 391 is inclined with respect to the inner rotating plate 40, and when the inner rotating plate 40 is rotated, the granular material on the inner rotating plate 40 is blocked by the horizontal plate 391 toward the outer edge of the inner rotating plate 40. Guided. In addition, since the base end portion of the horizontal plate 391 extends to a position adjacent to the side wall of the large-diameter cylindrical portion 300, the granular material guided by the horizontal plate 391 is moved to the outer edge portion of the intermediate step wall 301, that is, the intermediate portion. The stepped wall 302 is caused to flow down to the annular deposition portion 102 provided along the outer edge portion of the in-container turntable 40. Furthermore, since the upper surface standby guide 39 stirs the powder in the powder container 10, it can be prevented that the powder is solidified or clogged in the powder container 10. Thereby, it becomes possible to make the granular material on the in-container turntable 40 flow down to the annular deposition part 102 stably.

  On the lower surface of the in-container turntable 40, an introduction guide wall for taking the powder particles deposited on the annular deposition portion 102 of the intermediate step wall 302 below the in-container turntable 40 and guiding it to the small diameter cylindrical portion 301. 411 (corresponding to the “introduction guide portion” of the present invention) is integrally provided (see FIG. 5). Specifically, as shown in FIG. 4 (B), a granular material introduction path 41 having a groove-like structure extending from the outer edge portion of the in-container turntable 40 to the center portion on the lower surface of the in-container turntable 40. Is formed. As shown in FIG. 5, the powder particle introduction path 41 extends in a gently curved manner so as to swell in the opposite direction to the rotation direction (clockwise direction in FIG. 5) of the in-container turntable 40 as a whole. Of the both side walls of the granular material introduction path 41, the rear side wall in the rotation direction of the in-container turntable 40 is the introduction guide wall 411.

  As shown in FIG. 5 and FIG. 6A, the starting end 413 of the introduction guide wall 411 is provided with a powder body taking-in protrusion 46 protruding laterally from the outer peripheral surface of the in-container rotating disk 40. The granular material taking-in projection 46 scrapes the granular material deposited on the annular depositing portion 102 and takes it into the granular material introduction path 41 when the in-container rotating disk 40 rotates.

  The granular material taken into the granular material introduction path 41 is pushed by the introduction guide surface 412 of the introduction guide wall 411 that slides on the upper surface of the intermediate step wall 302 along with the rotation of the in-container turntable 40, It is pushed by the granular material that has flowed into the granular material introduction path 41 later and moves toward the center of the lower surface of the in-container rotating disk 40 (see FIG. 5).

  A central recess 43 is formed in the center of the lower surface of the in-container rotating disk 40. As shown in FIG. 7, the central recess 43 has a structure in which the position facing the upper surface opening of the small-diameter cylindrical portion 301 in the lower surface of the in-container rotating disk 40 is depressed, and the introduction guide wall 411 (powder body introduction) It communicates with the end portion 414 of the path 41). A lowering guide surface 431 is formed in the central recess 43 so as to gradually move downward as the distance from the terminal end 414 of the introduction guide wall 411 increases. The descending guide surface 431 can guide the granular material into the small diameter cylindrical portion 301.

  As shown in FIG. 8, the crushing protruding wall 432 projects from the descending guide surface 431 toward the vertically lower side (powder body outlet 121). If the granular material that has reached the end portion 414 of the introduction guide wall 411 is agglomerated, it is finely pulverized by the pulverized protrusion wall 432 and then taken into the small diameter cylindrical portion 301. The clogging of the small diameter cylindrical portion 301 by the body can be prevented.

  Of the powder particles guided to the lower surface center (central recess 43) of the in-container turntable 40 by the introduction guide wall 411 on the lower surface of the in-container turntable 40, the powder that has not entered the small diameter cylindrical portion 301 A lead-out guide wall 421 (corresponding to the “lead-out guide portion” of the present invention) for returning the particles to the annular deposition portion 102 is provided. Specifically, as shown in FIG. 4 (B), on the lower surface of the in-container turntable 40, a granular material outlet path 42 having a groove structure extending from the central recess 43 of the in-container turntable 40 to the outer edge. Is formed. As shown in FIG. 5, the powder body outlet path 42 extends while gently curving so as to swell forward from the center of the in-container rotating disk 40 in the rotational direction, and refracts to the rear side in the rotational direction in the middle. It extends linearly to the outer edge of the in-container turntable 40. Out of the both side walls of the granular material lead-out path 42, the rear side wall in the rotation direction of the in-container turntable 40 is a lead-out guide wall 421.

  And the granular material which moved to the starting end part 423 of the derivation | leading-out guide wall 421 (powder particle derivation | leading-out path | route 42) from the center recessed part 43 without entering into the small diameter cylindrical part 301 is shown in FIG. Along with the rotation of the turntable 40, it is pushed by the derivation guide surface 422 of the derivation guide wall 421 that slides on the upper surface of the intermediate step wall 302, and further pushed by the powder that has flowed into the granule derivation path 42 later. Then, it moves toward the terminal end portion 424 of the outlet guide wall 421 (powder body outlet path 42), that is, toward the outer edge of the in-container turntable 40.

  Here, as shown in FIG. 6 (B), above the side surface outlet 425 opened to the side surface of the in-container turntable 40 in the granular material lead-out path 42, the side from the outer peripheral surface of the in-container turntable 40 is located. A ridge wall 44 projecting in the direction and an inclined wall 45 continuous to the ridge wall 44 are provided. The inclined wall 45 is provided so as to protrude laterally from the side surface of the in-container turntable 40, and extends obliquely downward from the front edge portion in the rotation direction of the in-container turntable 40 on the upper surface of the wall 44. A slope 451 is provided.

  When the in-container turntable 40 rotates, as shown by the thick arrow in FIG. 6B, the granular material deposited on the annular deposition portion 102 rides on the slope 451 of the sloped wall 45 and moves to the upper surface of the wall 44. It is guided. As a result, a space is formed in the side of the side surface outlet 425 so as to be able to receive the granular material that has passed through the powder body outlet path 42, and the granular material that has passed through the granular body outlet path 42 is the side surface outlet 425. It is discharged from the (end portion of the guide wall 421) into the space. The flange wall 44 and the inclined wall 45 are slightly separated from the side wall of the large-diameter cylindrical portion 300 so that they do not slidably contact the side wall when the in-container turntable 40 rotates.

  On the lower surface of the in-container turntable 40, a granular material exclusion guide portion 47 is provided for scraping and guiding the granular material remaining on the intermediate step wall 302 after passing through the introduction guide wall 411 and guiding it to the annular deposition portion 102. It has been. A plurality (three in this embodiment) of these granular material exclusion guide portions 47 are provided in a portion of the in-container turntable 40 that is behind the introduction guide wall 411 and in front of the lead-out guide wall 421 in the rotation direction. Is arranged.

  The granular material exclusion guide portion 47 is configured by a side wall on the rear side in the rotation direction in a groove 471 (see FIG. 4B) extending from the center portion to the outer edge portion on the lower surface of the in-container rotating disk 40. As a whole, it is curved and extends so as to swell toward the front in the rotation direction of the in-container turntable 40 (see FIG. 5).

  And by the rotation of the in-container turntable 40, the granular material exclusion guide portion 47 slides on the intermediate step wall 302, so that the granular material remaining on the intermediate step wall 302 is taken into the groove 471, It is pushed by the exclusion guide surface 472 and moves in the groove 471, and moves to the outer edge portion of the in-container rotating disk 40 and further to the annular deposition portion 102. Thereby, it can prevent that the granular material which remained on the intermediate | middle level | step difference wall 302 after passing the introduction guide wall 411 becomes a dead stock. The introduction guide wall 411 and the lead-out guide wall 421 described above and the in-container turntable 40 formed with them constitute the “in-container rotation member” of the present invention. The above is the description regarding the powder and granular material supply apparatus 90.

  Now, FIG. 9 shows an electrical configuration of the powder and particle supply system 100 including the transfer robot 110 and the powder and particle supply device 90. As shown in the figure, the powder and particle supply system 100 includes a control device 200. The control device 200 includes servomotors 111M and 112M of the linear motion mechanisms 111 and 112 included in the transport robot 110 and powder particles. The drive motor 14 provided in the supply device 90 is driven and controlled.

  The memory 202 provided in the control device 200 stores a distribution supply program PG1 described later and various data input from an input terminal (not shown). Specifically, position data of a plurality of distribution containers 99 placed in a state of being positioned on the mass meter 60, and a set value of supply amount (specifically, mass) to the distribution container 99 per one (Hereinafter referred to as “target supply amount A”). Hereinafter, operation | movement of the granular material supply system 100 of this embodiment is explained in full detail, referring the flowchart of FIG.

  When the granular material is distributed to the plurality of distribution containers 99 by the granular material supply system 100, the position data of the plurality of distribution containers 99 and the target supply amount A are input in advance to the control device 200. Set (store in memory 202). A plurality of distribution containers 99 are held by the container holder 98 to be positioned and placed at a predetermined position of the mass meter 60, and after taring, a start switch (not shown) is turned on.

  Then, the CPU 201 reads the distribution supply program PG1 from the memory 202 and executes it. As shown in FIG. 10, in the distribution supply program PG1, first, the movement target position of the granular material supply device 90 is set (S1). Here, position data corresponding to the first distribution container 99 is set.

  Next, the granular material supply device 90 is moved based on the set position data, and the granular material discharge port 121 is positioned at a position facing the opening of the first distribution container 99 (S2).

  Next, the current measurement result of the mass meter 60 is fetched and stored in the memory 202 (S3).

  When the measurement result is stored in the memory 202, the supply motor 14 is driven to rotate the in-container turntable 40, and the granular material is supplied from the granular material supply device 90 to the distribution container 99 (S4).

  Next, it is determined whether or not the amount of change in the weighing result of the mass meter 60, that is, the difference between the current weighing result and the weighing result stored in the memory 202 matches the target supply amount (S5). If the amount does not match (NO in S5), this process (S5) is repeatedly executed while continuing the supply of the granular material. On the other hand, if the amount of change in the measurement result of the mass meter 60 matches the target supply amount (YES in S5), the supply motor 14 is immediately stopped (S6), and the supply of the powder to the distribution container 99 is completed. To do. When the measurement result approaches the target supply amount to some extent, the rotation speed of the supply motor 14 may be slowed to supply the powder particles little by little.

  When the supply to the current distribution container 99 is completed, it is determined whether the supply to all the distribution containers 99 is completed (S7). When the supply to all the distribution containers 99 is completed (YES in S7), the distribution supply program PG1 is ended. On the other hand (NO in S7), the process returns to step S1. The movement target position corresponding to the next distribution container 99 is set. Here, position data corresponding to the second distribution container 99 is set.

  And also when supplying to the 2nd and subsequent distribution container 99, the process (S1-S7) mentioned above is performed and it repeats until supply is complete | finished with respect to all the distribution containers 99. FIG.

  Thus, according to the granular material supply system 100 of the present embodiment, when distributing the granular materials to the plurality of distribution containers 99, the plurality of distribution containers 99 are mounted in a state of being positioned on the mass meter 60. The particle discharge port 121 of the particle supply device 90 is sequentially positioned and controlled at the position opposed to the opening of each distribution container 99 by the transfer robot 110, and each distribution from the particle supply device 90 is performed. A predetermined target supply amount of granular material is supplied to the container 99. And since it determines based on the change of the measurement result of the mass meter 60 whether the supply amount of the granular material to each distribution container 99 reached the target supply amount, the distribution container 99 with respect to the mass meter 60 The time for loading and unloading and the accompanying tare can be saved, and the powder particles can be distributed and supplied to the plurality of distribution containers 99 more efficiently than in the past.

[Second Embodiment]
This 2nd Embodiment differs in the structure of the granular material supply apparatus 90 from the said 1st Embodiment. Since other configurations are the same as those in the first embodiment, the same reference numerals are given to the same configurations, and duplicate descriptions are omitted.

  As shown in FIG. 11, the in-container turntable 38 is mounted horizontally apart above the intermediate step wall 302. The in-container turntable 38 is fixed to the outer peripheral surface of the rotation drive shaft 141 and rotates integrally with an intermediate turning member 20 described later in the large diameter cylindrical portion 300. The granular material that has flowed down from the annular gap 35 to the intermediate step wall 302 by the upper surface standby guide 39 forms a pile of powdered fluid having a predetermined angle of repose between the in-container rotating disk 38 and the intermediate step wall 302. . The angle of repose of the powder pile is constant depending on the powder, and it is possible to prevent excessive powder from being supplied from the in-container rotating disk 38 to the intermediate step wall 302. That is, it is possible to prevent the powder particles from falling into the small diameter cylindrical portion 301 by blocking the powder particles between the in-container rotating plate 38 and the upper surface of the intermediate step wall 302.

  A screen wall 30 is provided inside the small diameter cylindrical portion 301 in the powder container 10. Here, the small-diameter cylindrical portion 301 includes an inner cylindrical portion 301A integrally formed with the large-diameter cylindrical portion 300, and an outer cylindrical portion 301B that is screwed to the outside of the inner cylindrical portion 301A. The outer edge portion of the screen wall 30 is sandwiched between the step surface provided on the inner peripheral surface of 301B and the step surface formed on the lower end surface of the inner cylinder portion 301A.

  As shown in FIG. 15, the screen wall 30 has a structure in which a plurality of granular material passage holes 30A are formed through a thin disk. Each granular material passage hole 30A has a slit structure extending in a direction intersecting with the rotation direction of the in-container turntable 38 (intermediate turning member 20). More specifically, the intermediate swivel member 20 extends in a curved manner so as to approach the center of the screen wall 30 as it goes forward in the rotational direction of the intermediate turning member 20 (clockwise direction when the screen wall 30 is viewed from above).

  As shown in FIG. 14, each granular material passage hole 30 </ b> A in the screen wall 30 is formed by adhering (crosslinking) the granular materials fed from the large diameter cylindrical portion 300 to the small diameter cylindrical portion 301. In addition to being blocked by the granular arch, the granular arch is sized so that it can pass through in a collapsed state. Note that the screen wall 30 may be made of punching metal, expanded metal, woven mesh, or the like as shown in FIG. Moreover, in this embodiment, the outer cylinder part 301B which comprises the small diameter cylinder part 301 is prepared by varying the diameter of the lower surface opening as the granular material discharge port 121, and is prepared according to the diameter of the distribution container 99. Therefore, it can be changed as appropriate.

  An intermediate turning member 20 is fixed below the in-container turntable 38 at the lower end of the rotation drive shaft 141. As shown in FIG. 12, the intermediate turning member 20 has a plurality of (for example, six) cantilevered horizontal beams 23 projecting laterally from an axial center 22 screwed to the lower end portion of the rotary drive shaft 141. Has a structure. Each of the horizontal beams 23 has a proximal end on the axial center 22 side that precedes the front end in the rotational direction, and a plurality of inclined leg portions from each horizontal beam 23 toward the screen wall 30. 27 extends. Each inclined leg portion 27 is inclined with respect to the vertical direction so as to go backward in the turning direction of the intermediate turning member 20 as it goes downward.

  A powder collection blade 24 (corresponding to the “powder collection member” of the present invention) extends from one of the plurality of horizontal beams 23 toward the side, and from the other one to the side. A dust wing 25 is extended toward the end. As shown in FIG. 13, the dust collection blade 24 has a bent structure in which a plurality of flat plates are connected, while the dust collection blade 25 extends straight from the tip of the horizontal beam 23. Although not shown, the tip of the powder collection blade 24 extends to a position adjacent to the side wall of the large-diameter cylindrical portion 300, and the dust distribution blade 25 is shorter than that.

  In addition, a hanging leg portion 28 that hangs down toward the screen wall 30 is integrally provided at the base portion of the dust wing 25. When the intermediate turning member 20 rotates, the inclined leg portion 27 and the drooping leg portion 28 turn in the small diameter cylindrical portion 301, and the dust collection blade 24 and the dusting blade 25 come into sliding contact with the upper surface of the intermediate step wall 302. While turning in a horizontal plane.

  Specifically, as the intermediate turning member 20 turns, the powder collection blade 24 guides the powder particles accumulated on the edge side of the intermediate step wall 302 to the center side and feeds them to the small diameter cylindrical portion 301, and the dust blade 25 The powder particles that the powder collection wings 24 have taken in are moved to the outside to escape, and when the powder collection wings 24 pass, they are taken into the small diameter cylindrical portion 301 and the powder pressure in the large diameter cylindrical portion 300 It is easy to stabilize. In addition, the dust collection blades 24 and the dust collection blades 25 cooperate to stir the powder particles, and also have an effect of crushing the lump of the powder particles. Furthermore, when the granular material is a mixture of two or more types of granular material, the degree of mixing of the two types of granular material can be increased by repeating this aggregation and dispersion.

  In addition, the granular material induced | guided | derived to the powder collection feather | wing 24 was cut and raised diagonally so that it might fall gradually toward the induction | guidance | derivation direction of the granular material by the powder collection feather | wing 24 in the root part 251 of the powder collection feather | wing 24. Guided by the lowering guide wall 21, it is forcibly dropped to the small diameter cylindrical portion 301.

  Further, as shown in FIG. 14, as the intermediate turning member 20 turns, the lower end portion of the inclined leg portion 27 turns near the upper surface of the screen wall 30 (a grazing that does not contact the upper surface of the screen wall 30). The granule arch closing the granule passage hole 30A of the wall 30 is broken by receiving an external force and discharged from the granule passage hole 30A. Then, a new granule arch is immediately formed and the granule passage hole 30A is closed. Since the amount of the granular material passing through the granular material passage hole 30A before the granular material arch is broken and the granular arch is formed again is extremely small, the intermediate turning member 20 is swung at a constant speed. During this period, the granular material can be discharged from the granular material discharge port 121 by a certain amount.

  Further, the drooping leg portion 28 turns in the vicinity of the inner peripheral surface of the small diameter cylindrical portion 301 as the intermediate turning member 20 turns. Thereby, the granular material adhering to the internal peripheral surface of the small diameter cylinder part 301 by static electricity etc. is scraped off. The inclined leg 27 corresponds to the “powder granule arch crushing leg” of the present invention, and the intermediate turning member 20 and the container rotating disk 38 constitute the “inner container rotating member” of the present invention. Yes. The configuration of this embodiment also has the same effect as the first embodiment.

[Third Embodiment]
As shown in FIG. 17, the granular material supply device 90 of the present embodiment includes a flat opening / closing member 70 capable of opening and closing the lower surface opening of the small diameter cylindrical portion 301, that is, the granular material discharge port 121. This is different from the first embodiment.

  The opening / closing member 70 is fixed to the lower end portion of the output shaft 71 of the motor 72 fixed to the lower surface of the intermediate step wall 302 in the granular material container 10, and rotates in the horizontal plane around the output shaft 71. To do. Since other configurations are the same as those in the first embodiment, the same configurations as those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.

  In the granular material supply system 100 of this embodiment, the distribution supply program PG2 shown in FIG. 21 is executed. In the distribution supply program PG2, first, the supply motor 14 is driven with the opening and closing member 70 closing the lower surface opening (powder particle discharge port 121) of the small diameter cylindrical portion 301 (S11).

  Subsequently, the movement target position of the powder and granular material supply apparatus 90 is set (S12). Here, position data corresponding to the first distribution container 99 is set.

  Next, as shown in the change from FIG. 17 to FIG. 18, the granular material supply device 90 is moved based on the set position data, and the granular material discharge port 121 is opened to the first distribution container 99. (S13). During this movement, powder particles are accumulated in the small diameter cylindrical portion 301 (see FIG. 18).

  Next, the current measurement result of the mass meter 60 is taken in and stored in the memory 202 (S14), and then the lower surface opening of the small diameter cylindrical portion 301 is opened by the opening / closing member 70 (S15). Then, the granular material accumulated in the small diameter cylindrical portion 301 is supplied to the distribution container 99 at once (see FIG. 19).

  Next, it is determined whether or not the amount of change in the weighing result of the mass meter 60, that is, the difference between the current weighing result and the weighing result stored in the memory 202 matches the target supply amount (S16). If the amount does not match (NO in S16), this determination (S16) is repeated while continuing to supply the powder. On the other hand, when the change amount of the measurement result of the mass meter 60 matches the target supply amount (YES in S16), the lower surface opening of the small-diameter cylindrical portion 301 is immediately closed by the opening / closing member 70 (S17), Supply of the granular material to the distribution container 99 is terminated (see FIG. 20). When the measurement result approaches the target supply amount to some extent, the rotation speed of the supply motor 14 may be slowed to supply the powder particles little by little.

  When the supply to the current distribution container 99 is completed, it is determined whether the supply to all the distribution containers 99 is completed (S18). When the supply to all of the distribution containers 99 is completed (YES in S18), the supply motor 14 is stopped (S19), and the distribution supply program PG2 is terminated, but the distribution motor program PG2 is not yet completed (in S18). NO), the process returns to step S12, and the movement target position corresponding to the next distribution container 99 is set. Here, position data corresponding to the second distribution container 99 is set.

  And also when supplying to the 2nd and subsequent distribution container 99, the process (S12-S18) mentioned above is performed and it repeats until supply is completed with respect to all the distribution containers 99. FIG.

  As described above, according to the present embodiment, while the granular material supply device 90 is moving toward the position facing the opening of the distribution container 99, the opening / closing member 70 opens the lower surface opening (powder of powder). In a state where the granule discharge port 121) is closed, the in-container turntable 40 is rotationally driven, and the granular material is accumulated in the small diameter cylindrical portion 301 in the meantime. When the powder supply unit 90 is positioned at a position facing the opening of the distribution container 99, the lower surface opening of the small diameter cylindrical portion 301 is opened by the opening / closing member 70 and accumulated in the small diameter cylindrical portion 301. Since the powder particles are supplied to the distribution container 99 at once, the powder particles can be distributed and supplied to the plurality of distribution containers 99 in a shorter time.

[Other Embodiments]
The present invention is not limited to the above-described embodiment. For example, the embodiments described below are also included in the technical scope of the present invention, and various other than the following can be made without departing from the scope of the invention. It can be changed and implemented.

  (1) Replacing the granular material supply device 90 held by the transport robot 110, and supplying different granular materials in each distribution container 99 by a set target supply amount as shown in FIG. And may be laminated. For that purpose, after supplying the granular material to all the distribution containers 99 based on the distribution supply program PG1 shown in FIG. 10, the granular material supply device 90 is replaced, and again based on the distribution supply program PG1. Then, the powder particles may be supplied to the distribution container 99.

  (2) In the above embodiment, the transfer robot 110 is configured by combining a plurality of linear motion mechanisms including guide rails and sliders. However, as shown in FIG. 23, a multi-axis (vertically articulated) robot may be used. . Also, a plurality of multi-axis robots are each equipped with a powder supply device 90, and the types of powder supplied from each powder supply device 90 are different, or the diameter of the powder discharge port 121 is increased. It may be different.

  (3) In the said 2nd Embodiment, it comprised so that the granular material arch which blocked | closed each granular material passage hole 30A of the screen wall 30 may be grind | pulverized by the inclination leg part 27 with which the intermediate turning member 20 was equipped. However, as shown in FIG. 24, the powder arch may be collapsed by vibrating the screen wall 30 by the ultrasonic transducer 31. In this case, the inclined leg portion 27 may not be provided, but adhesion of the granular material to the inner wall of the small diameter cylindrical portion 301 is prevented, the granular material in the small diameter cylindrical portion 301 is stirred, or the granular material It may be provided for pulverizing the lump.

  (4) When the granular material is supplied to the distribution container 99 by the granular material supply system 100, the granular material discharge port 121 is configured so that the surface of the granular material accommodated in the distribution container 99 becomes flat. You may make it a granular material discharge | emit equally from the whole surface.

  (5) Although not included in the technical scope of the present invention, the granular material supply system 90 is used to supply the granular material directly to the upper surface of the flat workpiece W using the granular material supply system 100 described above. It is moved upwards to form a pellet (planar body) in which the powder particles are in one lump, and the pellet-shaped powder particles are regularly arranged on the upper surface of the workpiece W to form a pattern (pattern). It may be formed (see FIG. 25). Specifically, a plurality of deposition positions are set in advance on the upper surface of the workpiece W, and the powder discharge port 121 of the powder supply apparatus 90 is sequentially positioned at a position facing each of the deposition positions. What is necessary is just to supply the granular material of the predetermined target supply amount from the body supply apparatus 90 to each deposition position. Thereby, the pattern of a granular material can be formed, without masking the upper surface of the workpiece | work W. FIG. In addition, the workpiece W is placed on the mass meter 60, and whether or not the supply amount of the granular material to each deposition position has reached the target supply amount is determined based on the change in the measurement result of the mass meter 60. You may do it. In addition, as shown in FIG. 26, a plurality of types of outer cylinders in which the small-diameter cylindrical part 301 is composed of an inner cylindrical part 301A and an outer cylindrical part 301B, and the shape of the lower surface opening (powder body outlet 121) is different. The part 301B may be prepared, and any outer cylinder part 301B may be selectively attached to the inner cylinder part 301A. The shape of the lower surface opening may be a polygon other than the hexagon shown in FIG. 26B, a circle, an ellipse, or the like. Thereby, the planar shape of the pellet-shaped granular material deposited on the workpiece | work W can be changed variously. Furthermore, it is also possible to form a three-dimensional structure by laminating the above-described pellet-shaped powder particles.

The perspective view of the granular material supply system which concerns on 1st Embodiment of this invention. Side cross-sectional view of powder supply device Cross-sectional perspective view of powder container (A) The perspective view which looked at the rotating disk in a container from the top, (B) The perspective view which looked at the disk in a container from the bottom Plan view of powder container (A) The perspective view which expanded the starting end part of the introductory guide wall among the discs in a container, (B) The perspective view which expanded the terminal part of the derivation | leading-out guide wall among the discs in a container, Side cross-sectional view of the container disc The perspective view which looked at the lower surface center part of the disk in a container from the lower part Block diagram of powder supply system Flow chart of distribution supply program Side sectional view of granular material supply device according to the second embodiment Perspective view of intermediate turning member Bottom view of intermediate swivel member Enlarged sectional view of the screen wall Perspective view of screen wall fixed to small diameter cylinder The perspective view which shows the modification of a screen wall Side sectional view of the granular material supply device according to the third embodiment Side cross-sectional view of powder supply device with accumulated powder Side cross-sectional view of the powder supply device immediately after discharging the accumulated powder Side cross-sectional view of powder supply device immediately after closing powder discharge port Flow chart of distribution supply program Cross-sectional view of a distribution container in which different particles are stacked Perspective view of a transfer robot according to a modified example Side sectional view of powder supply device according to modification Perspective view of pellet-shaped granular material supplied to workpiece (A) An enlarged cross-sectional view of the small diameter cylindrical portion, (B) A bottom view of the small diameter cylindrical portion.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Powder container 14 Supply motor 20 Intermediate turning member 24 Powder collection blade (introduction guide part)
27 Inclined leg (arch crushing leg)
30 Screen wall 30A Granule passage hole 35 Annular gap 38, 40 In-container turntable 60 Mass meter (distribution container meter)
DESCRIPTION OF SYMBOLS 70 Opening / closing member 90 Powder supply apparatus 99 Distribution container 100 Powder supply system 110 Conveying robot (robot)
121 granular material discharge port 300 large diameter cylinder part 301 small diameter cylinder part 302 intermediate step wall 411 introduction guide wall (introduction guide part)
421 Leading guide wall (leading guide part)

Claims (4)

A granular material discharge port provided with an in-container rotating member in a granular material containing container containing the granular material, and rotating the in-container rotating member to provide the granular material on the lower surface of the granular material containing container A granular material supply device capable of discharging downward from
A robot capable of positioning and controlling the granular material supply device at an arbitrary position;
A plurality of distribution containers having an open top surface are placed in a positioned state, and a distribution container measuring instrument capable of measuring the mass of the entire plurality of distribution containers,
The robot sequentially controls the powder outlet of the powder supply device to a position facing the opening of each distribution container, and determines in advance from the powder supply device to each distribution container. Supply the specified amount of powder
In the granular material supply system for determining whether or not the supply amount of the granular material to each distribution container has reached the target supply amount based on the change in the measurement result of the distribution container measuring device ,
The granular material container includes a large-diameter cylindrical portion, a small-diameter cylindrical portion that is disposed below the large-diameter cylindrical portion and has an inner diameter smaller than the large-diameter cylindrical portion, and a lower end portion of a side wall of the large-diameter cylindrical portion, With a flat intermediate step wall that joins between the upper end portions of the side walls of the small-diameter cylindrical portion, and discharging the granular material from the lower surface opening of the small-diameter cylindrical portion as the granular particle discharge port,
The container internal rotation member overlaps the upper surface of the intermediate step wall and has an annular gap with the inner peripheral surface of the large diameter cylindrical portion, and covers the upper surface opening of the small diameter cylindrical portion and its periphery from above. A container-internal rotating disk that is driven to rotate about the axis of the small-diameter cylindrical part, and a powder body that is provided on the lower surface of the inner-rotary disk and that accumulates on the outer edge of the upper surface of the intermediate step wall. While being slid on the intermediate step wall, the guide member is provided on the lower surface of the in-container rotating disk, and an introduction guide portion for guiding the powder particles from the outer edge portion on the upper surface of the intermediate step wall to the small diameter cylindrical portion. , Sliding on the intermediate step wall together with the granular material that could not fit into the small-diameter cylindrical portion, the outer peripheral edge from the central portion of the in-container rotating disk, and the outer edge on the upper surface of the intermediate step wall and characterized in that a derivation guide portion for guiding to the part Powder or granular material supply system that. A granular material discharge port provided with an in-container rotating member in a granular material containing container containing the granular material, and rotating the in-container rotating member to provide the granular material on the lower surface of the granular material containing container A granular material supply device capable of discharging downward from
A robot capable of positioning and controlling the granular material supply device at an arbitrary position;
A plurality of distribution containers having an open top surface are placed in a positioned state, and a distribution container measuring instrument capable of measuring the mass of the entire plurality of distribution containers,
The robot sequentially controls the powder outlet of the powder supply device to a position facing the opening of each distribution container, and determines in advance from the powder supply device to each distribution container. Supply the specified amount of powder
In the granular material supply system for determining whether or not the supply amount of the granular material to each distribution container has reached the target supply amount based on the change in the measurement result of the distribution container measuring device,
The granular material container includes a large-diameter cylindrical portion, a small-diameter cylindrical portion that is disposed below the large-diameter cylindrical portion and has an inner diameter smaller than the large-diameter cylindrical portion, and a lower end portion of a side wall of the large-diameter cylindrical portion, With a flat intermediate step wall that joins between the upper end portions of the side walls of the small-diameter cylindrical portion, and discharging the granular material from the lower surface opening of the small-diameter cylindrical portion as the granular particle discharge port,
In the small-diameter cylindrical portion, a screen wall provided with a plurality of granular material passage holes that can be closed by a granular arch formed by adhering the granular materials is provided,
The container internal rotation member overlaps the upper surface of the intermediate step wall and has an annular gap with the inner peripheral surface of the large diameter cylindrical portion, and covers the upper surface opening of the small diameter cylindrical portion and its periphery from above. A container-internal rotating disk that is driven to rotate about the axis of the small-diameter cylindrical part, and a powder body that is provided on the lower surface of the inner-rotary disk and that accumulates on the outer edge of the upper surface of the intermediate step wall. The guide wall slides on the intermediate step wall and guides the powder particles from the outer edge portion on the upper surface of the intermediate step wall to the small-diameter cylindrical portion, and the screen wall from the lower surface of the inner rotating disk. The powder particles that have formed the powder arch by applying an external force to the powder arch by turning in the small-diameter cylindrical portion together with the rotation of the in-container rotating disk Arch crushing to force drop downward from body passage hole Granular material supply system is characterized in that a part. A granular material discharge port provided with an in-container rotating member in a granular material containing container containing the granular material, and rotating the in-container rotating member to provide the granular material on the lower surface of the granular material containing container A granular material supply device capable of discharging downward from
A robot capable of positioning and controlling the granular material supply device at an arbitrary position;
A plurality of distribution containers having an open top surface are placed in a positioned state, and a distribution container measuring instrument capable of measuring the mass of the entire plurality of distribution containers,
The robot sequentially controls the powder outlet of the powder supply device to a position facing the opening of each distribution container, and determines in advance from the powder supply device to each distribution container. Supply the specified amount of powder
In the granular material supply system for determining whether or not the supply amount of the granular material to each distribution container has reached the target supply amount based on the change in the measurement result of the distribution container measuring device,
The granular material container includes a large-diameter cylindrical portion, a small-diameter cylindrical portion that is disposed below the large-diameter cylindrical portion and has an inner diameter smaller than the large-diameter cylindrical portion, and a lower end portion of a side wall of the large-diameter cylindrical portion, With a flat intermediate step wall that joins between the upper end portions of the side walls of the small-diameter cylindrical portion, and discharging the granular material from the lower surface opening of the small-diameter cylindrical portion as the granular particle discharge port,
The container internal rotation member overlaps the upper surface of the intermediate step wall and has an annular gap with the inner peripheral surface of the large diameter cylindrical portion, and covers the upper surface opening of the small diameter cylindrical portion and its periphery from above. A container-internal rotating disk that is driven to rotate about the axis of the small-diameter cylindrical part, and a powder body that is provided on the lower surface of the inner-rotary disk and that accumulates on the outer edge of the upper surface of the intermediate step wall. While sliding on the intermediate step wall, comprising an introduction guide portion for guiding the powder particles from the outer edge portion on the upper surface of the intermediate step wall to the small diameter cylindrical portion,
By providing an opening / closing member capable of opening and closing the lower surface opening of the small-diameter cylindrical portion, and rotating the internal rotating disk in the state where the lower surface opening of the small-diameter cylindrical portion is closed by the opening / closing member, Is accumulated in the small diameter cylindrical portion,
The granular material supply system, wherein the opening and closing member opens the lower surface opening of the small-diameter cylindrical portion so that the granular particles accumulated in the small-diameter cylindrical portion can be discharged at once . The robot is provided with a device holding unit that can replace and hold a plurality of the powder supply devices containing different powder particles,
The target supply amount is set for each different granular material,
The granular material supply system according to any one of claims 1 to 3, wherein different granular materials are supplied and stacked in the respective distribution containers for each target supply amount .