Mixing device

Abstract

To provide a mixing device that enables miniaturization of the entire system. [Solution] The mixing device (100) comprises a container (50) for containing the mixture to be mixed and a multi-joint robotic arm (10) for moving the container in three dimensions. An engaging part (30) is provided at the tip of the robotic arm, and an engaged part (60) is provided on the side of the container. The robotic arm acts as a single drive source and is responsible for all of the container holding, transporting, and mixing operations. The engaging part and the engaged part are firmly connected by a plurality of clamping mechanisms (40) after initial positioning by a stereo camera (35) and final positioning by guide pins (32, 33). On the container side, an engaged part with a double-plate structure is provided, in which a high-precision connecting plate (62) is bolted to a welded base plate (61) in order to achieve both connection accuracy and rigidity with the robotic arm.

Description

Technical Field

[0001] The present invention relates to a mixing device.

Background Art

[0002] Conventionally, as shown in Patent Document 1, there is known a mixing device that mixes a sample by performing a vertical reciprocating motion mechanism in addition to rotation from one direction.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of Invention

Problem to be Solved by the Invention

[0004] However, the mixing device as shown in Patent Document 1 has a problem that the equipment becomes large-sized because it is necessary to provide a vertical reciprocating mechanism in addition to a rotation mechanism.

[0005] An object of the present invention is to provide a mixing device that enables downsizing of the entire equipment.

Means for Solving the Problem

[0006] The mixing device according to the invention described in Claim 1, which is made to achieve the above object, is: A mixing device (100) comprising a container (50) and a robot arm (10) for holding the container, an engaging portion (30) provided at the tip of the robot arm, and an engaged portion (60) provided on the side surface of the container and engaged with the engaging portion, A clamped engaged portion (63) is attached to the engaged portion, The engaging portion is a base (31) attached to the tip of the robot arm, and a clamp mechanism (40) disposed on the base, which engages with the clamped engaged portion to grip the container 、 The clamped engagement portion has an engagement groove (63b) formed inside. The clamping mechanism is A piston (42) is provided inside so as to be slidable in the axial direction, The system includes a plurality of balls (43) that move radially in conjunction with the movement of the piston and engage with the engagement groove. characterized in that.

[0007] According to this, a single robot arm holds the container and performs three-dimensional movements such as rotation and swinging, whereby the contents can be mixed. Therefore, it is no longer necessary to separately provide a plurality of dedicated mechanisms such as a rotation mechanism and a vertical reciprocating mechanism as in the conventional art, and the overall equipment can be downsized. Further, the clamp mechanism can engage with the clamped engaged portion of the engaged portion to firmly grip the container. For this reason, the container is prevented from falling off even during a high-load mixing operation by the robot arm. Furthermore, multiple balls engage with the engagement grooves, resulting in high holding force. This prevents the container from falling off even during high-load mixing operations performed by a robotic arm.

[0008] The invention described in claim 2 is, in the invention described in claim 1, The clamping mechanism is further characterized by comprising a biasing member (44) that constantly biases the piston in a direction that engages the ball with the engagement groove.

[0009] According to this, Because the container is constantly biased in the locking direction by the biasing member, the gripping state of the container is maintained even in unforeseen circumstances such as the interruption of air supply, thereby improving safety. .

[0010] The invention described in claim 3 is, in the invention described in claim 1, The clamped engagement portion and the clamping mechanism are each provided in multiple quantities.

[0011] According to this design, the container is supported at multiple points by multiple clamping mechanisms, so even when the robot arm performs complex twisting movements, the concentration of load at a single point is suppressed. This improves the durability and reliability of both the engaging and engaged parts.

[0014] The invention described in claim 4 is, in the invention described in claim 1, The engaged portion is, The container comprises a pair of first reinforcing members (52) welded to the side surface of the container and extending horizontally with a vertical gap between them, and a pair of second reinforcing members (53) extending vertically to connect the pair of first reinforcing members, A base plate (61) is placed within a frame formed by the pair of first reinforcing members and the pair of second reinforcing members, and is attached to the pair of first reinforcing members and the pair of second reinforcing members by welding. The substrate is equipped with a connecting plate (62) which is attached to it by bolts (64), The clamped engagement portion is characterized by being attached to the connecting plate.

[0015] According to this, the frame formed by the first and second reinforcing members improves the rigidity of the container body. As a result, deformation of the container during high-load mixing operations by the robot arm is suppressed. Furthermore, by using a structure in which the connecting plate, which requires high flatness accuracy, is fixed with bolts to the substrate attached by welding, the thermal distortion caused by welding is suppressed from affecting the flatness of the connecting plate. This makes it possible to achieve both the requirement of ensuring connection reliability with the engaging part and increasing the rigidity of the entire container. In addition, by placing the substrate within a frame made of reinforcing members and welding it, the substrate itself functions as part of the reinforcing structure, further improving the rigidity of the entire engaged part. Moreover, by using a heavy double-plate structure consisting of the substrate and connecting plate, the center of gravity of the entire container can be brought closer to the robot arm, making it possible to stabilize the operation of the robot arm.

[0022] Claim 5 The invention described in 4 the invention described in Claim A plurality of lightening holes (61a, 61b, 62a, 62b) are respectively formed in the base plate (61) and the connection plate (62).

[0023] According to this, by forming the plurality of lightening holes in the base plate and the connection plate, the center of gravity of the container can be brought closer to the robot arm side while reducing the overall weight of the container. Thereby, the load on the robot arm is reduced, and the amount of materials to be mixed that can be mixed at one time can be increased.

[0024] Claim 6 The invention described in 5 the invention described in Claim The plurality of lightening holes are constituted by a first lightening hole (61a) formed in the base plate, a third lightening hole (62a) formed in the connection plate, a second lightening hole (61b) formed in the base plate and having an inner diameter smaller than that of the first lightening hole, and a fourth lightening hole (62b) formed in the connection plate and having an inner diameter smaller than that of the third lightening hole.

[0025] According to this, by configuring the plurality of lightening holes with different large and small diameters, more material can be removed while ensuring the rigidity of the plates. For this reason, the overall weight of the container can be further reduced.

[0026] Further comprising a cover plate (54) that connects the second reinforcing members mounted on adjacent side surfaces of the container to each other, The cover plate is arranged on the outer lateral side of the second reinforcing member Preferred .

[0027] According to this design, the frames of the reinforcing structures attached to adjacent sides are connected to each other, further improving the overall rigidity of the frame. In addition, the cover plate covers the openings in the frame, keeping the outer surface of the container flat, which also contributes to improved cleanability.

[0028] Claim 7 The invention described in the claim 1 In the invention described above, The engaging portion further includes a vision sensor (35) that detects three-dimensional or two-dimensional positional and orientation deviations between the base and the engaged portion. The robot arm is characterized by being configured to automatically correct the position and orientation of the engagement part based on the misalignment detected by the vision sensor.

[0029] According to this system, before the engaging and engaged parts physically come into contact, the vision sensor accurately detects any three-dimensional or two-dimensional positional and orientation discrepancies between them, and the robot arm automatically corrects for these discrepancies. This enables high-precision docking and improves reliability during connection.

[0030] Claim 8 The invention described in the claim 8 In the invention described above, The engaging portion is further characterized by comprising a pair of guide pins (32, 33) that fit into positioning holes formed in the engaged portion.

[0031] According to this system, after high-precision initial positioning using a stereo camera, mechanical final positioning is performed using guide pins, resulting in extremely accurate connections. Furthermore, because the guide pins are smoothly inserted into the mating holes due to correction by the camera, the physical load and wear on the guide pins and their receiving parts are greatly reduced, improving the durability of the device.

[0032] Claim 9 The invention described in the claim 1 In the invention described above, The engaging portion is further characterized by comprising a seating confirmation sensor (37) that confirms that the engaging portion and the engaged portion are completely connected.

[0033] This allows for the detection of improper seating, such as debris getting stuck in the connection surface, and ensures safe operation. Therefore, it can suppress problems such as equipment damage or leakage of contents caused by mixed operation in an incomplete connection state.

[0034] Claim 10 The invention described in the claim 9 In the invention described above, The seating confirmation sensor is characterized by comprising an air outlet (41m) that discharges air from the mounting surface of the base, and a pressure switch (34) that detects the air pressure or flow rate.

[0035] According to this method, since the seating status is detected by changes in air pressure and flow rate without using a physical switch, there are no mechanical moving parts, resulting in a highly reliable and durable seating confirmation function.

[0036] The symbols in parentheses for each means described in this section and in the claims are merely examples showing the correspondence with the specific means described in the embodiments below, and do not affect the scope of rights in the claims. [Brief explanation of the drawing]

[0037] [Figure 1] This is an overall side view of a mixing apparatus 100 according to one embodiment of the present invention. [Figure 2] This is a side view of the container. [Figure 3] This is a side view of the container with the connecting plate removed. [Figure 4] (A) is a front view of the circuit board, and (B) is a side view of the circuit board. [Figure 5] (A) is a front view of the connecting plate, and (B) is a side view of the connecting plate. [Figure 6] (A) is a front view of the engaging part, and (B) is a side view of the engaging part. [Figure 7] This is a cross-sectional view of the container, specifically the AA section in Figure 2. [Figure 8] This is a cross-sectional view of the clamp. [Figure 9] This is a rear view of the engaging part. [Modes for carrying out the invention]

[0038] (Structure of the mixing device)

[0039] Hereinafter, a mixing apparatus 100, which is one embodiment of the present invention, will be described with reference to the drawings. Figure 1 is a side view showing the overall configuration of the mixing apparatus 100 according to this embodiment. The mixing apparatus 100 comprises a container 50 for containing a mixture such as powder, granules, or liquid, and a multi-joint robotic arm 10 for moving the container 50 in three dimensions to mix the contents.

[0040] The robot arm 10 is a vertical articulated industrial robot. The robot arm 10 consists of a base 11 fixed to the floor, a swivel body 12 that rotates horizontally on the base 11, a lower arm 13 pivotably connected to the swivel body 12, an upper arm 14 pivotably connected to the tip of the lower arm 13, a first wrist portion 15 rotatably mounted at the tip of the upper arm 14, a second wrist portion pivotably attached to the first wrist portion 15, and a hand 17 pivotably attached to the tip of the second wrist portion 16.

[0041] A balancer 19 is provided between the slewing body 12 and the upper arm 14 to counteract the weight of the lower arm 13 and the upper arm 14 and reduce the load on the drive motors. The drive motor 18 for swinging the lower arm 13 is located on the side of the slewing body 12, and the drive motor 20 for swinging the upper arm 14 is located at the rear end of the lower arm 13.

[0042] By driving the multiple joints of the robot arm 10 independently, the robot arm 10, as a single drive source, is responsible for all of the holding, transporting, and mixing operations of the container 50. This eliminates the need for the independent rotational drive mechanism and vertical reciprocating motion mechanism that were previously required, simplifying the overall configuration of the device and enabling miniaturization of the equipment.

[0043] The hand 17 is equipped with a connection mechanism for firmly and detachably gripping the container 50. This connection mechanism consists of an engaging portion 30 provided on the hand 17 side and an engaged portion 60 provided on the side of the container 50.

[0044] (Container structure) The structure of container 50 will be described in detail below. Figure 7 is a cross-sectional view AA of container 50 shown in Figure 2, but with the valve 70 (described later) removed.

[0045] As shown in Figures 2, 3, and 7, the container 50 has a bottomed rectangular tubular container body 51 made of stainless steel. The container body 51 is integrally composed of a rectangular tubular body portion 51a located at the bottom and having a roughly square horizontal cross-section, a frustoconical constricted portion 51b formed continuously above the body portion 51a and whose cross-sectional area gradually decreases as it moves upward, and a cylindrical top portion 51c formed at the upper end of the constricted portion 51b.

[0046] An opening 51c1 is formed at the top 51c through which the mixture to be introduced or discharged. The opening 51c1 is in continuous communication with the throttling section 51b. A valve 70 is attached to the outer circumferential surface of the upper end of the throttling section 51b. In this embodiment, the valve 70 is a butterfly valve and is provided with a disc-shaped disc (not shown) that closes or opens the opening 51c1. As shown in Figure 1, the valve 70 is provided with a stem 71 connected to the disc that opens and closes the disc. A gripping part of an opening / closing device (not shown) is gripped by this stem 71, and as the stem 71 rotates due to the opening / closing device, the disc rotates, and the opening 51c1 is closed or opened by the disc. In addition, a washing outlet (not shown) is provided at the bottom of the container body 51, which is mainly used during washing.

[0047] Legs 55, which rest on the floor, are welded to the four corners of the lower end of the container body 51. The legs 55 also serve to protect the container body 51 by contacting the surface it is placed on when the container 50 is inverted. Each leg 55 is configured to ensure that there is space for the forks of a forklift to be inserted when the container 50 is transported by a forklift.

[0048] Reinforcement structures are welded to each outer surface of the body 51a of the container body 51. The reinforcement structures consist of a first reinforcement member 52 and a second reinforcement member 53. The pair of first reinforcement members 52 are made of square pipes and are welded to the sides of the body 51a of the container body 51 so as to extend horizontally with a vertical gap between them. The pair of second reinforcement members 53 are also made of square pipes and are welded so as to extend vertically, connecting the pair of first reinforcement members 52 slightly inward from both ends in the longitudinal direction. As a result, the first reinforcement members 52 and the second reinforcement members 53 form a rectangular frame that surrounds the sides of the body 51a of the container body 51.

[0049] As shown in Figure 1, the frame, composed of the first reinforcing member 52 and the second reinforcing member 53, is attached not only to the side surface of the body portion 51a where the engaging portion 60 is provided, but also to all four outer surfaces of the body portion 51a. On the outer surfaces of the body portion 51a other than the body portion 51a where the engaging portion 60 is provided, the pair of second reinforcing members 53 are welded so as to extend vertically, connecting the longitudinal ends of the pair of first reinforcing members 52.

[0050] As shown in Figure 2, the cover plate 54 is positioned adjacent to the second reinforcing member 53 of the body portion 51a where the engaging portion 60 is provided, on the outer side of the second reinforcing member 53, and is welded to the second reinforcing member 53 and to the side to which the second reinforcing member 53 is attached and to the adjacent side. This connects the frames attached to the adjacent sides, further improving the rigidity of the entire frame. In addition, the cover plate 54 also plays a role in keeping the outer surface of the container 50 flat by covering the opening of the frame, thereby improving ease of cleaning.

[0051] This structure improves the overall rigidity of the container body 51, suppressing deformation of the container 50 during high-load mixing operations by the robot arm 10. Furthermore, since the first reinforcing member 52 and the second reinforcing member 53 are made of hollow square pipes, sufficient strength is ensured while reducing the overall weight of the container 50. This reduces the load on the robot arm 10 and makes it possible to increase the amount of mixture that can be mixed at one time.

[0052] An engaging portion 60 is attached to the side of the body portion 51a of the container body 51. As shown in Figure 7, the engaging portion 60 consists of a base plate 61 shown in Figure 4, a connecting plate 62 shown in Figure 5, and a clamp engaging portion 63. Considering ease of cleaning, the engaging portion 60 is constructed so that all the parts necessary for connection are mounted on a single thick connecting plate 62, eliminating irregularities on the outer surface of the container and achieving a flat outer surface. This makes cleaning easier and allows for the maintenance of a high level of hygiene. In this embodiment, the engaging portion 60 employs a double-plate structure consisting of a base plate 61 attached by welding and a connecting plate 62 formed with high precision by machining and bolted to the base plate 61, in order to achieve both high rigidity to withstand the high-load mixing operation by the robot arm 10 and high flatness accuracy to reliably connect with the hand 17.

[0053] The substrate 61 is plate-shaped. The substrate 61 is placed within a rectangular frame formed by a first reinforcing member 52 and a second reinforcing member 53, with almost no gap between the substrate 61 and the frame, and is attached to the first reinforcing member 52 and the second reinforcing member 53 by welding. In this embodiment, the substrate 61 is attached to the frame by TIG welding. The distortion of the substrate 61 caused by welding is corrected to be flat by a hydraulic press with a force of 5 tons or more.

[0054] As shown in Figure 4(A), the substrate 61 has multiple circular first and second weight-reducing holes 61a and 61b connected to it for the purpose of weight reduction. There are a total of eight first weight-reducing holes 61a formed in the substrate 61 in a grid pattern of two rows vertically and four columns horizontally. The second weight-reducing holes 61b are formed with a smaller inner diameter than the first weight-reducing holes 61a and are arranged to fill the gaps between and outside the first weight-reducing holes 61a. More specifically, in each of the upper and lower rows, there are four second weight-reducing holes 61b above and below the three columns of first weight-reducing holes 61a arranged vertically, and one second weight-reducing hole 61b above and below the first weight-reducing holes 61a in the outermost column in the width direction and the first weight-reducing holes 61a in the middle column, for a total of 14 connected second weight-reducing holes 61b.

[0055] Furthermore, the substrate 61 has a plurality of screw holes 61c formed therein, to which a connecting plate 62, described later, is attached. The screw holes 61c are arranged to surround the outer periphery of the area where the first weight-reducing holes 61a and the second weight-reducing holes 61b are formed, and also to cross the center in the vertical direction. Specifically, four screw holes 61c are formed in the width direction and three rows in the vertical direction, for a total of 12 screw holes.

[0056] Furthermore, guide holes 61d are formed in the substrate 61 into which the guide pins of the hand 17 are inserted. In this embodiment, a total of four guide holes 61d are formed slightly inward from the four corners of the substrate 61, but for reliable positioning with the hand 17, it is sufficient to have at least two diagonally opposite each other.

[0057] As shown in Figures 5(A) and (B), the connecting plate 62 is plate-shaped. Multiple counterbore holes 62e are formed in the connecting plate 62 at positions corresponding to the screw holes 61c of the substrate 61. The connecting plate 62 is superimposed on the outer surface of the substrate 61 and attached by multiple bolts 64 (shown in Figure 2). In this way, by fixing the connecting plate 62, which requires high flatness accuracy, to the substrate 61, which is attached to the reinforcing structure by welding, with bolts, the thermal distortion caused by welding is suppressed from affecting the flatness of the connecting plate 62. This ensures connection reliability with the engaging portion 30 while simultaneously achieving the requirement to increase the overall rigidity of the container 50. In this embodiment, the bolts 64 are socket head cap screws, and their screw heads are housed within the counterbore holes 62e. This prevents the heads of the bolts 64 from protruding from the outer surface of the connecting plate 62, keeping the outer surface flat and improving cleanability.

[0058] The connecting plate 62 has multiple third and fourth weight-reducing holes 62a and 62b formed in a continuous manner. The size and position of the third weight-reducing holes 62a are the same as those of the first weight-reducing holes 61a. The fourth weight-reducing holes 62b are the same size as the second weight-reducing holes 61b, and a total of eight are formed in each of the upper and lower rows, four above and four below, between the three rows of first weight-reducing holes 61a, and are formed in the same positions as the second weight-reducing holes 61b.

[0059] In the design of the container 50 in this embodiment, in order to maximize the performance of the robot arm 10, it is necessary to reconcile two conflicting requirements: to bring the center of gravity of the container 50 as close as possible to the robot arm 10, and to reduce the overall weight of the container 50. As described above, by attaching two metal plates, a base plate 61 and a connecting plate 62, to the container body 51, the necessary rigidity is secured, and the center of gravity of the container 50 is brought as close as possible to the robot arm 10. Furthermore, by forming multiple weight-reducing holes 61a, 61b, 62a, and 62b in the base plate 61 and the connecting plate 62, the overall weight of the container 50 is reduced.

[0060] The connecting plate 62 has recesses 62c formed in it, which are disc-shaped spaces to which the clamp-engaged portion 63, described later, is attached. Three recesses 62c are formed at equal intervals in the width direction on the inner sides of the upper and lower edges of the connecting plate 62. In other words, there are three recesses 62c in the width direction and two rows in the vertical direction, for a total of six recesses 62c. Multiple (four in this embodiment) screw holes 62d are formed on the outer circumference of each recess 62c for fixing the clamp-engaged portion 63 with screws.

[0061] As shown in Figures 7 and 8, the clamp engagement portion 63 is a substantially cylindrical block member. A fitting portion 63a is formed at the base end of the clamp engagement portion 63. This fitting portion 63a is fitted by press-fitting into a recess 62c formed in the connecting plate 62, and the clamp engagement portion 63 is fixed to the connecting plate 62 by a plurality of bolts 67 (shown in Figure 2). A through hole 63d is formed in the center of the clamp engagement portion 63 through which the tip portion 41b of the main body 41 of the clamp mechanism 40, which will be described later, is inserted. An annular engagement groove 63b is recessed around the entire circumference of the inner circumferential surface of this through hole, into which the ball 43 of the clamp mechanism 40 engages. In addition, an engagement projection 63c is formed to protrude around the entire circumference of the inner circumferential surface of the entrance portion of the through hole 63d.

[0062] The connecting plate 62 has bushing holes 62f formed in the same positions as the guide holes 61d of the substrate 61, into which positioning pin bushings 65 (shown in Figure 2) are attached. In other words, a total of four bushing holes 62f are formed slightly inward from the four corners of the connecting plate 62, but for reliable positioning with the hand 17, it is sufficient to have them formed in at least two diagonally opposite locations. Multiple (two in this embodiment) screw holes 62g are formed on the outer circumference of the bushing holes 62f for fixing the positioning pin bushings 65 with screws.

[0063] As shown in Figure 2, the positioning pin bush 65 is a substantially cylindrical member that is press-fitted into the bush hole 62f of the connecting plate 62 and secured by a number of bolts (two in this embodiment). The guide pin of the hand 17 is inserted into the positioning pin bush 65. In this embodiment, the positioning pin bush 65 is press-fitted into two diagonally opposite bush holes 62f out of the four bush holes 62f. This ensures high positioning accuracy when connecting the hand 17 and the engaged part 60.

[0064] (Structure of the engaging part) Next, the configuration of the engaging portion 30 will be described. As shown in Figures 6(A), (B) and 9, the engaging portion 30 has a base 31 that is attached to the tip of the hand 17 of the robot arm 10. The base 31 is a flat, block-shaped member. On the mounting surface 31a of the base 31, which is the side opposite to the side connected to the hand 17, there are multiple clamping mechanisms 40 that engage with the clamp-engaged portion 63, which is the receiving portion of the engaged portion 60, to grip the container 50. The clamping mechanisms 40 are provided on the mounting surface 31a of the base 31 in a total of six locations, three in the width direction and two in the vertical direction, corresponding to the arrangement of the clamp-engaged portion 63 on the container 50 side.

[0065] Figure 8 is a cross-sectional view showing the internal structure of the clamping mechanism 40. The general outline of the clamping mechanism 40 is described below. The clamping mechanism 40 comprises a main body 41 in which a piston 42 is slidably mounted, and a plurality of balls 43 that move radially in conjunction with the movement of the piston 42. When lock air pressure is supplied, the piston 42 retracts (moves towards the base end), pushing the balls 43 outward. These pushed-out balls 43 bite into the engagement grooves 63b formed in the clamped engagement portion 63, thereby forming a firm locked state (during clamping). On the other hand, when release air pressure is supplied, the piston 42 moves forward (moves towards the tip end), allowing the balls 43 to move inward, and the lock is released. In addition, a coil spring 44 is built inside, and even if the air supply is cut off, the biasing force of the coil spring 44 and the mechanical locking function of the steel balls provide a fail-safe function that maintains the locked state.

[0066] The specific structure of the clamping mechanism 40 will be described with reference to Figure 8. The clamping mechanism 40 includes a main body 41 attached to the base 31, a piston 42 built into the main body 41 and slidable in the axial direction, a plurality of balls 43, a coil spring 44 that biases the piston 42, and O-rings 45 and 46 which are sealing members.

[0067] The main body 41 is a substantially cylindrical member and has a base portion 41a formed on the proximal end side, a substantially disc-shaped flange portion 41h formed on the tip side of the base portion 41a and having a larger diameter than the outer diameter of the base portion 41a, and a substantially cylindrical tip portion 41b located on the tip side and having a smaller diameter than the base portion 41a. The base portion 41a is fitted by press into a circular fitting recess 31b formed in the mounting surface 31a of the base 31, and the main body 41 is attached to the base 31 by a plurality of bolts 49. A spring housing portion 41p, which is a cylindrical space, is formed in the base portion 41a.

[0068] A circular retaining hole 41j is formed in the axis of the main body 41, communicating from the base end to the tip end. A lock air supply passage 41r is formed in the main body 41, to which lock air pressure is supplied and which communicates with the first pressure chamber 40a (described later) via a spring housing portion 41p. Multiple retaining holes 41c for holding multiple balls 43 are formed on the outer circumferential surface of the tip portion 41b, communicating at intervals in the circumferential direction. An air discharge port 41m, which is a ring-shaped space, is formed around the entire circumference of the connection portion between the tip end surface 41b of the flange portion 41h and the tip portion 41b. An air passage 41n is also formed in the main body 41, which communicates with this air discharge port 41m and to which air for air blowing or seating confirmation is supplied.

[0069] The piston 42 has a receiving portion 42d, a shaft portion 42g, and a tip portion 42h formed in order from the base end to the tip end. The shaft portion 42g is cylindrical in shape. The shaft portion 42g is positioned in the retaining hole 41j of the main body 41, allowing the piston 42 to slide axially relative to the main body 41. An O-ring groove 42f is formed around the entire circumference of the outer surface of the shaft portion 42g. An O-ring 45 is fitted into this O-ring groove 42f. This O-ring 45 contacts the inner surface of the retaining hole 41j of the main body 41, thereby maintaining the airtightness of the first pressure chamber 40a, which will be described later.

[0070] The receiving portion 42d is disc-shaped and is positioned within the base portion 41a of the main body 41. The space enclosed by the bottom of the fitting recess 31b and the base end surface of the receiving portion 42d forms the second pressure chamber 31r. A ring-shaped spring receiving recess 42p is formed on the tip end surface of the receiving portion 42d. The tip end of the coil spring 44 is housed in the spring housing portion 41p, and the base end of the coil spring 44 is fitted into the spring receiving recess 42p, so that the coil spring 44 is positioned in a compressed state. With this configuration, the coil spring 44 constantly biases the piston 42 toward the base end (to the left in Figure 8) relative to the main body 41.

[0071] The space enclosed by the receiving portion 42d, the inner circumferential surface of the base portion 41a of the main body 41, and the outer circumferential surface of the shaft portion 42g constitutes the first pressure chamber 40a. An O-ring groove 42e is formed around the entire circumference of the outer circumferential surface of the receiving portion 42d. An O-ring 46 is fitted into this O-ring groove 42e. This O-ring 46 contacts the inner circumferential surface of the base portion 41a of the main body 41, thereby maintaining the airtightness of the first pressure chamber 40a.

[0072] The outer circumferential surface of the tip portion 42h has a tapered pressing surface 42a that increases in diameter towards the tip in order to push the ball 43 radially outward. The middle portion of the outer circumferential surface of the tip portion 42h has an annular relief groove 42b that allows the ball 43 to move radially inward.

[0073] Next, the operation of the clamping mechanism 40 will be described. First, the locking (clamping) operation will be described. When locking air is supplied from an air supply source (not shown) to the locking air supply passage 41r, the locking air is supplied to the first pressure chamber 40a. The air supplied to the first pressure chamber 40a presses the receiving portion 42d of the piston 42 toward the base end (to the left in Figure 8). As a result, the piston 42 moves toward the base end.

[0074] As the piston 42 moves toward the base end, the pressing surface 42a formed on the tip portion 42h pushes the ball 43 radially outward. With the tip portion 41b of the main body 41 inserted through the through hole 63d of the clamp engagement portion 63, the ball 43, pushed radially outward, engages with the engagement groove 63b formed on the inner circumferential surface of the clamp engagement portion 63 by biting into it. As a result, the clamp mechanism 40 and the clamp engagement portion 63 are physically firmly connected, and the hand 17 enters a locked state in which it firmly holds the container 50.

[0075] Next, the unlock (release) operation will be described. When unlocking, the supply of lock air pressure is stopped, and release air pressure is supplied to the second pressure chamber 31r from a release air port (not shown). This causes the piston 42 to move towards the tip (to the right in Figure 8). As the piston 42 moves towards the tip, the relief groove 42b of the tip portion 42h comes into position opposite the ball 43. This causes the ball 43 to move radially inward, moving into the relief groove 42b, and disengaging the ball 43 from the engagement groove 63b. As a result, the main body 41 is released, allowing it to be smoothly withdrawn from the through hole 63d.

[0076] Furthermore, the clamp mechanism 40 of this embodiment has a fail-safe mechanism to ensure high safety. In the event that the air supply is cut off due to a power outage or air supply trouble, a powerful coil spring 44 provided inside continues to bias the piston 42 toward the base end (locked position), so the locked state is mechanically maintained. This prevents the gripped container 50 from unexpectedly falling. In addition, each clamp mechanism 40 has an extremely high holding force, and by using six of them in this embodiment, it is possible to hold the container 50 very strongly and safely even during high-load mixing operations by the robot arm 10.

[0077] The mounting surface 31a of the base 31 is provided with a pair of guide pins, a first guide pin 32 and a second guide pin 33, for final positioning with respect to the engaged portion 60. The first guide pin 32 is a tapered pin with a conical tip. When this first guide pin 32 is inserted into the positioning pin bush 65 of the engaged portion 60, it absorbs the XY displacement between the engaged portion 30 and the engaged portion 60, functions as a central reference for positioning, and guides it to the correct position. The second guide pin 33 is a relief pin with a hemispherical tip. After being positioned by the first guide pin 32, this second guide pin 33 plays the role of absorbing (relieving) slight positional displacements and angular errors due to thermal expansion and machining errors. In this way, by combining two types of guide pins 32 and 33 with different roles, one is used as the main reference for positioning, and the other absorbs errors, thereby suppressing excessive constraint and achieving smooth and highly accurate fitting.

[0078] The base 31 houses air piping and electrical wiring for operating each clamping mechanism 40, suppressing external contamination and preventing damage to the wiring during the operation of the robot arm 10.

[0079] As shown in Figure 9, the side of the base 31 connected to the hand 17 is provided with a seating confirmation sensor 37, a lock / unlock solenoid valve 38, an air blow solenoid valve 39, and a pressure switch 34. The lock / unlock solenoid valve 38 is a solenoid valve that switches between supplying and shutting off lock air to the lock air supply passage 41r. The air blow solenoid valve 39 is a solenoid valve that switches between supplying and shutting off air blow or seating confirmation air to the air passage 41n.

[0080] The base 31 is provided with a seating confirmation sensor 37 to confirm that the engagement between the engaging portion 30 and the engaged portion 60 (the engagement between each clamping mechanism 40 and each clamped engaged portion 63) is complete. When seating confirmation air is discharged from the air outlet 41m, the seating confirmation sensor 37 detects the pressure or flow rate of the seating confirmation air using a sensor such as a pressure switch 34, thereby detecting whether there are any seating defects such as debris getting caught in the engagement portion between each clamping mechanism 40 and each clamped engaged portion 63. The air outlet 41m and air passage 41n, which are the air circuits for seating confirmation, are completely independent of the lock air supply passage 41r, which is the air circuit for locking / releasing the clamps, thereby suppressing malfunctions and ensuring high safety.

[0081] On the mounting surface 31a of the base 31, a stereo camera 35 is provided as a vision sensor that simultaneously captures three circular targets (three clamp-engaged portions 63 in this embodiment) provided on the container 50 side and detects three-dimensional or two-dimensional positional and orientation deviations between the base 31 and the engaged portions 60. The stereo camera 35 is attached to the base 31 by a bracket 36. As shown in Figure 6(B), the stereo camera 35 consists of a first camera 35a and a second camera 35b, which are provided at the tip of the bracket 36 with a vertical gap between them. The first camera 35a and the second camera 35b are mounted at an angle to each other such that their respective camera centers intersect at a single intersection point α located in front of each camera.

[0082] Next, the coordinated positioning and clamping operations of the mixing device 100 in this embodiment will be described. First, initial positioning is performed by the stereo camera 35. As the robot arm 10 approaches the container 50, the stereo camera 35 takes pictures of three targets and calculates the difference between the current position and orientation and the ideal position and orientation that should be targeted. Then, based on the calculated amount of deviation, the robot arm 10 automatically corrects its own position and orientation.

[0083] Next, final positioning is performed using guide pins. Once perfectly aligned, the hand 17 moves forward, and the first guide pin 32 and second guide pin 33 on the hand 17 side fit into the holes of the positioning pin bush 65 provided on the container side. This completes the mechanically precise centering, and the mounting surface 31a of the hand 17 and the outer surface of the connecting plate 62 on the container 50 side come into tight contact.

[0084] Finally, the clamp mechanism 40 secures the parts together. Once positioning is complete and the surfaces are in contact, the clamp mechanism 40 activates. The ball 43 inside the clamp mechanism 40 grips the engagement groove 63b of the clamped engagement part 63, firmly integrating the hand 17 and the container 50. In this way, a highly reliable automatic attachment and detachment is achieved through a multi-stage process of "camera (optical) → guide pin (mechanical) → clamp (fixed)".

[0085] In this embodiment, before engaging the engaging portion 30 and the engaged portion 60, an air blow is performed by blowing air from the air blow solenoid valve 39 through the air passage 41n and air discharge port 41m toward the connection portion between the flange portion 41h and the tip portion 41b, the outer surface of the tip portion 41b, and the ball 43. This makes it possible to remove foreign matter adhering to the connection portion between the flange portion 41h and the tip portion 41b, the outer surface of the tip portion 41b, and the ball 43, thereby achieving more reliable engagement.

[0086] The engaging portion 30 attached to the hand 17 in this embodiment is designed to be lightweight, weighing approximately 60 kg, which is a significant weight reduction compared to conventional models (approximately 300 kg). This reduces the load on the robot arm 10 and significantly increases the amount of mixture that can be mixed at one time from approximately 150 kg to approximately 250 kg.

[0087] (Operation of the mixing device) The mixing device 100 of this embodiment performs a mixing operation after gripping the container 50 as described above. Unlike conventional simple operations that merely rotate the container in one direction while tilting it at a certain angle, this mixing operation is a more complex three-dimensional operation that adds a "twist" in addition to simple rotation. Specifically, this is achieved by the robot arm 10 rotating the container 50 while simultaneously changing the orientation of the first wrist portion 15 and the second wrist portion 16. As a result, the mixture to be stirred in the container 50 is stirred more efficiently, shortening the mixing time and improving the quality. The engaging portion 30 and the engaged portion 60 of this embodiment have high rigidity that can withstand such complex and high-load "twisting operations".

[0088] (Effects of the mixing device) The effects of the mixing device 100 of this embodiment will be described below.

[0089] The mixing device 100 comprises a container 50 and a robot arm 10 that holds the container 50. The robot arm 10 has an engaging portion 30 at its tip and an engaged portion 60 on the side of the container 50 that engages with the engaging portion 30.

[0090] According to this design, a single robotic arm 10 holds the container 50 and performs three-dimensional movements such as rotation and oscillation to mix the contents. Therefore, it is no longer necessary to individually install multiple dedicated mechanisms such as a rotation mechanism and an up-and-down reciprocating mechanism as in conventional designs, and the overall size of the equipment can be reduced.

[0091] Furthermore, the engaged portion 60 includes a pair of first reinforcing members 52 and a pair of second reinforcing members 53 welded to the side surface of the container 50.

[0092] According to this, the frame formed by the first reinforcing member 52 and the second reinforcing member 53 improves the rigidity of the container body. As a result, deformation of the container 50 during high-load mixing operations by the robot arm 10 is suppressed.

[0093] Furthermore, the first reinforcing member 52 and the second reinforcing member 53 are made of hollow square pipes.

[0094] According to this design, by constructing the reinforcing members from hollow square pipes, it is possible to reduce the overall weight of the container 50 while ensuring sufficient strength. This reduces the load on the robot arm 10 and makes it possible to increase the amount of mixture that can be mixed at one time.

[0095] Furthermore, a clamp-engaged portion 63 is attached to the engaged portion 60, and the engaging portion 30 has a base 31 and a clamp mechanism 40 provided on the base 31.

[0096] According to this, the clamping mechanism 40 engages with the clamped engagement portion 63, allowing it to firmly grip the container 50. Therefore, even during high-load mixing operations by the robot arm 10, the container 50 is prevented from falling off.

[0097] Multiple clamp engagement portions 63 and clamp mechanisms 40 are provided.

[0098] According to this design, since the container 50 is supported at multiple points by multiple clamping mechanisms 40, even when the robot arm 10 performs complex twisting movements, the concentration of load at a single point is suppressed. This improves the durability and reliability of the engaging portion 30 and the engaged portion 60.

[0099] Furthermore, the clamping mechanism 40 includes a piston 42 and a plurality of balls 43 that move radially in conjunction with the movement of the piston 42 and engage with the engagement groove 63b of the clamped engagement portion 63.

[0100] According to this design, multiple balls 43 engage with the engagement grooves 63b in a way that bites into them, thereby providing a high holding force. As a result, the container 50 is prevented from falling off even during high-load mixing operations performed by the robot arm 10.

[0101] Furthermore, the clamping mechanism 40 is further equipped with a coil spring 44 that constantly biases the piston 42.

[0102] According to this, since the coil spring 44 is constantly biased in the locking direction, the gripping state of the container 50 is maintained even in unforeseen circumstances such as the air supply being interrupted, thereby improving safety.

[0103] Furthermore, the engaged portion 60 includes a base plate 61 attached to the reinforcing member by welding, and a connecting plate 62 attached to the base plate 61 by bolts 64.

[0104] According to this design, the connecting plate 62, which requires high flatness accuracy, is fixed to the welded substrate 61 with bolts 64, thereby suppressing the effect of thermal distortion due to welding on the flatness of the connecting plate 62. This makes it possible to achieve both the requirement of ensuring connection reliability with the engaging portion 30 and increasing the overall rigidity of the container 50. Furthermore, the substrate 61 functions as part of the reinforcing structure, further improving the overall rigidity of the engaged portion 60. In addition, by using a double-plate structure, the center of gravity of the entire container 50 can be brought closer to the robot arm 10, making its operation more stable.

[0105] Furthermore, multiple weight-reducing holes 61a, 61b, 62a, and 62b are formed in the substrate 61 and the connecting plate 62, respectively.

[0106] According to this, the center of gravity of the container 50 can be moved closer to the robot arm 10 while reducing the overall weight of the container 50. This reduces the load on the robot arm 10 and makes it possible to increase the amount of mixture that can be mixed at one time.

[0107] Furthermore, the multiple weight-reducing holes 61a, 61b, 62a, and 62b are composed of holes of different sizes.

[0108] This allows for the removal of more material while maintaining the rigidity of the plate. As a result, the overall weight of the container 50 can be further reduced.

[0109] Furthermore, the mixing device 100 is further equipped with cover plates 54 that connect adjacent second reinforcing members 53.

[0110] According to this design, the frames of the reinforcing structures attached to adjacent sides are connected to each other, further improving the overall rigidity of the frame. In addition, the cover plate 54 covers the opening of the frame, keeping the outer surface of the container 50 flat, which also contributes to improved cleanability.

[0111] Furthermore, the engagement portion 30 is equipped with a stereo camera 35, and the robot arm 10 automatically corrects the position and orientation of the engagement portion 30 based on the misalignment detected by the stereo camera 35.

[0112] According to this system, before the engaging portion 30 and the engaged portion 60 physically come into contact, the stereo camera 35 accurately detects the three-dimensional positional and orientation discrepancies between them, and the robot arm 10 automatically corrects them. This enables high-precision docking and improves reliability during connection.

[0113] Furthermore, the engaging portion 30 is further equipped with a pair of guide pins 32 and 33.

[0114] According to this design, after high-precision initial positioning by the stereo camera 35, mechanical final positioning is performed by the guide pins 32 and 33, resulting in extremely accurate connection. Furthermore, because the guide pins 32 and 33 are smoothly inserted into the mating holes due to correction by the camera, the physical load and wear on the guide pins and their receiving parts are greatly reduced, improving the durability of the device.

[0115] Furthermore, the engaging portion 30 is further equipped with a seating confirmation sensor 37.

[0116] This allows for the detection of improper seating, such as debris getting stuck in the connection surface, and ensures safe operation. Therefore, it can suppress problems such as equipment damage or leakage of contents caused by mixed operation in an incomplete connection state.

[0117] Furthermore, the seating confirmation sensor 37 consists of an air outlet 41m and a pressure switch 34.

[0118] According to this method, since the seating status is detected by changes in air pressure and flow rate without using a physical switch, there are no mechanical moving parts, resulting in a highly reliable and durable seating confirmation function.

[0119] (Other embodiments) The present invention has been described above in relation to the most practical and preferred embodiments at present. However, the present invention is not limited to the embodiments disclosed in this specification and can be modified as appropriate without contradicting the gist or idea of ​​the invention as can be inferred from the claims and the specification as a whole. Mixing apparatus 100 with such modifications should also be understood to be included within the technical scope of the patent.

[0120] In the embodiments described above, the robot arm 10 was a vertical articulated type, but the present invention is not limited thereto, and other types of robot arms such as horizontal articulated robots and parallel link robots can also be used.

[0121] In this embodiment, six clamping mechanisms 40 are provided on the engaging portion 30, but the number may be increased or decreased depending on the weight of the container 50 and the load of the mixing operation.

[0122] Furthermore, in this embodiment, a stereo camera 35 was used to detect three-dimensional positional and orientation deviations, but similar functionality may be achieved by combining other 3D vision sensors, multiple two-dimensional cameras, or laser sensors. Also, in applications where precise positioning is not required, the initial positioning using the camera can be omitted, and positioning can be performed using only the guide pins 32 and 33.

[0123] Furthermore, the material to be mixed is not limited to the powders and granules shown in the embodiments; the present invention can be applied to the mixing of various forms of substances, such as the mixing of liquids with each other or the mixing of liquids with powders. [Explanation of Symbols]

[0124] 10 Robot Arms 30 Engaging part 31 Base 32 First guide pin (guide pin) 33. Second guide pin (guide pin) 34 Pressure switch 35 Stereo Camera (Vision Sensor) 37. Seating confirmation sensor 40 Clamping mechanism 41m Air outlet 42 pistons 43 Ball 44. Biasing member 50 containers 52 First reinforcing member 53 Second reinforcing member 54 Cover plate 60 Engaged portion 61 circuit boards 61a First weight-reducing hole (weight-reducing hole) 61b Second weight-reducing hole (weight-reducing hole) 62 connection plate 62a Third weight-reducing hole (weight-reducing hole) 62b Fourth weight-reducing hole (weight-reducing hole) 63 Clamped engagement portion 63b Engagement groove 64 volts 100 Mixing device

Claims

1. A mixing device (100) comprising a container (50) and a robotic arm (10) for holding the container, The engagement portion (30) provided at the tip of the robot arm, The container has an engaged portion (60) provided on its side surface with which the engaging portion engages, A clamp engagement portion (63) is attached to the engagement portion. The aforementioned engaging portion is A base (31) attached to the tip of the robot arm, The base is provided with a clamping mechanism (40) that engages with the clamped engagement portion to grip the container, The clamped engagement portion has an engagement groove (63b) formed inside. The clamping mechanism is A piston (42) is provided inside so as to be slidable in the axial direction, A mixing device comprising a plurality of balls (43) that move radially in conjunction with the movement of the piston and engage with the engagement groove.

2. The mixing device according to claim 1, further comprising a biasing member (44) that constantly biases the piston in a direction that engages the ball with the engagement groove, wherein the clamping mechanism further comprises a biasing member (44).

3. The mixing apparatus according to claim 1, characterized in that a plurality of clamp engagement portions and clamp mechanisms are provided.

4. The engaged portion is, The container comprises a pair of first reinforcing members (52) welded to the side surface of the container and extending horizontally with a vertical gap between them, and a pair of second reinforcing members (53) extending vertically to connect the pair of first reinforcing members, A base plate (61) is placed within a frame formed by the pair of first reinforcing members and the pair of second reinforcing members, and is attached to the pair of first reinforcing members and the pair of second reinforcing members by welding. The circuit board is equipped with a connecting plate (62) which is attached to the circuit board by bolts (64), The mixing device according to claim 1, characterized in that the clamped engagement portion is attached to the connecting plate.

5. The mixing apparatus according to claim 4, characterized in that a plurality of weight-reducing holes (61a, 61b, 62a, 62b) are formed in the substrate (61) and the connecting plate (62), respectively.

6. The mixing apparatus according to claim 5, characterized in that the plurality of weight-reducing holes consist of a first weight-reducing hole (61a) formed in the substrate, a third weight-reducing hole (62a) formed in the connecting plate, a second weight-reducing hole (61b) formed in the substrate and having a smaller inner diameter than the first weight-reducing hole, and a fourth weight-reducing hole (62b) formed in the connecting plate and having a smaller inner diameter than the third weight-reducing hole.

7. The engaging portion further includes a vision sensor (35) that detects a three-dimensional or two-dimensional positional and orientation deviation between the base and the engaged portion. The mixing apparatus according to claim 1, characterized in that the robot arm is configured to automatically correct the position and orientation of the engagement portion based on the deviation detected by the vision sensor.

8. The mixing device according to claim 7, characterized in that the engaging portion further comprises a pair of guide pins (32, 33) that fit into positioning holes formed in the engaged portion.

9. The mixing apparatus according to claim 1, further comprising a seating confirmation sensor (37) that confirms that the engaging portion and the engaged portion are completely connected.

10. The mixing apparatus according to claim 9, characterized in that the seating confirmation sensor comprises an air outlet (41m) that discharges air from the mounting surface of the base, and a pressure switch (34) that detects the pressure or flow rate of the air.

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