Stirring device

Abstract

To raise and lower a stirring tank to an appropriate height and to prevent a trouble caused by catching a foreign matter when the stirring tank is raised.SOLUTION: A stirring device for stirring a liquid or a mixture of a liquid and a solid, the stirring device comprising a stirring tank (10) having an open top surface, a lid (20) having a close contact portion on one surface thereof, the close contact portion being capable of coming into close contact with an upper surface of a side wall of the stirring tank, and a stirring tank driver configured to raise and lower the stirring tank to an upper limit position, an intermediate position, and a lower limit position; The stirring device 100 includes a lid part intermediate position stop part for preventing the lid part from lowering to a lower limit position, and a pinching detection part for detecting the pinching of a foreign matter between the stirring tank and the lid part during rising.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an agitation device for agitating a liquid or a mixture of a liquid and a solid. [Background technology]

[0002] Agitators are used to atomize and mix liquids or mixtures of liquids and solids in cosmetics, food, chemicals, or pharmaceuticals. The agitator consists of a roughly cylindrical mixing vessel in which a rotating blade attached to a rotating shaft rotates to mix the material, and a drive unit for rotating the rotating shaft.

[0003] The optimum position of the mixing vessel from the operator's perspective varies depending on whether the vessel is in normal mixing operation, when materials to be mixed are being added, or when the inside of the mixing vessel is being cleaned. For example, during normal mixing, the vessel should be at eye level to check the mixing, when materials to be mixed are being added, the vessel should be at waist level, and when cleaning the inside of the mixing vessel, the vessel should be at the operator's feet for the convenience of draining the cleaning liquid inside.

[0004] Patent Document 1 describes a configuration in which the inside of the stirring vessel can be checked through a viewing window provided in the lid of the stirring vessel. [Prior art documents] [Patent documents]

[0005] Patent Document 1: Patent No. 5264635 Summary of the Invention [Problem to be solved by the invention]

[0006] However, although the inside of the mixing tank can be seen through a viewing window provided on the cover at the top of the mixing tank as described in Patent Document 1, the material inlet at the top of the mixing tank is above eye level, making it difficult to add materials, and there are problems in that it is difficult to drain the cleaning liquid when cleaning the inside of the mixing tank. On the other hand, when trying to raise and lower the mixing tank to the appropriate height for each task, there is a problem in that fingers or clothing may get caught in the moving parts, causing trouble.

[0007] The present invention aims to solve the above problems, raise and lower an agitation vessel to an appropriate height, and prevent problems caused by foreign matter getting caught in the agitation vessel when it is raised. [Means for solving the problem]

[0008] In order to solve the above problems, the present invention provides an agitation device for agitating a liquid or a mixture of a liquid and a solid, comprising: a mixing vessel with an open top; a lid having a contact portion on one surface thereof that can be in close contact with the upper surface of the side wall of the stirring tank; a stirring tank driving unit that raises and lowers the stirring tank to an upper limit position, an intermediate position, and a lower limit position; a lid intermediate position stopper that is supported by the stirring tank and moves up and down only between an upper limit position and an intermediate position, and that prevents the lid from descending to a lower limit position; and a pinch detection unit that detects whether a foreign object has been pinched between the stirring tank and the lid during the ascent.

[0009] This configuration allows the stirring vessel to be raised and lowered to an appropriate height, and prevents problems caused by foreign matter getting caught in the stirring vessel when it is raised.

[0010] In the agitation device, the pinch detection unit may be configured to detect pinching of a foreign object when the agitation tank rises from a lower limit position to an intermediate position and approaches the lid.

[0011] This configuration makes it possible to prevent the stirring tank from rising from the lower limit position to the intermediate position while a foreign object remains trapped between the stirring tank and the lid.

[0012] In the stirring device, the pinch detection unit may be configured to detect pinching of a foreign object when the stirring tank is raised from an intermediate position to an upper limit position while supporting the lid unit.

[0013] This configuration prevents the stirring tank from rising from the intermediate position to the upper limit position while a foreign object remains trapped between the stirring tank and the lid.

[0014] The stirring device may be configured such that the pinch detection unit detects that a load equal to or greater than a predetermined value is applied to the stirring tank during the upward movement.

[0015] This configuration makes it possible to reliably detect the presence of a foreign object.

[0016] The stirring device may be configured to include an emergency stop unit that makes an emergency stop of raising and lowering the stirring tank when the pinch detection unit detects a load equal to or greater than a predetermined value.

[0017] This configuration can prevent problems caused by foreign objects getting caught. [Effects of the Invention]

[0018] The stirring device of the present invention can raise and lower the stirring vessel to an appropriate height and prevent problems caused by foreign matter getting caught in the stirring vessel when it is raised. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram showing the stirring vessel of the stirring device in Example 1 of the present invention at the upper limit position. [Figure 2] FIG. 1 is a diagram showing the agitation vessel of the agitation device in Example 1 of the present invention at an intermediate position. [Figure 3] FIG. 1 is a diagram showing the agitation tank of the agitation device in Example 1 of the present invention at the lower limit position. [Figure 4] FIG. 1 is a diagram showing the stirring vessel of the stirring device in Example 1 of the present invention turned over at the lowest position. [Figure 5]FIG. 3 is a first diagram illustrating a display on a display unit of the stirring device according to the first embodiment of the present invention. [Figure 6] FIG. 2 is a second diagram illustrating the display of the display unit of the stirring device in Example 1 of the present invention. [Figure 7] FIG. 2 is a diagram illustrating an agitation vessel holder of the agitation device according to the first embodiment of the present invention. [Figure 8] 4A and 4B are diagrams illustrating an intermediate position stopper of the agitator according to the first embodiment of the present invention. [Figure 9] FIG. 3 is a diagram illustrating an upper limit position stopper of the agitator according to the first embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION [Example]

[0020] An agitator according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 9. FIG. 1 is a diagram illustrating the agitation tank of the agitator according to the first embodiment of the present invention in an upper limit position. FIG. 2 is a diagram illustrating the agitation tank of the agitator according to the first embodiment of the present invention in an intermediate position. FIG. 3 is a diagram illustrating the agitation tank of the agitator according to the first embodiment of the present invention in a lower limit position. FIG. 4 is a diagram illustrating the agitation tank of the agitator according to the first embodiment of the present invention turned over at the lower limit position. FIG. 5 is a first diagram illustrating the display of the display unit of the agitator according to the first embodiment of the present invention. FIG. 6 is a second diagram illustrating the display of the display unit of the agitator according to the first embodiment of the present invention. FIG. 7 is a diagram illustrating the agitation tank holder of the agitator according to the first embodiment of the present invention. Note that the agitation blades are omitted in FIG. 7. FIG. 8 is a diagram illustrating an intermediate position stopper of the agitator according to the first embodiment of the present invention. FIG. 9 is a diagram illustrating an upper limit position stopper of the agitator according to the first embodiment of the present invention.

[0021] The stirring device 100 in Example 1 includes a generally cylindrical stirring vessel 10 with an open top and windows 11 on the side and bottom surfaces through which the interior can be seen, a generally circular lid 20 with a contact portion (not shown) made of an O-ring on one side that can be tightly fitted to the upper sidewall of the stirring vessel 10, a rotating or pivoting stirring blade 23 located inside the contact portion on one side of the lid 20, a material input portion 21 on the other side of the lid 20, and a drive unit (not shown) that raises and lowers the stirring vessel 10 to an upper limit position, an intermediate position, and a lower limit position. In Example 1, the material stirred by the stirring blade in the stirring vessel 10 is discharged into a tank or the like by tilting the stirring vessel 10 sideways at the lower limit position (see FIG. 4), as described below. Alternatively, the material may be guided to a predetermined tank via a hose (not shown) located at the bottom of the stirring vessel 10.

[0022] The stirred tank 10 in Example 1 is made of transparent glass in a roughly cylindrical shape with an open top, and the back and part of the bottom are supported by protective metal. Therefore, most of the front and bottom of the outer surface of the stirred tank 10 that is not protected by protective metal functions as a window 11. The transparent glass of the stirred tank 10 is made of double glass, and hot water can be poured between the panes to increase or maintain the temperature inside the stirred tank 10, and cold water can be poured between the panes to decrease or maintain the temperature inside the stirred tank 10.

[0023] In Example 1, the stirring tank 10 is configured to have the window portion 11 on the side and bottom surfaces, but this is not necessarily limited to this and can be modified as appropriate. For example, the stirring tank 10 may be configured to have the window portion 11 on the side and top surface. In Example 1, the stirring tank 10 is configured from a transparent glass, approximately cylindrical shape with an open top, but this is not necessarily limited to this and can be modified as appropriate. For example, the stirring tank 10 may be configured from a transparent glass, approximately polygonal prism, with an open top, or from slightly colored glass. Furthermore, it does not have to be made of glass, but may be made from synthetic resin or stainless steel. If the stirring tank 10 is configured from stainless steel, the lid 11 may be provided with a window portion through which the interior can be seen.

[0024] Furthermore, from the upper limit position to the intermediate position, the contact portion of the lid portion 20 is in close contact with the agitation tank 10, so the agitation blade 23 can be rotated or turned to agitate the inside of the agitation tank 10, and a vacuum can be drawn inside the agitation tank 10. However, in order for the contact portion of the lid portion 20 to come into close contact with the agitation tank 10, the agitation tank 10 must be pressed against the contact portion of the lid portion 20 to such an extent that the O-ring constituting the contact portion is deformed. Therefore, as described below, after the agitation tank 10 rises and comes into contact with the contact portion of the lid portion 20, the agitation tank 10 can be further raised and push up the lid portion 20, thereby ensuring close contact between the agitation tank 10 and the lid portion 20.

[0025] In Example 1, the lid part 20 is configured to be in close contact with the stirred tank 10 from the upper limit position to the intermediate position, but this is not necessarily limited to this and can be modified as appropriate. For example, the lid part 20 may be configured to be in close contact with the stirred tank 10 only at the upper limit position and the intermediate position, or the close contact part of the lid part 20 may be configured to be in close contact with the upper surface of the side wall of the stirred tank 10 at least at the upper limit position and the intermediate position.

[0026] A contact portion made of a rubber O-ring is provided around the entire periphery of lid portion 20 on one surface (the surface that contacts the ceiling surface of agitation tank 10) of lid portion 20 so that lid portion 20 can be tightly fitted to the upper surface of the side wall of agitation tank 10. From the upper limit position to the intermediate position, the upper surface of the side wall of agitation tank 10 is pressed against and tightly fitted to the contact portion of lid portion 20, and agitator blades 23 provided on one surface of lid portion 20 (the surface that contacts the ceiling surface of agitation tank 10) rotate or turn within agitation tank 10 to mix the charged materials.

[0027] In this way, the lid 20 and the agitator 10 are configured to be able to fit tightly together, and they may rise from the intermediate position to the upper limit position while still in tight contact. Therefore, if clothing or other items become caught between the lid 20 and the agitator 10 for some reason before they rise and continue to rise, it could lead to an accident. For this reason, as described below, the device is provided with a pinch detection unit (not shown) that detects if a foreign object has been caught between the lid 20 and the agitator 10, and an emergency stop unit (not shown) that brings the agitator 10 to an emergency stop when the pinch detection unit detects that a foreign object has been caught. This prevents the agitator 10 from rising while a foreign object is still caught, thereby preventing problems from occurring.

[0028] A rotation drive unit 22 that rotates or turns the stirring blade 23 is provided on the other surface of the lid unit 20. The rotation drive unit 22 moves up and down integrally with the lid unit 20 as will be described later.

[0029] The mixing vessel 10 is held in the mixing vessel holder 50 (see FIG. 7). The mixing vessel holder 50 is secured to the rail holder 43 and moves up and down along the rails 40, driven by a drive unit consisting of a motor and a trapezoidal screw (not shown). Operator H raises or lowers the mixing vessel 10 to the upper limit by touching the touch panel labeled "Upper Limit" within the box labeled "Continuous Operation" on the display unit 30 shown in FIG. 5. Similarly, by touching "Intermediate Limit," the mixing vessel 10 rises or lowers to the intermediate position. Furthermore, by touching "Lower Limit," the mixing vessel 10 descends to the lower limit. The top of the mixing vessel 10 shown in FIG. 1 is positioned at the upper limit, 1533 mm above the floor. This allows operator H to view the inside of the mixing vessel 10 through the window 11 and check the mixing status. At this upper limit, the mixing status within the mixing vessel 10 can also be checked through the window 11 at the bottom of the mixing vessel 10.

[0030] In Example 1, the upper limit position is the distance from the floor surface to the top surface of the mixing tank 10 of 1533 mm, but this is not necessarily limited to this and can be changed as appropriate. For example, it may be 1534 mm or more or 1532 mm or less, as long as it is set at a position where the operator H can easily view the inside of the mixing tank 10 through the window 11. To change the upper limit position, the "upper limit position for lifting" in FIG. 5 can be changed, or the position of the upper limit position stopper 42 (see FIG. 9) can be adjusted as described below.

[0031] The top of the mixing tank 10 shown in Figure 2 is positioned at an intermediate position, 962 mm from the floor. This intermediate position is set so that operator H can easily add materials to the material charging section 21. Note that the inside of the mixing tank 10 may be evacuated. In this case, after adding materials to the hopper of the material charging section 21, the cock is turned to open the door separating the mixing tank 10 from the inside of the mixing tank, and the materials are drawn in by the vacuum. After this, to maintain the vacuum, the cock is turned in the opposite direction to close the door separating the mixing tank 10 from the inside of the mixing tank, and the vacuum state inside the mixing tank 10 is maintained.

[0032] In Example 1, the distance from the floor to the top surface of the mixing tank 10 at the intermediate position was set to 962 mm, but this is not necessarily limited to this and can be changed as appropriate. For example, it may be set to 963 mm or more or 961 mm or less, as long as it is set to a position that makes it easy for the operator H to input material into the material input section 21. To change the intermediate position, simply change the "elevation intermediate position" in Figure 5.

[0033] The position of the top of the agitation tank 10 shown in Figure 3 is the lowest position, set at 622 mm from the floor. At this lowest position, the top of the agitation tank 10 is open, allowing the interior of the agitation tank 10 to be viewed. In other words, the lid 20, together with the drive unit 22, is held in the middle position by the middle position stopper 41 (see Figure 8) and does not descend to the lowest position. This releases the lid 20 from its tight contact with the top of the agitation tank 10, opening it up.

[0034] In Example 1, the lower limit position is the distance from the floor surface to the top surface of the mixing tank 10 of 622 mm, but this is not necessarily limited to this and can be changed as appropriate. For example, it may be 623 mm or more or 621 mm or less, as long as it is set at a position where the operator H can easily visually inspect and clean the inside of the mixing tank 10. To change the lower limit position, simply change the "lift-lower limit position" in Figure 5.

[0035] 4, at the lowest position, the agitation tank 10 can be tilted sideways, allowing the inside of the agitation tank 10 to be washed and debris and the like to be discharged. Also, washing water can be poured into the agitation tank 10 for washing.

[0036] When raising the agitation vessel 10 from its lowest position to the intermediate position, touching the area labeled "Intermediate" (see Figure 5) within the box labeled "Continuous Operation" on the touch panel of the display unit 30 causes the agitation vessel 10 to rise and reach the intermediate position. The agitation vessel 10 can then be stopped temporarily at the intermediate position. At this time, when the distance between the agitation vessel 10 and the lid 20 falls within a predetermined range during the ascent, the rate of ascent is slowed down. This prevents the agitation vessel 10 from colliding with the lid 20 too forcefully and breaking the glass, if the agitation vessel 10 is made of glass.

[0037] To slow down the rate of ascent The predetermined range is set to 20 mm in the first embodiment, but can be changed by setting the value of "speed change distance near lid contact" shown in Fig. 5. Also, the speed during deceleration can be set by setting the value of "rising speed when lid contacts."

[0038] To prevent injuries or damage to clothing caused by fingers or clothing being caught between the rising mixing vessel 10 and the lid 20, the device is equipped with a pinch detection unit (not shown) that detects pinch when a load exceeding a predetermined value is detected, and an emergency stop unit that controls the mixing vessel 20 to an emergency stop when the pinch detection unit detects that a foreign object has been caught. In Example 1, the pinch detection unit monitors the torque value when the mixing vessel 10 is rising to detect a load exceeding the predetermined value. The pinch detection unit detects that a foreign object has been caught by detecting a torque exceeding a predetermined value. This predetermined torque value can be set by setting the value of the "torque limit under lid contact" in Figure 5.

[0039] As described above, the pinch detection unit also functions when the lid 20 and the stirring tank 10 are raised from the intermediate position to the upper limit position while remaining in close contact with each other. The predetermined value of torque when the stirring tank 10 is raised from the intermediate position to the upper limit position may be the same as the predetermined value when the stirring tank 10 is raised from the lower limit position to the intermediate position, or may be set separately.

[0040] If a foreign object such as a finger or clothing becomes caught between the rising mixing vessel 10 and the lid 20, as shown in Figure 6, the message "Torque Limit ON" will be displayed and the emergency stop unit will stop the rising of the mixing vessel 10, preventing injuries or damage to clothing.

[0041] Furthermore, after the stirring vessel 10 contacts the lid 20, the stirring vessel 10 is further raised, pushing the lid 20 up by about 10 mm. The rising speed at this time can be set by setting the value of the "rising speed when lid contacts" shown in Figure 5. By pushing it up further after contact, the upper surface of the side wall of the stirring vessel 10 and the contact portion of the lid 20 can be tightly attached. By tightly attaching the stirring vessel 10 and the lid 20, the stirring blade 23 is stored inside the stirring vessel 10 even in the intermediate position, allowing stirring by rotating or turning. It is also possible to evacuate.

[0042] In Example 1, after the stirring tank 10 contacts the lid 20, the stirring tank 10 is further raised to push up the lid 20 by about 10 mm, but this is not necessarily limited to this and can be modified as appropriate. For example, the stirring tank 10 may be pushed up by about 20 mm or about 5 mm. It is sufficient that at least the contact portion of the lid 20 and the upper surface of the side wall of the stirring tank 10 are in close contact with each other.

[0043] To raise the agitation tank 10 from the intermediate position to the upper limit position, touch the area labeled "Upper Limit" (see FIG. 5) within the box labeled "Continuous Operation" on the touch panel of the display unit 30. The agitation tank 10 then rises to the upper limit position. As the agitation tank 10 rises, the agitation tank holder 50 pushes up the rotation drive unit holder 60, which holds the lid 20 and the rotation drive unit 22, while the agitation tank 10 remains in close contact with the lid 20. The agitation tank 10, lid 20, and rotation drive unit 22 rise together to the upper limit position (see FIG. 8). In other words, the agitation tank drive unit only drives the agitation tank holder 50, which holds the agitation tank 10. The rotation drive unit holder 60, which holds the lid 20 and the rotation drive unit 22, is pushed up by the agitation tank holder 50, which holds the agitation tank 10. This allows the agitation tank 10 and the lid 20 to maintain close contact with each other.

[0044] The lifting and lowering speed of the mixing vessel 10 can be changed by changing the value displayed as "Lifting and Lowering Operation Speed ​​(Normal)" on the touch panel of the display unit 30. Specifically, when "Lifting and Lowering Operation Speed ​​(Normal)" is touched, a numeric keypad will pop up and a number can be entered.

[0045] Next, the positioning of the lid 20 and the rotary drive unit 22 at the upper limit and intermediate positions will be described in detail with reference to Figures 7 to 9. The agitator blade 23 is not shown in Figure 7. Figures 8 and 9 are views from the rear side. As mentioned above, the agitator drive unit (not shown), which is comprised of a trapezoidal screw and a motor, raises and lowers the agitator holder 50 that holds the agitator 10. This allows the agitator 10 held by the agitator holder 50 to be raised and lowered. The lid 20 and rotary drive unit 22 are held by the rotary drive unit holder 60.

[0046] Furthermore, when the stirring tank 10 and the stirring tank holder 50 are in the intermediate position and the lowest position, the rotation drive unit holder 60 stops at the intermediate position because the intermediate position stopper block 61 at the bottom of the rotation drive unit holder 60 comes into contact with the intermediate position stopper 41 fixed to the rail holder 43, and the rotation drive unit holder 60 cannot descend any further.

[0047] When the agitation tank holder 50 rises from the lower limit position to the intermediate position, the push-up portion 51 of the agitation tank holder 50 slightly pushes up the push-up portion corresponding block 63 of the rotational drive unit holder 60. The upper surface of the side wall of the agitation tank 10 then comes into close contact with the contact portion of the lid 20. Next, when the agitation tank holder 50 rises from the intermediate position to the upper limit position, the push-up portion 51 of the agitation tank holder 50 pushes up the push-up portion corresponding block 63 of the rotational drive unit holder 60, causing the agitation tank 10, lid 20, and rotational drive unit 22 to rise together. When the agitation tank 10 rises to the upper limit position, the upper limit stopper block 62 fixed to the rotational drive unit holder 60 comes into contact with the upper limit stopper 42 and stops. The agitation tank 10 cannot rise any further.

[0048] When the mixing vessel holder 50 descends from the upper limit position, the mixing vessel 10 and the lid 20 remain in close contact, and the mixing vessel 10 held by the mixing vessel holder 50 also begins to descend. In other words, the rotation drive unit holder 60, whose upward force from the mixing vessel holder 50 has been released, descends together with the mixing vessel holder 50, and at the same time, the lid 10 and the rotation drive unit 22 also descend together. When the mixing vessel holder 50 descends to the intermediate position and stops, the intermediate position stopper 41 supported by the rail holder 43 comes into contact with the intermediate position stopper block 61 fixed to the rotation drive unit holder 60, preventing it from descending any further.

[0049] When the stirring vessel holder 50 descends further from the intermediate position, the tight contact between the lid 20 and the upper surface of the side wall of the stirring vessel 10 is released, and the lid 20 and the rotary drive unit 22 remain in the intermediate position, while only the stirring vessel 10 and the stirring vessel holder 50 descend to the lowest position, thereby releasing the tight contact between the stirring vessel 10 and the lid 20. When the stirring vessel 10 descends to the lowest position and is separated from the lid 20, the inside of the stirring vessel 10 can be easily cleaned. Furthermore, because the stirring blade 23 is exposed from the stirring vessel 10, the stirring blade 23 can also be easily cleaned.

[0050] Thus, in Example 1, A stirring device for stirring a liquid or a mixture of a liquid and a solid, a mixing vessel with an open top; a lid having a contact portion on one surface thereof that can be in close contact with the upper surface of the side wall of the stirring tank; a stirring tank driving unit that raises and lowers the stirring tank to an upper limit position, an intermediate position, and a lower limit position; a lid intermediate position stopper that is supported by the stirring tank and moves up and down only between an upper limit position and an intermediate position, and that prevents the lid from descending to a lower limit position; This stirring device is characterized by being equipped with a pinch detection unit that detects whether a foreign object has become pinched between the stirring tank and the lid while the stirring tank is being raised, making it possible to raise and lower the stirring tank to an appropriate height and prevent problems caused by foreign objects becoming pinched when the stirring tank is being raised. [Industrial Applicability]

[0051] The stirring device of the present invention can be widely applied to fields where liquids or mixtures of liquids and solids are stirred. [Explanation of symbols]

[0052] 10: Mixing tank 11: Window section 20: Lid section 21: Material input section 22: Rotation drive section 23: Mixing blade 30: Display section 40: Rail 41: Intermediate position stopper 42: Upper limit position stopper 43: Rail holding section 50: Mixing tank holding section 51: Push-up section 60: Rotation drive section holding section 61: Intermediate position stopper block 62: Upper limit position stopper block 63: Push-up section corresponding block 100: Mixing device

Claims

1. A stirring device for stirring a liquid or a mixture of a liquid and a solid, a mixing vessel with an open top; a lid having a contact portion on one surface thereof that can be in close contact with the upper surface of the side wall of the stirring tank; a stirring tank driving unit that raises and lowers the stirring tank to an upper limit position, an intermediate position, and a lower limit position; a lid intermediate position stopper that is supported by the stirring tank and moves up and down only between an upper limit position and an intermediate position, and that prevents the lid from descending to a lower limit position; and a pinch detection unit that detects whether a foreign object has been pinched between the stirring tank and the lid during the upward movement of the stirring tank.

2. 2. The agitation device according to claim 1, wherein the pinch detector detects pinching of a foreign object when the agitation tank rises from a lower limit position to an intermediate position and approaches the lid.

3. 2. The agitation device according to claim 1, wherein the pinch detector detects whether a foreign object is pinched when the agitation tank is raised from an intermediate position to an upper limit position while supporting the lid.

4. The agitation device according to any one of claims 1 to 3, characterized in that the pinch detection unit detects that a load of a predetermined value or more is applied to the agitation tank during lifting or lowering.

5. 5. The agitation device according to claim 4, further comprising an emergency stop unit that makes an emergency stop of raising and lowering the agitation tank when the pinch detection unit detects a load equal to or greater than a predetermined value.

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