Stirring device system

Abstract

To provide a stirring device system capable of automatically setting a container storing an object to be treated in a planetary stirring device by using an articulated robot.SOLUTION: A stirring device system 10 includes a stirring device 20 for holding a container 50 for storing a processing object in a holding part 32 and stirring the processing object by revolving and rotating the holding part, an articulated robot 60 for setting the container in the holding part, and a camera 65 mounted on the articulated robot and recognizing the container and the holding part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a planetary agitator, and more particularly to an agitator system that can automatically set an object to be processed on a planetary agitator. [Background technology]

[0002] Planetary mixing devices that perform processes such as mixing and degassing of a material to be treated by revolving and rotating a container containing the material are widely used (for example, Patent Documents 1 and 2). Patent Document 2 describes a mixing and degassing device that can automatically set a container. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-157302 [Patent Document 2] International Publication No. 2023 / 209852 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 2 describes a mixing and degassing device that automates container setting while reducing costs without adopting expensive components such as articulated robots. The device includes a supply unit consisting of a sliding stocker and a transport unit that can hold containers in a vacuum and move horizontally and back and forth to the container holder. However, it was thought that using an articulated robot would offer numerous advantages due to its greater freedom of movement. For example, the device described in Patent Document 2 has a problem in that the containers are placed in predetermined positions during supply and collection, limiting the processing conditions. However, using an articulated robot would enable containers to be supplied and collected at any position, potentially enabling flexible response to various processing conditions. This would make it possible to automate complex operations such as resupplying and processing containers that have been processed and collected once under different conditions.

[0005] Furthermore, Patent Document 2 states that since the task of setting a container in an apparatus is not simple to mechanize, a configuration using an articulated robot or the like is conceivable, and that a technology has been developed that uses an articulated robot equipped with a position confirmation camera in a conventional mixing / deaeration apparatus, but does not describe the specific configuration.

[0006] The present invention has been made in consideration of the above, and its objective is to provide an agitator system that can automatically set a container containing a workpiece to be processed into a planetary agitator using an articulated robot. [Means for solving the problem]

[0007] The agitator system of the present invention includes an agitator that holds a container containing an object to be processed in a holding part and agitates the object by revolving and rotating the holding part, an articulated robot that sets the container in the holding part, and a camera that is attached to the articulated robot and recognizes the container and the holding part.

[0008] With this configuration, the container containing the material to be treated can be automatically set on the planetary stirring device.

[0009] Preferably, the stirring device system further includes a singularity avoidance mechanism that adjusts the position of the holding part on the orbital path of the articulated robot so that the posture of the articulated robot does not become a singularity when the articulated robot approaches the holding part.

[0010] "The articulated robot approaches the holding unit" refers to the robot's hand approaching the holding unit to set a container on the holding unit. "Singular point" refers to the arm posture in which the degree of freedom in a specific direction is lost due to mechanical constraints of the arm. This configuration avoids the singular point problem of articulated robots.

[0011] Preferably, the singularity avoidance mechanism is a function provided in the stirring device, which stops the holding part while avoiding a position that becomes a singularity when the articulated robot approaches the holding part.

[0012] Alternatively, preferably, the singularity avoidance mechanism is a graspable member that is connected to a revolution mechanism and can be grasped and moved by the articulated robot to shift the position of the holding part on the revolution orbit.

[0013] Alternatively, preferably, the singularity avoidance mechanism has a function of operating the stirring device for a predetermined period of time to shift the position of the holding part on the orbital path when the holding part recognized by the camera is stopped at a position that will become a singularity when the articulated robot approaches it.

[0014] Preferably, in any of the above-described agitator systems, the articulated robot is a six-axis robot. [Effects of the Invention]

[0015] According to the agitator system of the present invention, a container containing a workpiece can be automatically set in a planetary agitator. Specifically, a camera attached to the arm of the articulated robot recognizes the position and orientation of a container supplied to be set in a holder, allowing the container to be grasped by the hand of the articulated robot. The position of the holder on its orbit and the angle of rotation around its axis of rotation are then recognized, allowing the container to be set in the holder. Furthermore, complex operations such as resupplying a container that has been processed and recovered and then processing it under different conditions can also be automated. Furthermore, the workpiece can be efficiently agitated, degassed, and otherwise processed, just like a conventional planetary agitator. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a diagram illustrating a configuration of an agitation device system according to an embodiment. [Figure 2]2A is a plan view of the main part of the stirring device, B is a cross-sectional view taken along line BB in FIG. 2A, and C is a cross-sectional view taken along line CC in FIG. 2A. [Figure 3] 3A is a plan view showing the state in which the container is attached to the adapter, B is a cross-sectional view taken along line BB in FIG. 3A, and C is a cross-sectional view taken along line CC in FIG. 3A. [Figure 4] 1 is a photograph of a container and an adapter on a supply table. [Figure 5] This is an image of an empty holder. [Figure 6] 10 is an image of a holder in which a container and an adapter are set. DETAILED DESCRIPTION OF THE INVENTION

[0017] Referring to FIG. 1, an agitator system 10 of this embodiment includes an agitator 20, an articulated robot 60, and a camera 65 attached near a hand 62 at the end of the arm of the articulated robot. The agitator 20 performs processes such as agitation and degassing of the object to be processed by revolving and rotating the container 50 containing the object to be processed. The articulated robot 60 uses the hand 62 to grasp an unprocessed container 50a placed on the supply table 11 and sets it in the agitator 20. The articulated robot 60 also removes a processed container 50b from the agitator 20 and places it on the pick-up table 12. Note that hereinafter, the articulated robot 60 may be simply referred to as a robot.

[0018] The stirring device 20 can be set in or removed from the holding portion 32 by opening the lid 22 on the top of the housing 21 and inserting or removing the container 50 containing the material to be treated through the opening 23.

[0019] 2, the agitator 20 includes a cylindrical portion 26 fitted onto a fixed shaft 24 disposed at the center via a bearing 28, and an arm body 25 consisting of a first arm 27 and a second arm 45 extending radially in a substantially horizontal direction from the upper end of the cylindrical portion. The central axis of the fixed shaft 24 is the revolution axis X. A plurality of holders 32 for holding containers 50 are disposed at the tip of the first arm 27. The tip of the first arm 27 is slightly curved toward the fixed shaft 24, so that each container 50 is held by the holder 32 and is positioned so that its upper portion is tilted toward the fixed shaft 24.

[0020] Each holder 32 is fixed to a cylindrical support shaft 31 rotatably supported at approximately the tip of the first arm 27, and rotates as the support shaft 31 rotates. The central axis of the support shaft 31 is the rotation axis Y. The rotation axis Y and the central axis of the container 50 housed in the holder 32 are positioned approximately on a straight line. Alignment protrusions 33 are provided at the upper end of the cylinder of the holder 32 at 120-degree intervals in the circumferential direction. By fitting these alignment protrusions 33 into alignment grooves (56 in FIG. 3) provided in the container or adapter, the container or adapter housed in the holder 32 is fixed to the holder 32 and rotates together with the holder 32. Note that the central axis of the container 50 and the rotation axis Y do not necessarily have to coincide.

[0021] The arm body 25 is rotatably supported by a fixed shaft 24, and a revolution gear 29 is fixed to the lower end of the fixed shaft 24 so that its teeth revolve. The revolution gear 29 is meshed with a drive gear 30 connected to a drive motor (not shown). In this embodiment, the arm body 25, the revolution gear 29, the drive gear 30, and the drive motor constitute a revolution mechanism.

[0022] A rotation drive gear 35 is fitted onto the arm body 25 above the revolution gear 29, and an intermediate gear 37 that relays the driving force that rotates the holding part 32 is fixed integrally to the lower end side of the rotation drive gear 35. In addition, a rotation control gear 38 that meshes with the intermediate gear 37 is connected to the intermediate gear 37 at a position opposite to the drive gear 30 with respect to the fixed shaft 24.

[0023] A control powder brake 39 is connected to the rotation control gear 38. When the voltage applied to the powder brake 39 is increased, the rotation speed of the rotation control gear 38 decreases in stages, and as a result, the rotation speed of the rotation control gear 38 and the intermediate gear 37 meshing therewith decreases relative to the rotation speed of the arm body 25 fixed to the revolution gear 29. On the other hand, when the voltage applied to the powder brake 39 is decreased, the rotation speed of the rotation control gear 38 increases in stages, and as a result, the rotation speed of the rotation control gear 38 and the intermediate gear 37 meshing therewith increases relative to the rotation speed of the arm body 25 fixed to the revolution gear 29.

[0024] A rotation gear 40 is fitted onto the support shaft 31 fixed to the holding portion 32, and a rotation intermediate gear 41 is provided between the rotation gear 40 and the rotation drive gear 35.

[0025] An outline of the operation of the stirring device 20 configured as above will be described. By driving the drive motor, the drive gear 30 rotates. The rotation of the drive gear 30 rotates the arm body 25. That is, the holding part 32 revolves around the revolution axis X, with the central axis of the fixed shaft 24 as the revolution axis X.

[0026] Furthermore, as the arm body 25 rotates, the relay gear 37 rotates along with the arm body 25 while rotating the rotation control gear 38. At this time, the rotation drive gear 35, which is integrally provided on the relay gear 37, also rotates along with the arm body 25. In this state, by adjusting the voltage applied to the powder brake 39, the rotation of the holding part 32 about the rotation axis Y can be controlled.

[0027] Control of rotation will now be described. When the voltage applied to powder brake 39 is 0, rotation control gear 38 is not braked and rotates freely, so relay gear 37 and rotation drive gear 35 also rotate following the revolution rotation. At this time, rotation intermediate gear 41 between rotation drive gear 35 and rotation gear 40 is not driven to rotate. In this state, holding unit 32 only revolves around revolution axis X.

[0028] By increasing the voltage applied to the powder brake 39, the rotation control gear 38 is braked, reducing its rotation speed, and the rotation speed of the relay gear 37 meshing with the rotation control gear 38 is reduced compared to the rotation speed of the arm body 25. Also, the rotation speed of the rotation drive gear 35 provided integrally with the relay gear 37 is reduced. Then, the reduced rotation speed compared to the rotation speed of the arm body 25 is transmitted to the rotation gear 40 via the rotation intermediate gear 41, causing the holding part 32 to rotate about the rotation axis Y. Note that while a mechanism for controlling rotation using gears has been described here, the present invention is not limited to this, and a mechanism using pulleys and belts instead of gears, for example, may also be used.

[0029] A rod-shaped grip 46 protrudes upward from approximately the tip of the second arm 45 of the arm body 25. The shape of the grip 46 is not particularly limited as long as it can be grasped by the hand 62 of the articulated robot 60. The robot 60 can rotate the arm body 25 and change the position of the holding unit 32 on the revolution orbit by grasping the grip 46 and rotating it around the revolution axis X. Alternatively, the grip 46 may be a separate member, and the second arm 45 may be formed with only a hole into which the grip 46 can be inserted. When needed, the robot 60 can insert the grip 46 into the hole and rotate the arm body around the revolution axis X. The grip 46 is a mechanism for preventing the robot 60 from becoming a singular point when approaching the holding unit 32. Singular points and how to avoid them will be described later.

[0030] 3, the container 50 is made up of a cylindrical container body 51 with a bottom and an open top, and a lid 52 that closes the opening of the container body. The container 50 may contain the object to be treated and be set directly in the holder 32, but in this embodiment, the container 50 is attached to an adapter 53 and set together with the adapter 53 in the holder 32.

[0031] The adapter 53 is cylindrical and has an open top and a closed bottom. The container 50 is housed in the adapter 53 and is fixed in place by O-rings 54 fitted into grooves provided in two places on the inner wall surface of the adapter so that the container 50 does not come out of the adapter 53 during the stirring process.

[0032] Adapter 53 has flange 55 on the outer periphery of the upper end (left side of Fig. 3B). Two opposing vertically cut grooves 58 are formed on the upper end of adapter 53 (right side of Fig. 3B), allowing an operator to grip container 50 when attaching or detaching it to adapter 53.

[0033] The flange 55 of the adapter 53 is cut out every 120 degrees in the circumferential direction to form alignment grooves 56 (Fig. 3C, left). By fitting these alignment grooves 56 into the alignment protrusions 33 of the holder 32, the adapter is fixed to the holder, and the adapter and container 50 rotate together with the holder 32.

[0034] The shapes of the alignment groove 56 of the adapter and the alignment protrusion 33 of the holding portion 32 are not limited to a combination of groove and protrusion. There are no particular limitations as long as the alignment portion on the adapter side and the alignment portion on the holding portion can fit together and the adapter can rotate together with the holding portion. In addition, in this embodiment, the container 50 is attached to the adapter 53 and set in the holding portion, so an alignment portion (alignment groove 56) is formed on the adapter corresponding to the alignment portion (alignment protrusion 33) of the holding portion. However, if the container 50 is set directly in the holding portion 32, an alignment portion is formed on the container corresponding to the alignment portion of the holding portion.

[0035] In addition, on the outer periphery of flange 55, at a position 60 degrees circumferentially offset from alignment groove 56, the lower half of the flange is cut out to form a gripping position 57 (right side of Figure 3C), and the fingertips of hand 62 of robot 60 are designed to hook onto this gripping position.

[0036] The articulated robot 60 is preferably a robot with six or more axes, and more preferably a six-axis robot. The robot 60 opens and closes three fingers of a hand 62 provided at the tip of the arm to grasp the adapter 53 at a grasping position 57. The type and shape of the hand 62 are not particularly limited as long as they match the shape of the container or adapter to be grasped.

[0037] The robot 60 is controlled by a robot control unit (not shown). The robot control unit also controls the camera 65, processes images captured by the camera, performs various calculations, and stores the required data. The robot control unit communicates with the control unit of the agitator 20, receives a notification of completion of processing from the agitator, for example, and operates the robot 60 and camera 65 to remove the container. The robot control unit also sends a notification to the control unit of the agitator that the attachment and detachment of the container has been completed. Note that the camera 65 may be controlled by a camera control unit (not shown) separate from the robot control unit.

[0038] The camera 65 is attached to the tip of the arm of the robot 60. A three-dimensional camera such as a stereo camera may be used as the camera 65, but it is preferable to use a normal two-dimensional camera, as higher resolution cameras are available at low cost.

[0039] Next, a method for using the above-described agitator system 10 will be described.

[0040] First, we will explain how to set the container 50 in the holder 32 of the stirring device 20. In the following, image processing and calculations required to obtain the position of each part are performed by the robot control unit, or by the camera control unit if a camera control unit is provided separately from the robot control unit.

[0041] The articulated robot 60 is operated to move the camera 65, while photographing an unprocessed container 50a placed on the supply table 11. In the image, the outer periphery of the flange 55 of the adapter 53 appears as an ellipse, with the center of the ellipse being the center O of the container. One of the containers is selected, and if necessary, the camera 65 is moved above it to photograph it again, thereby obtaining the container's position and the rotation angle around the center O of the three alignment grooves 56 (FIG. 4). The adapter's gripping position 57 is located 60 degrees circumferentially offset from the alignment grooves 56. Since the heights of the supply table 11 and the adapter 53 are known, the height of the adapter's gripping position 57 can be taught to the robot 60 in advance.

[0042] Next, the robot 60 opens the lid 22 of the agitator 20 and uses the camera 65 to capture an image of the inside of the agitator to confirm the position of the holder 32. The holder 32 is located somewhere on the orbit, and the tilt of the rotation axis Y is known, so the camera is moved to a position roughly directly facing the holder and an image of the holder is taken. Three alignment protrusions 33 are recognized in the image, and the rotation angle around the rotation axis Y is obtained (Figure 5). Note that the lid 22 can be opened and closed using a dedicated opening and closing mechanism instead of a robot.

[0043] If the holder 32 is located at a position that becomes a singular point when the robot 60 approaches, the container cannot be set, and therefore the agitator system 10 needs to be equipped with a singular point avoidance mechanism. The singular point avoidance mechanism will be described later, and here the explanation will continue assuming that the holder 32 is not located at a position that becomes a singular point for the robot 60.

[0044] Based on the previously acquired position and rotation angle of adapter 53, robot 60 is moved, and hand 62 grasps the adapter at grasping position 57, and sets adapter 53 in holder 32. Lid 22 is closed, and the robot control unit notifies the control unit of mixer 20 that the setting of container 50 is complete.

[0045] The agitation device 20 performs the agitation process. When the agitation process is completed, the control unit of the agitation device notifies the robot control unit.

[0046] The method for removing the treated container 50b from the agitator 20 is as follows: Open the lid 22, check the position of the holder 32 on the orbital path with the camera 65, move the camera 65 to a position substantially directly facing the holder, and photograph the holder. Recognize the three alignment grooves 56 on the adapter 53, and obtain the rotation angle around the rotation axis Y of the adapter (FIG. 6). Grasp the gripping position 57 of the adapter 53 with the hand 62, remove it from the holder 32, and place it on the pick-up table 12.

[0047] Next, we will explain singular points of articulated robots and how to avoid them.

[0048] A singularity in an articulated robot refers to a posture of the arm where the degree of freedom in a specific direction is lost due to mechanical constraints of the arm. The control unit of an articulated robot can generally control the movement of the arm by calculating a path that avoids passing through a singularity while the hand is moving toward a target. However, if the target is a singularity, the problem cannot be solved by controlling the robot. In this embodiment, the robot 60 always approaches the holder 32 when attaching or detaching the adapter 53. Therefore, if the holder is located at a singularity, the robot cannot perform the attachment or detachment operation. Therefore, the agitator system 10 of this embodiment requires a holder avoidance mechanism.

[0049] The first method is to give the robot seven or more axes to provide redundancy in the arm posture, but this method has the problem that the robot is expensive.

[0050] The second method is to stop the holding unit 32 so as to avoid a position that will become a singular point when the robot 60 approaches. The position where the robot becomes a singular point is determined by the relative positions of the agitator 20 and the robot 60, and can therefore be known in advance. If the agitator 20 has a function that can control the stopping position of the holding unit 32, the holding unit can be stopped so as to avoid the singular point.

[0051] In a third method, the position of the holder 32 is confirmed by a camera 65. If the holder 32 is stopped at a position that would be a singular point when the robot 60 approaches, the holder is moved. Referring to FIG. 2, the robot 60 grasps the grip 46 and rotates it around the revolution axis X, thereby changing the position of the holder 32 on its revolution orbit. Most existing planetary mixers are designed for operators to attach and detach containers, and therefore do not have a function for controlling the stop position of the holder. Instead, the operator can manually revolve the holder to change its position as needed. According to the third method, the mixer system 10 of this embodiment can be constructed by utilizing an existing mixer and adding an articulated robot 60.

[0052] The fourth method is to check the position of the holder 32 with the camera 65, and if the holder 32 is stopped at a position that would be a singular point when the robot 60 approaches, operate the agitator for a very short time, for a predetermined period of time, to shift the position of the holder on the revolution orbit. By operating the agitator's revolution mechanism at a low speed for a certain period of time, the holder can be made to avoid the singular point. With this method, the holder can be stopped while avoiding the singular point, even without a function to control the stop position of the holder or a robot-held object.

[0053] In the third and fourth methods, when the position of the holding portion 32 is recognized by the camera 65, the holding portion may be recognized directly, or a marking or the like indicating the position of the holding portion may be recognized.

[0054] According to the agitator system 10 of this embodiment, by using an articulated robot 60 with a large degree of freedom of movement and a recognition camera 65, the container 50 containing the workpiece and the adapter 53 can be automatically set in the agitator even if they are placed in an unspecified position on the supply table 11.

[0055] Furthermore, the agitator system 10 can also agitate the workpiece continuously under multiple processing conditions. For example, after the workpiece is processed under first processing conditions, the container 50 is removed from the agitator 20 and placed on the pick-up table 12. The position of the container placed on the pick-up table can be stored by the robot control unit. Next, after waiting for the workpiece to cool, the container can be set back on the agitator and processed under second processing conditions.

[0056] Furthermore, if the agitator system 10 uses a robot that has the function of stopping when it comes into contact with a person or other object, workers and robots can work together without having to surround the equipment with a safety fence, provided that necessary safety equipment such as sensors that detect human intrusion is installed.

[0057] The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the technical concept thereof. [Explanation of symbols]

[0058] 10. Mixer System 11 Supply stand 12 Pick up table 20 Stirring device 21. Cabinet 22 Lid 23 Aperture 24 Fixed axis 25 Arm body 26 Cylindrical part 27 First Arm 28 bearings 29 Orbital gear 30 Drive gear 31 Spindle 32 Holding part 33 Alignment protrusion 35 Rotation drive gear 37 Intermediate gear 38 Rotation control gear 39 Powder Brake 40 Bicycle Gear 41 Rotating intermediate gear 45 Second Arm 46 Grip (gripped part) 50, 50a, 50b container 51 Container body 52 Lid 53 Adapter 54 O-ring 55 flange 56 Alignment groove 57 Gripping position 58 Groove 60 Articulated Robot 62 hands 65 Camera X revolution axis Y rotation axis θ Tilt of rotation axis

Claims

1. a stirring device that holds a container containing an object to be processed in a holding part and stirs the object to be processed by revolving and rotating the holding part; an articulated robot that sets the container on the holder; a camera attached to the articulated robot for recognizing the container and the holder; An agitator system having:

2. The multi-joint robot further includes a singularity avoidance mechanism that adjusts the position of the holding unit on the revolution orbit so that the multi-joint robot does not become a singularity when the multi-joint robot approaches the holding unit. The agitator system of claim 1 .

3. the singularity avoidance mechanism has a function of stopping the holding unit while avoiding a position that becomes a singularity when the articulated robot approaches. The agitator system of claim 2 .

4. the singularity avoidance mechanism is a graspable member that is connected to a revolution mechanism and can be grasped and moved by the articulated robot to shift the position of the holding part on the revolution orbit. The agitator system of claim 2 .

5. The singularity avoidance mechanism has a function of operating the stirring device for a predetermined time to shift the position of the holding part on the revolution orbit when the holding part recognized by the camera is stopped at a position that will become a singularity when the articulated robot approaches. The agitator system of claim 2 .

6. The articulated robot is a six-axis robot. The agitator system according to any one of claims 1 to 5.

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