WO2023209852A1

WO2023209852A1 - Stirring/defoaming apparatus

Info

Publication number: WO2023209852A1
Application number: PCT/JP2022/019039
Authority: WO
Inventors: 淳一江村
Original assignee: 三星工業株式会社
Priority date: 2022-04-27
Filing date: 2022-04-27
Publication date: 2023-11-02
Also published as: TW202348298A

Abstract

Provided is a stirring/defoaming apparatus that has a simple configuration enabling automatic container placement. This stirring/defoaming apparatus (1) is provided with, for containers (2), a supply unit (30), a reclaim unit (32), and a conveying unit (40). The conveying unit (40) has: an in-hand (42) that is enabled for retaining at the tip thereof a container (2), that is provided to be back-and-forth shiftable along a first axis (C1) which coincides with the center axis of the container (2), and that places the container (2) in a container holder (11) positioned at a predetermined position (P); and an out-hand (62) that is enabled for retaining at the tip thereof a container (2), that is provided to be back-and-forth shiftable along a second axis (C2) which coincides with the center axis T of the container (2), and takes the container (2) out from the container holder (11) positioned at the predetermined position (P). The in-hand (42) and the out-hand (62) are arranged side-by-side such that the first axis (C1) and the second axis (C2) shift within a plane containing the rotational axis (T) of the container holder (11) positioned at the predetermined position (P).

Description

Stirring/defoaming equipment

The present invention relates to a stirring/defoaming device, and more particularly, the present invention relates to a stirring/defoaming device, and more particularly, the device includes means for rotating a container and means for revolving the container, and rotates the container to at least one of stirring and defoaming the material contained in the container. This invention relates to a stirring/defoaming device that performs

BACKGROUND ART Conventionally, stirring/defoaming devices have been put into practical use that are equipped with means for rotating and revolving a container, and are capable of stirring or defoaming a single material or a mixed material contained in a container. Examples of such materials include single or mixed liquid (including fluid) materials, or combinations of liquid and powder materials in the fields of pharmaceuticals, chemical materials, foodstuffs, paints, semiconductor device materials, etc. Examples include mixed materials (hereinafter sometimes simply referred to as "materials").

Patent No. 4903916

The applicant of the present application has developed a stirring/defoaming device that performs at least one of stirring and defoaming a material contained in a container by rotation and revolution (see Patent Document 1: Patent No. 4903916). Previous research has verified that stirring and defoaming effects can be enhanced by adopting a configuration in which the axis of rotation is not parallel to the axis of revolution but at a predetermined angle.

In the conventional stirring/defoaming device exemplified in Patent Document 1, as the capacity of the container increases and the weight of the material to be accommodated increases, the container is set in the device (insertion and engagement position There was an issue in which the work involved (combining) became hard labor. Furthermore, since everything was done manually, there was a problem of low work efficiency.

It is thought that this problem can be solved by automating (mechanizing) the work of setting containers into the device instead of manually. However, on the other hand, in the case of a configuration in which the rotation axis is not parallel to the revolution axis but forms a predetermined angle, it is not simple to mechanize the work of setting the container in the device (container holder). Therefore, a configuration may be considered in which an articulated robot or the like is provided to set the container in the device. However, when such a configuration is adopted, another problem may arise that the device cost becomes extremely high.

The present invention was made in view of the above circumstances, and does not require expensive configurations such as articulated robots, reduces equipment costs with an extremely simple configuration, and automatically sets containers without manual work. The purpose of the present invention is to provide a stirring/defoaming device that can eliminate heavy labor and improve work efficiency.

The present invention solves the above-mentioned problems by means of the solution described below.

This stirring/defoaming device includes a means for rotating a container and a means for revolving the container, and the stirring/defoaming device rotates the container to perform at least one of stirring and defoaming of the material contained in the container. The defoaming device includes a plurality of container holders that each hold the container, and a plurality of container holders that support the container holders so as to be rotatable around an axis of rotation, and are provided so as to be rotatable around an axis of revolution. a revolving member that revolves around a revolving axis; a fixing mechanism that temporarily fixes the container holder so that it is positioned at a predetermined position while both rotation and revolution are regulated; a supply section that sequentially supplies containers; a recovery section that sequentially collects the containers after the work process is performed; and a collection section that transports the containers from the supply section to the container holder positioned at the predetermined position and at the same time a transport section that transports the container from the container holder positioned at an in-hand for setting the container in the container holder, which is provided to be reciprocally movable along the container holder and positioned at the predetermined position; an outhand that is provided to be reciprocally movable along an axis and takes out the container from the container holder positioned at the predetermined position, and the inhand and the outhand are connected to the first axis and the outhand. It is required that the second axes are arranged in parallel so that they move within a plane that includes the rotation axis of the container holder positioned at the predetermined position.

According to the present invention, even in the case of a configuration in which the rotation axis is not parallel to the revolution axis but forms a predetermined angle, an extremely simple configuration can be used without adopting an expensive configuration such as an articulated robot. It is possible to realize a stirring/defoaming device that can automatically set containers without manual labor while suppressing device costs, eliminating heavy labor, and improving work efficiency.

FIG. 1 is a perspective view showing an example of a stirring/defoaming device according to an embodiment of the present invention. FIG. 2 is a perspective sectional view of the stirring/defoaming device shown in FIG. 1 as viewed in direction A. FIG. 3 is a front view (partial sectional view) showing an example of a container holder of the stirring/defoaming device shown in FIG. FIG. 4 is a perspective sectional view showing an example of a container of the stirring/defoaming device shown in FIG. FIG. 5 is a cross-sectional view showing an in-hand example of the conveyance section of the stirring/defoaming device shown in FIG. FIG. 6 is a cross-sectional view showing an example of an outhand portion of the conveying section of the stirring/defoaming device shown in FIG. FIG. 7 is an explanatory diagram of the operation of the conveying section of the stirring/defoaming device shown in FIG. 1. FIG. 8 is an explanatory diagram of the operation of the conveyance section of the stirring/defoaming device shown in FIG. 1.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view (schematic diagram) showing an example of a stirring/defoaming device 1 according to an embodiment of the present invention, and FIG. 2 is a perspective cross-sectional view (schematic diagram) thereof as viewed from direction A. In addition, in all the figures for explaining each embodiment, the same code|symbol is attached|subjected to the member which has the same function, and the repeated description may be abbreviate|omitted. Furthermore, for the sake of simplicity, some bolts and nuts are not shown.

This stirring/defoaming device 1 is equipped with means for rotating and revolving a container 2 (see FIG. 4), and by rotating and revolving the container 2, a single material and a mixture contained in the container 2 can be mixed. This is an apparatus for at least one of stirring and defoaming of materials (hereinafter sometimes simply referred to as "stirring/defoaming"). Note that the material for forming each mechanism of the present device is a general structural material such as a metal material or a resin material, and is not particularly limited (the same applies to other structures).

As shown in FIGS. 1 and 2, the stirring/defoaming device 1 according to the present embodiment includes a casing 10 having an opening 10a through which a container 2 is inserted and taken out, and a hinge 21 at one end of the casing 10. It is provided with a lid part 20 whose sides are fixed and which opens and closes the opening part 10a. Note that the lid portion is not limited to this configuration, and may have a sliding opening/closing structure (not shown). Further, inside the housing 10, a plurality of container holders 11 each holding a container 2, each container holder 11 is rotatably supported, and is rotatably provided around a rotating shaft 12a, and each container holder 11 around a rotating shaft 12a, and a revolving member 12 that surrounds all the container holders 11 so that the contact surface 13a of the inner peripheral part contacts the contact part 11a of the outer peripheral part of all the container holders 11. An annular outer ring 13 disposed parallel to the revolution plane of the revolution member 12, a drive means (in this embodiment, an electric motor) 16 that rotationally drives the revolution member 12, and drive control of the drive means 16 and the like. A control section (not shown) is provided. Further, the rotating shaft 12a and the driving shaft 16a of the driving means 16 are connected to each other so that driving force can be transmitted via a driving force transmitting means 28 (for example, a pulley and a timing belt, or a gear and a chain, etc.). There is.

In addition, in the present embodiment, the container holder 11, the chamber 22 in which the container 2 held by the container holder 11, the revolving member 12, and the outer ring 13 are accommodated, and a vacuum pump (not shown) that evacuates the inside of the chamber 22. (In the present embodiment, the above-mentioned opening 10a serves as the opening of the chamber 22, and the lid 20 opens and closes the chamber 22 in a sealed manner). The degree of vacuum caused by the vacuum pump can be set appropriately, and for example, the inside of the chamber 22 can be brought into a vacuum state (reduced pressure state) of about atmospheric pressure to 10 [Pa]. According to this, since the inside of the chamber 22 can be made into a vacuum state and stirring and defoaming can be performed, the defoaming effect can be further enhanced. However, the configuration is not limited to this, and as a modified example, a configuration may be adopted in which stirring and defoaming are performed at atmospheric pressure without providing a chamber (not shown).

Next, as shown in FIG. 2, the revolving member 12 has a rotating shaft 12a that passes through the chamber 22, and the rotating shaft 12a is mounted on a bearing (for example, a magnetic fluid bearing) that can maintain a vacuum in the chamber 22. It is rotatably supported and fixed via 26. Here, the shape of the revolving member 12 may be a disk shape, an arm shape, or a combination thereof. In this embodiment, the container holder 11 is tilted at a predetermined inclination angle θ (details will be described later) with respect to the revolution plane (the revolution axis, that is, the plane perpendicular to the central axis S of the rotation axis 12a), and is supported so as to be rotatable. In addition, the revolving member 12 has a bent portion 12b in the middle in the radial direction. When centrifugal force acts on the container holder 11 (and the container 2) due to rotation (revolution), the revolving member 12 has the effect of bending so that the bent portion 12b approaches a state parallel to the revolving plane. Therefore, it is preferable that the revolving member 12 be formed using a high-strength and lightweight material such as duralumin. However, it is not limited to this.

Furthermore, in this embodiment, the structure is such that four container holders 11 are provided at equal intervals in the circumferential direction (that is, in a cross shape centered on the rotating shaft 12a) and can hold four containers 2. It is not limited.

Here, as shown in FIG. 3, the container holder 11 is formed into a bottomed cylindrical shape capable of holding the container 2 therein, and has an annular contact portion 11a provided on the outer periphery. There is. The contact portion 11a is provided at a radial tip portion of a brim member 11A extending radially from the outer peripheral portion of the container holder 11.

The contact portion 11a according to the present embodiment has a concave groove 14 having a concave radial cross section, which is annularly provided along the circumferential direction at the radial tip of the brim member 11A. Furthermore, a resin elastic ring 15 is fitted into the concave groove 14 as an elastic body for contact. For example, as the resin elastic ring 15, an O-ring made of a rubber material (for example, silicone rubber with a hardness of 50 is suitable) is used. It is fitted into the concave groove 14 under a predetermined tension.

On the other hand, an annular outer ring 13 for causing the container holder 11 to rotate is disposed within the chamber 22. As an example, it is formed using stainless steel or the like, but it may be formed using other metal materials or resin materials. As a more specific configuration, the outer ring 13 according to the present embodiment has an abutment surface 13a provided in an annular shape along the circumferential direction at the inner peripheral portion, as shown in FIG. This contact surface 13a is formed into a curved surface (conical inner surface) shape along the inner circumference, and is connected to the contact portion 11a (here, the resin elastic ring 15) provided on the outer circumference of the container holder 11. This will be the contact surface. The contact surface 13a is set at a predetermined angle (for example, set at the same angle or an angle of the same degree as the above-mentioned θ) with respect to the installation surface of the outer ring 13, which is provided parallel to the revolution surface of the revolution member 12. ).

The container holder 11 and outer ring 13 configured as described above are arranged so that the contact portion 11a (here, the resin elastic ring 15) and the contact surface 13a are in contact with each other.

Next, as shown in FIG. 4, the container 2 includes a bottomed cylindrical main body 2A with an opening 2a at the top, an inner lid 2B fitted into the opening 2a, and an opening from the outside. It is configured to include an outer lid 2C that is screwed onto the portion 2a. As an example of use, the material to be stirred and degassed is put into the main body 2A through the opening 2a with the inner lid 2B and outer lid 2C removed, and then the material to be stirred and degassed is put into the main body 2A from the opening 2a. And the outer cover 2C is fitted and screwed together. In this embodiment, the inner lid 2B and the outer lid 2C are provided with

ventilation holes

2b and 2c, respectively, but the

ventilation holes

2b and 2c may be omitted as appropriate. Furthermore, the structure may be such that the inner lid 2B and the outer lid 2C are omitted as appropriate. Further, in order to promote stirring of the material, a convex portion may be provided on the inner wall surface of the main body portion 2A (not shown).

As shown in FIGS. 2 to 4, the container 2 is held in the container holder 11 by being inserted from the bottom side into the opening of the container holder 11 having a cup-shaped upper part. At that time, the engagement protrusions 2d (in this embodiment, two locations) provided on the outer circumference of the main body 2A of the container 2 are connected to the engagement protrusions 2d provided on the outer circumference of the main body 2A of the container 2. It is engaged with the groove 11c. According to this, when the container holder 11 rotates (rotates), the container 2 is prevented from rotating in the circumferential direction with respect to the container holder 11, and the rotational force of the container holder 11 is transmitted to the container 2. , the effect of rotating (rotating) the container 2 can be obtained.

According to the above configuration, when the drive means 16 operates and its rotational driving force is transmitted to the rotating shaft 12a via the driving force transmitting means 28, and the rotating shaft 12a rotates, the revolving member 12 is rotated. Rotate in the direction. Therefore, the container holder 11 fixed to the revolving member 12 and the container 2 held by the container holder 11 orbit on a constant orbit in the same plane with the central axis S of the rotating shaft 12a as the rotation center (revolution ). Further, when the revolving member 12 revolves, the contact between the contact portion 11a (here, the resin elastic ring 15) on the outer circumference of the container holder 11 and the contact surface 13a on the inner circumference of the outer ring 13 occurs. The container holder 11 rotates due to the frictional force. Therefore, an effect is obtained in which the container holder 11 and the container 2 held by the container holder 11 revolve and rotate. This makes it possible to effectively stir and degas the material contained in the container 2. Note that the revolution speed and rotation speed at that time are appropriately set according to the material.

In this embodiment, the total length of the abutment surface 13a of the outer ring 13 (i.e., the circumferential length of the abutment surface 13a) is the total length of the resin elastic ring 15 of the abutment portion 11a of the container holder 11 (i.e., the abutment portion 11a). According to this, it becomes possible to increase the rotation speed (rotation speed [rpm]) with respect to the revolution speed (rotation speed [rpm]), and it is possible to enhance the stirring action. As an example, the total length of the contact surface 13a of the outer ring 13 is set to be twice the total length of the resin elastic ring 15 of the container holder 11. Therefore, when the revolution speed is set to 1000 [rpm], the rotation speed is set to 2000 [rpm] according to the ratio of the full length of the contact surface 13a to the full length of the resin elastic ring 15 (here, 2:1). It will be set. However, the setting is not limited to this.

In addition, in this embodiment, the revolution direction of the revolution member 12, that is, the revolution direction of the container holder 11 and the container 2 held by the container holder 11, and the rotation direction of the container holder 11 and the container 2 held by the container holder 11, It becomes possible to reverse the direction. As a result, compared to the case where the revolution direction and the autorotation direction of the container holder 11 (container 2) are in the same direction, it is possible to significantly improve the stirring action of the material in the container 2. Note that this effect has been demonstrated as a result of comparative experiments using high viscosity stirring materials such as grease.

Further, in the present embodiment, the container holder 11 is arranged such that its rotation axis R forms a predetermined angle θ with respect to the arrangement surface of the outer ring 13, which is provided parallel to the revolution surface of the revolution member 12. ing. As an example, it is set to 30 [°]≦θ≦60 [°]. In this way, by holding the container 2 at a predetermined angle of inclination while rotating and revolving, the stirring and defoaming effects of the material inside the container 2 can be further enhanced. This point has also been verified in the research conducted by the inventor of the present application.

Here, as shown in FIG. 1, the stirring/defoaming device 1 according to the present embodiment is equipped with the following mechanism for supplying and collecting the container 2 and transporting it within the device. Specifically, it is equipped with a supply unit 30 that sequentially supplies containers 2 (in a state in which materials are accommodated) before performing a step of stirring and defoaming (hereinafter sometimes simply referred to as a "work step"). . Further, a recovery section 32 is provided that sequentially recovers the containers 2 (in a state in which stirring and defoaming have been performed) after the work process has been performed. Furthermore, an action of transporting the container 2 from the supply section 30 to the container holder 11 positioned at a predetermined position P, and an action of transporting the container 2 from the container holder 11 positioned at the predetermined position P to the collection section 32 are performed. It is equipped with an eggplant conveying section 40. Note that, as an example, a sliding stocker (feeder) is used for the supply section 30 and the collection section 32, but the present invention is not limited to this, and a configuration may be adopted in which a conveyor or the like is used (not shown). Further, as an example, an electric cylinder is used as the horizontal movement mechanism in the conveyance section 40, but the structure is not limited to this, and a linear guide, a rack and pinion, or a ball screw and nut, etc. are used. (not shown).

Note that, when the container holder 11 is positioned at the predetermined position P, a fixing mechanism is provided that temporarily fixes (restricts movement) while both rotation and revolution are restricted. The fixing mechanism is configured to position the container holder 11 at a predetermined position P with both rotation and revolution regulated by stopping the revolving member 12 at a predetermined circumferential position. is configured with an inverter, a stop sensor, etc. (none of which are shown). A specific control example is as follows. First, the driving means (in this embodiment, an electric motor) 16 is driven to revolve (rotate) the revolving member 12 at a predetermined rotation speed (for example, 1000 [rpm]) (stirring/defoaming step). Next, the speed of the driving means (electric motor) 16 is changed by the inverter, and the rotation speed of the revolving member 12 is reduced to a very low speed (for example, 5 [rpm]). ). Next, the stop sensor is detected while the revolving member 12 is revolving at the very slow speed, and when the stop sensor is detected, the driving means (electric motor) 16 is stopped, so that the container holder 11 is at the predetermined position P. The revolving member 12 is stopped (that is, the position is determined) so that

This device causes the container holder 11, that is, the container 2, to revolve and rotate by rotating the revolving member 12 while the container holder 11 and the outer ring 13 are in contact with each other. Therefore, the container holder 11 easily rotates (especially revolves) and is likely to be misaligned. Here, in order to set the container 2 on the container holder 11, it is necessary to position the container holder 11 at a predetermined position P without rotating or revolving, but according to the above configuration, the container holder 11 cannot be This makes it possible to position (temporarily fix) extremely accurately in a stable state. Therefore, it becomes possible to insert and remove the container 2 into and out of the container holder 11 using the transport section 40.

Here, the conveyance unit 40 according to the present embodiment is capable of holding the container 2 at the tip thereof, and extends (in parallel) along the first axis C1 that coincides with the central axis T of the container 2 at the predetermined position P. An in-hand 42 is provided for setting the container 2 in the container holder 11 which is provided to be reciprocally movable and positioned at the predetermined position P. Further, the tip part can hold the container 2, and is provided so as to be movable back and forth (in parallel) along a second axis C2 that coincides with the central axis T of the container 2 at the predetermined position P. It is provided with an outhand 62 for taking out the container 2 from the container holder 11 positioned at . These in-hands 42 and out-hands 62 are such that the first axis C1 and the second axis C2 are within a plane that includes the central axis T (also the rotation axis R) of the container holder 11 positioned at the predetermined position P. They are arranged side by side in a moving arrangement. In this embodiment, the "predetermined position P" is set to the farthest position from the movement path of the in-hand 42 and the out-hand 62 (that is, from the plane in which the first axis C1 and the second axis C2 move). ing.

According to the above configuration, as a container supply process before the stirring/defoaming process, the supply unit 30 is supplied as shown in the operation explanatory diagram of FIG. The container 2 (in which the material is stored) can be held (received) by the in-hand 42 (indicated by a broken line in FIG. 7). Next, the container 2 can be transported by horizontal movement and set in the container holder 11 at a predetermined position P (indicated by a solid line in FIG. 7). On the other hand, as a container recovery step after the stirring/defoaming step, the container is held in the container holder 11 at a predetermined position P, as shown in the operation explanatory diagram of FIG. The container 2 (in a state where stirring and defoaming have been performed) can be held and taken out by the outhand 62 (indicated by a solid line in FIG. 7). Next, the container 2 can be transported by horizontal movement and placed on the recovery section 32 (indicated by a broken line in FIG. 7). Therefore, even if a device configuration is adopted in which the rotation axis R is not parallel to the revolution axis S and makes a predetermined angle θ as described above, it is extremely simple and does not require expensive configurations such as articulated robots. With this configuration, it is possible to automatically perform the work of setting and taking out the container 2 while suppressing the device cost, and it is possible to eliminate heavy labor and improve work efficiency.

An example of the configuration of the in-hand 42 according to the present embodiment includes a base portion 44 and a head portion 54 that is disposed near the tip 44a of the base portion 44 and holds the container 2. In this embodiment, the head portion 54 is connected to a connecting portion 49 extending from the base portion 44 .

Further, the base portion 44 and the head portion 54 are supported by a moving mechanism 46 attached to the attachment portion 41 of the conveyance portion 40, and reciprocate toward the container holder 11 positioned at the predetermined position P (approximate/ It is structured so that Note that, as an example, an air cylinder is used as the moving mechanism 46, but the moving mechanism 46 is not limited to this, and may be configured to use a rack, a pinion, or the like (not shown).

Further, the head portion 54 of the in-hand 42 includes a container holding portion 56 that holds the container 2 at the tip portion 54a. Note that, as an example, a suction pad that communicates with a vacuum pump and performs suction is used for the container holding section 56, but is not limited to this, and may also be configured to use a chuck or the like (not shown). .

As mentioned above, when stirring and defoaming are performed by rotating the container 2, in order to transmit the rotational force (particularly the rotational force) of the container holder 11 to the container 2, both are placed in a predetermined engaged state, that is, It is necessary to bring the engagement protrusion 2d of the container 2 into engagement with the engagement groove 11c of the container holder 11. In conventional stirring/defoaming equipment, technology has also been developed that uses an articulated robot equipped with a position confirmation camera (image processing system) to align and engage the engagement protrusion and the engagement groove. There is. However, there were problems in that the mechanism was complicated and the device cost was high. Therefore, when placing emphasis on reducing device costs, a configuration in which an operator manually performs positioning and engagement has been adopted.

On the other hand, in the present embodiment, the moving mechanism 46 moves the base part 44 and the head part 54 in a direction approaching the container holder 11, so that the engaging protrusion 2d of the container 2 is connected to the opening periphery of the container holder 11. A rotation mechanism 48 is provided which rotationally moves the head part 54 while applying an urging force in the direction toward the container holder 11 while in contact with the part 11b. Note that, as an example, a coil spring is used as the biasing member 43 that generates the biasing force, but the present invention is not limited to this, and an air cylinder or the like may be used (not shown).

Further, the rotation mechanism 48 includes a rotation transmission section 45 provided at the tip end 44a of the base section 44 to which rotational force is output, and a rotation transmission section 45 provided at the rear end section 54b of the head section 54 to which rotational force is inputted. The transmission section 55 is configured to include a transmission section 55. In this operation, when the moving mechanism 46 moves the base part 44 and the head part 54 in a direction approaching the container holder 11, the engaging protrusion 2d of the container 2 comes into contact with the opening peripheral part 11b of the container holder 11. The rotation transmitting part 45 and the rotation transmitted part 55 are brought into contact with each other, so that the movement of the head part 54 is restricted, and the head part 54 is rotated by mutual frictional force (or meshing). It has become. In this way, it is possible to switch between transmitting and receiving rotational force with a simple configuration. Note that the drive source for generating the driving force (rotational force) of the rotation mechanism 48 is, for example, a rotary actuator operated by compressed air, but is not limited to this, and an electric motor or the like may be used. It may also be a configuration (not shown).

According to the above configuration, the rotating mechanism 48 moves the container 2 to the container holder 11 in a stationary state while applying a biasing force so that the engaging protrusion 2d of the container 2 comes into contact with the opening peripheral portion 11b of the container holder 11. It can be rotated against. When the engagement protrusion 2d and the engagement groove 11c align with each other due to this rotation, the container 2 is pushed by the biasing force and the engagement is performed.

In this way, it is possible to automatically align and engage the engagement protrusion 2d and the engagement groove 11c without using a complicated and expensive configuration such as an articulated robot equipped with a camera. Therefore, it becomes possible to eliminate manual work by the operator, and it becomes possible to realize a simple device and reduce the device cost.

Next, as a configuration example of the outhand 62 according to the present embodiment, the outhand 62 includes a base portion 64 and a head portion 74 that is disposed near the tip 64a of the base portion 64 and holds the container 2. In this embodiment, the head portion 74 is connected to a connecting portion 69 extending from the base portion 64 .

Further, the base portion 64 and the head portion 74 are supported by a moving mechanism 66 attached to the attachment portion 41 of the conveyance portion 40, and reciprocate toward the container holder 11 positioned at the predetermined position P (approximate/ It is structured so that Note that, as an example, an air cylinder is used for the moving mechanism 66, but the present invention is not limited to this, and a configuration may also be adopted in which a rack, a pinion, etc. are used (not shown).

Furthermore, a biasing member 63 is provided which acts as a buffer when the head portion 74 comes into contact with the container 2 by moving the base portion 64 and the head portion 74 in a direction toward the container holder 11 by the moving mechanism 66. ing. For example, a coil spring is used as the biasing member 63, but the present invention is not limited to this, and an air cylinder or the like may be used (not shown).

Further, the head portion 74 of the outhand 62 includes a container holding portion 76 that holds the container 2 at the tip portion 74a. Note that, as an example, a suction pad that communicates with a vacuum pump and performs suction is used for the container holding portion 76, but is not limited to this, and may also be configured to use a chuck or the like (not shown). .

As explained above, according to the stirring/defoaming device according to the present invention, even if the rotation axis is not parallel to the revolution axis but forms a predetermined angle, it is possible to It is possible to reduce equipment costs by having an extremely simple configuration, and to automatically set containers without manual labor, eliminating heavy labor and improving work efficiency. It becomes possible to realize a stirring/defoaming device. In particular, the larger the container, the greater the effect.

Note that the present invention is not limited to the embodiments described above, and can be modified in various ways without departing from the scope of the present invention.

Claims

A stirring/defoaming device that includes a means for rotating a container and a means for revolutionizing the container, and performs at least one of the steps of stirring and defoaming the material contained in the container by rotating the container,
a plurality of container holders each holding the container;
a revolution member that supports the container holder so as to be rotatable around an axis of rotation and is rotatably provided around an axis of revolution, and causes the container holder to revolve around the axis of revolution;
a fixing mechanism that temporarily fixes the container holder so that it is positioned at a predetermined position while both rotation and revolution are regulated;
a supply unit that sequentially supplies the containers before performing the work process;
a collection unit that sequentially collects the containers after performing the work steps;
a transport unit that transports the container from the supply unit to the container holder positioned at the predetermined position, and also transports the container from the container holder positioned at the predetermined position to the recovery unit,
The transport section is
in-hand setting the container in the container holder, which is capable of holding the container at the tip end and is movable back and forth along a first axis coinciding with the central axis of the container, and is positioned at the predetermined position; ,
an outhand capable of holding the container at a distal end thereof, and reciprocally movable along a second axis coinciding with a central axis of the container, and taking out the container from the container holder positioned at the predetermined position; has
The in-hand and the out-hand are arranged in parallel such that the first axis and the second axis move within a plane that includes the rotation axis of the container holder positioned at the predetermined position. A stirring/defoaming device characterized by:
The container holder has an engagement groove at the opening periphery,
The container has an engaging protrusion on the outer periphery,
The in-hand includes a base portion, a head portion disposed near the tip of the base portion to hold the container, and a movement mechanism that reciprocates the base portion and the head portion with respect to the container holder. The base portion and the head portion are moved in a direction approaching the container holder by the moving mechanism, and with the engaging protrusion of the container in contact with the opening peripheral portion of the container holder, a biasing force is applied. 2. The stirring/defoaming device according to claim 1, further comprising: a rotation mechanism that rotationally moves the head portion while applying the same.
The rotation mechanism includes a rotation transmission section provided at the tip of the base section to which rotational force is output, and a rotation transmitted section provided at the rear end of the head section to which rotational force is input. and when the moving mechanism moves the base part and the head part in a direction approaching the container holder, the engaging protrusion of the container abuts the opening peripheral part of the container holder. The head section is configured to be configured such that movement of the head section is regulated, and the rotation transmitting section and the rotation transmitted section are brought into contact with each other so that the head section is rotated by mutual frictional force or meshing. The stirring/defoaming device according to claim 2.
4. The stirring/defoaming device according to claim 2, wherein the predetermined position is set at a position farthest from the plane along which the first axis and the second axis move.
further comprising an annular outer ring disposed surrounding the container holders such that the inner peripheral portion contacts the outer peripheral portions of all of the container holders,
The container holder and the outer ring are arranged such that a contact portion provided in an annular shape on the outer periphery of the container holder and an abutment surface provided on the inner periphery of the outer ring are in contact with each other. has been
The container holder is configured to revolve around the revolution axis due to the revolution of the revolution member and rotate around the rotation axis due to the frictional force received from the outer ring,
The fixing mechanism is characterized in that the container holder is positioned at the predetermined position with both rotation and revolution being regulated by stopping the revolving member at a predetermined circumferential position. The stirring/defoaming device according to claim 2 or 3.