Stirring / defoaming apparatus

Abstract

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

Description

Mixing and degassing equipment

[0001] The present invention relates to an agitation / defoaming device, and more particularly to an agitation / defoaming device that includes a means for rotating a container on its axis and a means for revolving the container, and that rotates the container to agitate and / or degas a material contained in the container.

[0002] Conventionally, mixing / defoaming devices have been put to practical use, which are equipped with a means for rotating and a means for revolving a container and perform mixing or degassing on a single material or a mixed material contained in the container. Examples of such materials include single or mixed liquid (including fluid) materials, or mixed materials of liquid and powder materials (hereinafter sometimes simply referred to as "materials") in the fields of pharmaceuticals, chemical materials, food products, paints, semiconductor device materials, etc.

[0003] Patent No. 4903916

[0004] The applicant of the present application has developed a stirring / defoaming device that performs at least one of stirring and degassing of material contained in a container by rotation and revolution (see Patent Document 1: Japanese Patent No. 4903916). Previous research has demonstrated that the stirring and degassing effects can be enhanced by adopting a configuration in which the rotation axis is not parallel to the revolution axis but forms a predetermined angle with it.

[0005] The conventional agitation and degassing device exemplified in Patent Document 1 had the problem that the larger the capacity of the container and the heavier the weight of the material contained therein, the harder the work of setting the container into the device (insertion and engagement alignment) became.Furthermore, there was also the problem of low work efficiency because the entire process was done manually.

[0006] This problem can be solved by automating (mechanizing) the task of setting the container in the device rather than manually. However, in a configuration in which the rotation axis is not parallel to the revolution axis but forms a predetermined angle, mechanizing the task of setting the container in the device (container holder) is not simple. Therefore, a configuration in which a multi-joint robot or the like is provided to set the container in the device is conceivable. However, adopting such a configuration can result in another problem in that the cost of the device becomes extremely high.

[0007] The present invention has been made in view of the above circumstances, and aims to provide a stirring and degassing device that can suppress device costs by using an extremely simple configuration without employing an expensive configuration such as an articulated robot, and can automatically set containers without manual labor, thereby eliminating heavy labor and improving work efficiency.

[0008] The present invention solves the above problems by the means described below.

[0009] This agitation / defoaming apparatus is equipped with a means for rotating a container about its axis and a means for revolving the container, and performs at least one of the work steps of agitating and degassing material contained in the container by rotating the container. The agitation / defoaming apparatus includes a plurality of container holders each holding a container, a revolving member that supports the container holder rotatably about its axis of rotation and is rotatable about its axis of revolution, causing the container holder to revolve about the axis of revolution, a fixing mechanism that temporarily fixes the container holder so that it is positioned at a predetermined position with both rotation and revolution restricted, a supply unit that sequentially supplies the containers before the work step is performed, a recovery unit that sequentially recovers the containers after the work step is performed, and a mechanism for transferring the containers from the supply unit to the container holder positioned at the predetermined position. and a transport unit that transports the container from the container holder positioned at the predetermined position to the recovery unit, and the transport unit has an in-hand that can hold the container at its tip and is movable back and forth along a first axis that coincides with the central axis of the container, and sets the container into the container holder positioned at the predetermined position, and an out-hand that can hold the container at its tip and is movable back and forth along a second axis that coincides with the central axis of the container, and removes the container from the container holder positioned at the predetermined position, and the in-hand and out-hand are arranged side by side in an arrangement in which the first axis and the second axis move within a plane that includes the rotation axis of the container holder positioned at the predetermined position.

[0010] According to the present invention, even in a configuration in which the rotation axis is not parallel to the revolution axis but forms a predetermined angle with it, it is possible to realize a stirring and degassing device that can suppress device costs by using an extremely simple configuration without employing an expensive configuration such as an articulated robot, and can automatically set containers without manual labor, thereby eliminating heavy labor and improving work efficiency.

[0011] FIG. 1 is a perspective view showing an example of an agitation / deaeration apparatus according to an embodiment of the present invention. FIG. 2 is a perspective cross-sectional view of the agitation / deaeration apparatus of FIG. 1 as seen in direction A. FIG. 3 is a front view (partial cross-sectional view) showing an example of a container holder of the agitation / deaeration apparatus of FIG. 1. FIG. 4 is a perspective cross-sectional view showing an example of a container of the agitation / deaeration apparatus of FIG. 1. FIG. 5 is a cross-sectional view showing an example of an in-hand part of a conveying unit of the agitation / deaeration apparatus of FIG. 1. FIG. 6 is a cross-sectional view showing an example of an out-hand part of the conveying unit of the agitation / deaeration apparatus of FIG. 1. FIG. 7 is an explanatory diagram of the operation of the conveying unit of the agitation / deaeration apparatus of FIG. 1. FIG. 8 is an explanatory diagram of the operation of the conveying unit of the agitation / deaeration apparatus of FIG. 1.

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Fig. 1 is a perspective view (schematic diagram) showing an example of an agitation and degassing apparatus 1 according to an embodiment of the present invention, and Fig. 2 is a perspective cross-sectional view (schematic diagram) of the same as seen in direction A. In all drawings for explaining each embodiment, components having the same function are given the same reference numerals, and repeated explanations thereof may be omitted. In addition, to simplify the drawings, some bolts and nuts are not shown.

[0013] This stirring / defoaming apparatus 1 is equipped with a means for rotating and revolving a container 2 (see FIG. 4 ), and is an apparatus for stirring and / or degassing (hereinafter, sometimes simply referred to as “stirring / defoaming”) a single material or a mixed material contained in the container 2 by rotating and revolving the container 2. Note that the materials for forming each mechanism of this apparatus are general structural materials such as metal materials and resin materials, and are not particularly limited (the same applies to other components).

[0014] 1 and 2, the stirring and degassing apparatus 1 according to this embodiment includes a housing 10 having an opening 10a through which a container 2 is inserted and removed, and a lid 20 which is fixed at one end to the housing 10 by a hinge 21 and which opens and closes the opening 10a. Note that the lid is not limited to this configuration, and may have a sliding opening and closing structure (not shown). Also provided within the housing 10 are a plurality of container holders 11 that each hold a container 2, a revolving member 12 that rotatably supports each container holder 11 and is rotatable about a rotation axis 12a to revolve each container holder 11 around the rotation axis 12a, an annular outer ring 13 that surrounds all of the container holders 11 and is disposed parallel to the orbital plane of the revolving member 12 so that abutment surfaces 13a on the inner periphery abut against abutment surfaces 11a on the outer peripheries of all of the container holders 11, a drive means (an electric motor in this embodiment) 16 that rotationally drives the revolving member 12, and a control unit (not shown) that controls the drive of the drive means 16, etc. The rotation axis 12a and a drive shaft 16a of the drive means 16 are connected to each other via a drive force transmission means 28 (e.g., a pulley and timing belt, or a gear and chain, etc.) so that a drive force can be transmitted.

[0015] This embodiment also includes a chamber 22 that accommodates the container holder 11, the container 2 held by the container holder 11, the revolving member 12, and the outer ring 13, and a vacuum pump (not shown) that creates a vacuum inside the chamber 22. (In this embodiment, the aforementioned opening 10a forms the opening of the chamber 22, and the lid 20 is configured to open and close the chamber 22 so as to seal it.) The degree of vacuum created by the vacuum pump can be set appropriately. For example, the chamber 22 can be placed in a vacuum state (reduced pressure state) of approximately atmospheric pressure to 10 Pa. This allows stirring and degassing to be performed in the vacuum state inside the chamber 22, thereby further enhancing the degassing effect. However, the present invention is not limited to this configuration. As a modified example, a configuration (not shown) in which stirring and degassing are performed at atmospheric pressure without including a chamber may also be used.

[0016] Next, as shown in FIG. 2 , the revolving member 12 has a rotation shaft 12a penetrating the chamber 22. The rotation shaft 12a is rotatably supported and fixed via a bearing (e.g., a magnetic fluid bearing) 26 that enables a vacuum to be maintained within the chamber 22. The revolving member 12 may be disk-shaped, arm-shaped, or a combination thereof. In this embodiment, the revolving member 12 has a bent portion 12b midway along its radial direction to rotatably support the container holder 11 at a predetermined inclination angle θ (described in detail below) with respect to the revolution plane (the revolution axis, i.e., the plane perpendicular to the central axis S of the rotation shaft 12a). When centrifugal force acts on the container holder 11 (and the container 2) due to rotation (revolution), the revolving member 12 bends, particularly the bent portion 12b, so as to approach a state parallel to the revolution plane. Therefore, it is preferable to form the revolving member 12 using a high-strength, lightweight material such as duralumin. However, the material is not limited to this.

[0017] In addition, in this embodiment, four container holders 11 are provided at equal intervals in the circumferential direction (i.e., in a cross shape centered on the rotation axis 12a), and the structure is capable of holding four containers 2, but this is not limited to this.

[0018] 3, the container holder 11 is formed in a cylindrical shape with a bottom capable of holding the container 2 therein, and has a contact portion 11a provided in an annular shape on the outer periphery. The contact portion 11a is provided at the radial tip of a flange-shaped member 11A that extends radially from the outer periphery of the container holder 11.

[0019] The contact portion 11a according to this embodiment has a groove 14 that is annularly provided along the circumferential direction at the radial tip of the flange-shaped member 11A and has a concave radial cross section. Furthermore, a resin elastic ring 15 is fitted into the groove 14 as an elastic body for contact. For example, an O-ring made of a rubber material (e.g., silicone rubber with a hardness of 50 is suitable) is used as the resin elastic ring 15, and is fitted into the groove 14 with a predetermined tension applied in the diameter-reducing direction to prevent slippage, bending, loosening, etc.

[0020] Meanwhile, an annular outer ring 13 for causing the container holder 11 to rotate is disposed within the chamber 22. For example, the outer ring 13 is formed using a stainless steel material, but may be formed using other metal materials or a resin material. More specifically, as shown in FIG. 2 , the outer ring 13 according to this embodiment has an abutment surface 13a annularly provided along the circumferential direction on its inner periphery. This abutment surface 13a is formed into a curved surface (a conical inner surface) along the inner periphery and serves as an abutment surface for an abutment portion 11a (here, a resin elastic ring 15) provided on the outer periphery of the container holder 11. The abutment surface 13a is formed to have a predetermined angle (for example, set to be the same angle as or approximately the same as the aforementioned θ) with respect to the surface on which the outer ring 13 is disposed, which is parallel to the orbital plane of the revolving member 12.

[0021] The container holder 11 and the outer ring 13 configured as above are disposed so that the contact portion 11a (here, the resin elastic ring 15) and the contact surface 13a come into contact with each other.

[0022] Next, as shown in FIG. 4 , the container 2 is configured with a cylindrical, bottomed main body 2A with an opening 2a at the top, an inner lid 2B that fits into the opening 2a, and an outer lid 2C that is screwed onto the opening 2a from the outside. As an example of use, the material to be stirred and degassed is placed into the main body 2A through the opening 2a with the inner lid 2B and outer lid 2C removed, and then the inner lid 2B and outer lid 2C are fitted and screwed onto the main body 2A. In this embodiment, the inner lid 2B and outer lid 2C are provided with vent holes 2b and 2c, respectively, but the vent holes 2b and 2c may be omitted as appropriate. Furthermore, the inner lid 2B and outer lid 2C may be omitted as appropriate. Furthermore, a convex portion may be provided on the inner wall surface of the main body 2A to facilitate stirring of the material (not shown).

[0023] 2 to 4, the container 2 is held in the container holder 11 by being inserted from the bottom side into the opening of the container holder 11, which has a cup-shaped upper portion. At this time, engagement protrusions 2d (two in this embodiment) provided on the outer periphery of the main body 2A of the container 2 engage with engagement grooves 11c drilled in the opening periphery 11b of the container holder 11. This prevents the container 2 from rotating circumferentially relative to the container holder 11 when the container holder 11 rotates (spins), and the rotational force of the container holder 11 is transmitted to the container 2, causing the container 2 to rotate (spin).

[0024] According to the above configuration, when the driving means 16 is activated and its rotational driving force is transmitted to the rotating shaft 12a via the driving force transmission means 28, the rotating shaft 12a rotates, causing the revolving member 12 to rotate in the circumferential direction. Therefore, the container holder 11 fixed to the revolving member 12 and the container 2 held by the container holder 11 revolve (revolve) on a fixed orbit within the same plane, with the central axis S of the rotating shaft 12a as the center of rotation. Furthermore, as the revolving member 12 revolves, the container holder 11 rotates on its axis due to frictional force generated by contact between the contact portion 11a (here, the resin elastic ring 15) on the outer periphery of the container holder 11 and the contact surface 13a on the inner periphery of the outer ring 13. Therefore, the container holder 11 and the container 2 held by the container holder 11 revolve and rotate on their axes. This allows the material contained in the container 2 to be effectively agitated and degassed. The revolution speed and rotation speed are appropriately set depending on the material.

[0025] In this embodiment, the overall length of the contact surface 13a of the outer ring 13 (i.e., the circumferential length of the contact surface 13a) is longer than the overall length of the resin elastic ring 15 of the contact portion 11a of the container holder 11 (i.e., the circumferential length of the contact portion 11a). This allows the rotation speed (rotation speed [rpm]) to be increased relative to the revolution speed (rotation speed [rpm]), thereby enhancing the stirring effect. As an example, the overall length of the contact surface 13a of the outer ring 13 is set to twice the overall length of the resin elastic ring 15 of the container holder 11. Therefore, when the revolution speed is set to 1000 rpm, the rotation speed is set to 2000 rpm in accordance with the ratio (here, 2:1) of the overall length of the contact surface 13a to the overall length of the resin elastic ring 15. However, this setting is not limited to this.

[0026] Furthermore, in this embodiment, the direction of revolution of the revolving member 12, i.e., the direction of revolution of the container holder 11 and the container 2 held by the container holder 11, can be made opposite to the direction of rotation of the container holder 11 and the container 2 held by the container holder 11. As a result, it is possible to significantly improve the stirring action of the material in the container 2 compared to when the direction of revolution and the direction of rotation of the container holder 11 (container 2) are the same. This effect was demonstrated as a result of a comparative experiment using a high-viscosity stirring material such as grease.

[0027] In this embodiment, the container holder 11 is disposed so that its rotation axis R forms a predetermined angle θ with respect to the surface on which the outer ring 13 is disposed, which is parallel to the revolution plane of the revolving member 12. As an example, the angle θ is set to 30°≦θ≦60°. By rotating and revolving the container 2 while maintaining it in a tilted state at a predetermined angle, the stirring and degassing effects of the material in the container 2 can be further enhanced. This point has also been verified in the research of the present inventors.

[0028] As shown in FIG. 1 , the agitation / defoaming apparatus 1 according to this embodiment includes the following mechanisms for supplying and recovering containers 2 and transporting them within the apparatus. Specifically, the apparatus includes a supply unit 30 that sequentially supplies containers 2 (containing materials) before the agitation / defoaming process (hereinafter, sometimes simply referred to as the "work process"). The apparatus also includes a recovery unit 32 that sequentially recovers containers 2 (after the agitation / defoaming process) after the work process. The apparatus also includes a transport unit 40 that transports the containers 2 from the supply unit 30 to a container holder 11 positioned at a predetermined position P and transports the containers 2 from the container holder 11 positioned at the predetermined position P to the recovery unit 32. While a sliding stocker (feeder) is used as the supply unit 30 and the recovery unit 32, the configuration is not limited thereto and a conveyor or the like may also be used (not shown). In addition, as an example, an electric cylinder is used as the horizontal movement mechanism in the conveying unit 40, but this is not limited to this and a linear guide, a rack and pinion, or a ball screw and nut, etc. may also be used (not shown).

[0029] A fixing mechanism is provided to temporarily fix (restrict movement of) the container holder 11 in a state where both rotation and revolution are restricted when the container holder 11 is positioned at the predetermined position P. The fixing mechanism is configured to stop the revolving member 12 at a predetermined circumferential position, thereby positioning the container holder 11 in a state where both rotation and revolution are restricted. In this embodiment, the fixing mechanism is configured to include an inverter, a stop sensor, and the like (all not shown). A specific control example is as follows: First, the drive means (in this embodiment, an electric motor) 16 is driven to revolve (rotate) the revolving member 12 at a predetermined rotation speed (e.g., 1000 rpm) (stirring and degassing process). Next, the inverter changes the speed of the drive means (electric motor) 16, and the rotation speed of the revolving member 12 is reduced to a very low speed (e.g., 5 rpm) (the state where the rotation speed has been reduced to the predetermined rotation speed is detected by the inverter). Next, the stop sensor is detected while the revolving member 12 is revolved at this slow speed, and when the stop sensor is detected, the driving means (electric motor) 16 is stopped, thereby stopping the revolving member 12 so that the container holder 11 is at the predetermined position P (i.e., positioning is performed).

[0030] In this device, the revolving member 12 revolves while the container holder 11 and the outer ring 13 are in contact with each other, causing the container holder 11, i.e., the container 2, to revolve and rotate on its axis. Therefore, the container holder 11 easily rotates (especially revolves), easily becoming misaligned. To set the container 2 in the container holder 11, the container holder 11 must be positioned at a predetermined position P without rotating or revolving. The above configuration makes it possible to position (temporarily fix) the container holder 11 in such a state with great accuracy. Therefore, the container 2 can be inserted into and removed from the container holder 11 using the conveying unit 40.

[0031] Here, the conveying unit 40 according to this embodiment includes an in-hand 42 capable of holding a container 2 at its tip, reciprocating along (parallel to) a first axis C1 that coincides with the central axis T of the container 2 at the predetermined position P, and setting the container 2 in the container holder 11 positioned at the predetermined position P. The conveying unit 40 also includes an out-hand 62 capable of holding a container 2 at its tip, reciprocating along (parallel to) a second axis C2 that coincides with the central axis T of the container 2 at the predetermined position P, and removing the container 2 from the container holder 11 positioned at the predetermined position P. The in-hand 42 and out-hand 62 are arranged side by side such that the first axis C1 and the second axis C2 move within a plane that includes the central axis T (which is also the rotation axis R) of the container holder 11 positioned at the predetermined position P. In this embodiment, the "predetermined position P" is set at a position farthest from the movement path of the in-hand 42 and out-hand 62 (i.e., from the plane along which the first axis C1 and the second axis C2 move).

[0032] According to the above configuration, as shown in the operation explanatory diagram of FIG. 7 (the lid 20 is not shown for simplicity), in a container supply step before the agitation and degassing step, the container 2 (containing the material) supplied to the supply unit 30 can be held (received) by the in-hand 42 (shown by a dashed line in FIG. 7 ). The container 2 can then be transported by horizontal movement and set in the container holder 11 at a predetermined position P (shown by a solid line in FIG. 7 ). Meanwhile, as shown in the operation explanatory diagram of FIG. 8 (the lid 20 is not shown for simplicity), in a container recovery step after the agitation and degassing step, the container 2 (having undergone agitation and degassing) held in the container holder 11 at a predetermined position P can be held and removed by the out-hand 62 (shown by a solid line in FIG. 7 ). The container 2 can then be transported by horizontal movement and placed in the recovery unit 32 (shown by a dashed line in FIG. 7 ). Therefore, even if an apparatus configuration is adopted in which the rotation axis R is not parallel to the revolution axis S but forms a predetermined angle θ as described above, the setting and removal of the container 2 can be performed automatically while keeping down apparatus costs with an extremely simple configuration without adopting an expensive configuration such as an articulated robot, thereby eliminating heavy labor and improving work efficiency.

[0033] An example of the configuration of the in-hand 42 according to this embodiment includes a base portion 44 and a head portion 54 that is disposed near a tip end 44a of the base portion 44 and holds the container 2. In this embodiment, the head portion 54 is connected to a connecting portion 49 that extends from the base portion 44.

[0034] The base unit 44 and the head unit 54 are supported by a moving mechanism 46 attached to the attachment portion 41 of the conveying unit 40, and are configured to reciprocate (move toward and away from) the container holder 11 positioned at the predetermined position P. An air cylinder is used as the moving mechanism 46, for example, but the invention is not limited to this, and a rack and pinion or the like may also be used (not shown).

[0035] The head portion 54 of the in-hand 42 has a tip portion 54a equipped with a container holding portion 56 that holds the container 2. As an example, the container holding portion 56 is a suction pad that is connected to a vacuum pump and performs suction, but is not limited to this and may be configured to use a chuck or the like (not shown).

[0036] As described above, when rotating the container 2 to perform stirring and degassing, in order to transmit the rotational force (particularly the rotational force) of the container holder 11 to the container 2, the two must be in a predetermined engaged state, i.e., the engaging protrusion 2d of the container 2 must be engaged with the engaging groove 11c of the container holder 11. In conventional stirring and degassing devices, a technology has been developed that uses an articulated robot equipped with a position confirmation camera (image processing system) to align and engage the engaging protrusion and engaging groove. However, this has the drawback of resulting in a complex mechanism and high device costs. Therefore, when emphasis is placed on reducing device costs, a configuration has been adopted in which the operator manually aligns and engages the engaging protrusion and engaging groove.

[0037] In contrast, in this embodiment, the moving mechanism 46 moves the base portion 44 and the head portion 54 in a direction approaching the container holder 11, and a rotation mechanism 48 is provided that applies a biasing force toward the container holder 11 while rotating the head portion 54 with the engaging protrusion 2d of the container 2 in a state where the engaging protrusion 2d of the container 2 abuts against the opening periphery 11b of the container holder 11. Note that, as an example, a coil spring is used as the biasing member 43 that generates the biasing force, but the present invention is not limited to this, and an air cylinder or the like may also be used (not shown).

[0038] Furthermore, the rotation mechanism 48 is configured to include a rotation transmitting unit 45 provided at the tip end 44a of the base unit 44 and outputting rotational force, and a rotation receiving unit 55 provided at the rear end 54b of the head unit 54 and receiving rotational force. When the base unit 44 and the head unit 54 are moved toward the container holder 11 by the movement mechanism 46, the engaging protrusion 2d of the container 2 abuts against the opening periphery 11b of the container holder 11, restricting the movement of the head unit 54. The rotation transmitting unit 45 and the rotation receiving unit 55 come into contact with each other, causing the head unit 54 to rotate due to their mutual frictional force (or meshing). In this way, a simple configuration enables switching between transmitting and receiving rotational force. The driving source that generates the driving force (rotational force) of the rotation mechanism 48 is, for example, a rotary actuator operated by compressed air, but is not limited thereto; an electric motor or the like may also be used (not shown).

[0039] According to the above configuration, with a biasing force applied so that the engaging protrusion 2d of the container 2 abuts against the opening periphery 11b of the container holder 11, the container 2 can be rotated by the rotation mechanism 48 relative to the stationary container holder 11. When the engaging protrusion 2d and the engaging groove 11c are aligned by this rotation, the container 2 is pushed by the biasing force, and engagement is achieved.

[0040] In this way, it is possible to automatically align and engage the engaging protrusion 2d with the engaging groove 11c without using a complex and expensive configuration such as an articulated robot equipped with a camera, etc. This eliminates the need for manual work by an operator, allowing for the realization of a simple device and reduction in device costs.

[0041] Next, an example of the configuration of the outhand 62 according to this embodiment includes a base portion 64 and a head portion 74 that is disposed near a tip end 64a of the base portion 64 and holds the container 2. In this embodiment, the head portion 74 is connected to a connecting portion 69 that extends from the base portion 64.

[0042] The base unit 64 and the head unit 74 are supported by a moving mechanism 66 attached to the attachment portion 41 of the conveying unit 40, and are configured to reciprocate toward (move toward and away from) the container holder 11 positioned at the predetermined position P. An air cylinder is used as the moving mechanism 66, for example, but the invention is not limited to this, and a rack and pinion or the like may also be used (not shown).

[0043] Furthermore, a biasing member 63 is provided that acts as a buffer when the base portion 64 and the head portion 74 are moved by the movement mechanism 66 in a direction approaching the container holder 11 and the head portion 74 comes into contact with the container 2. As an example, a coil spring is used as the biasing member 63, but the invention is not limited to this and an air cylinder or the like may also be used (not shown).

[0044] The head portion 74 of the outhand 62 has a tip portion 74a equipped with a container holding portion 76 that holds the container 2. As an example, the container holding portion 76 is a suction pad that is connected to a vacuum pump and performs suction, but the present invention is not limited to this, and a chuck or the like may also be used (not shown).

[0045] As described above, according to the stirring and degassing apparatus of the present invention, even in a configuration in which the rotation axis is not parallel to the revolution axis but forms a predetermined angle with the rotation axis, it is possible to realize a stirring and degassing apparatus that can suppress the cost of the apparatus by using an extremely simple configuration without employing an expensive configuration such as an articulated robot, and can automatically set the container without manual labor, thereby eliminating heavy labor and improving work efficiency. In particular, the effect becomes greater as the container becomes larger.

[0046] The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the scope of the present invention.

Claims

1. A mixing and degassing device having a means for rotating a container on its axis and a means for revolving the container, and for rotating the container to perform at least one of the steps of mixing and degassing a material contained in the container, comprising: a plurality of container holders for holding the containers respectively; a revolving member for supporting the container holders rotatably around their rotation axes and rotatably about their revolution axes, causing the container holders to revolve around the revolution axes; a fixing mechanism for temporarily fixing the container holders so that they are positioned at predetermined positions with both rotation and revolution restricted; a supply unit for sequentially supplying the containers before the work step is performed; a recovery unit for sequentially recovering the containers after the work step has been performed; and a transport unit for transporting the containers from the supply unit to the container holders positioned at the predetermined positions and from the container holders positioned at the predetermined positions to the recovery unit, wherein the transport unit an in-hand capable of holding the container at its tip, adapted to be reciprocating along a first axis coinciding with the central axis of the container, and configured to set the container into the container holder positioned at the predetermined position; and an out-hand capable of holding the container at its tip, adapted to be reciprocating along a second axis coinciding with the central axis of the container, and configured to remove the container from the container holder positioned at the predetermined position; wherein the in-hand and out-hand are arranged side by side in such a manner that the first axis and the second axis move within a plane that includes the axis of rotation of the container holder positioned at the predetermined position.

2. The stirring and degassing device according to claim 1, characterized in that: the container holder has an engagement groove on the periphery of the opening; the container has an engagement protrusion on the outer periphery; the in-hand has a base portion, a head portion positioned near the tip of the base portion to hold the container; a movement mechanism for moving the base portion and the head portion back and forth relative to the container holder; and a rotation mechanism for moving the base portion and the head portion in a direction approaching the container holder using the movement mechanism, and for rotating the head portion while applying a biasing force with the engagement protrusion of the container abutting the periphery of the opening of the container holder.

3. The agitation and degassing device according to claim 2, characterized in that the rotation mechanism has a rotation transmitting part provided at the tip of the base part and outputting rotational force, and a rotation receiving part provided at the rear end of the head part and inputting rotational force, and when the base part and the head part are moved by the moving mechanism in a direction approaching the container holder, the engaging protrusion of the container abuts against the opening periphery of the container holder, restricting the movement of the head part, and the rotation transmitting part and the rotation receiving part come into abutment with each other, causing the head part to rotate by mutual frictional force or meshing.

4. The agitation and degassing device according to claim 2 or 3, characterized in that the predetermined position is set at the position farthest from the plane along which the first and second axes move.

5. A stirring and degassing device as claimed in claim 2 or 3, further comprising an annular outer ring arranged to surround the container holders so that its inner periphery abuts against the outer peripheries of all of the container holders, the container holders and the outer ring are arranged so that an abutment portion arranged in an annular shape on the outer periphery of the container holder abuts against an abutment surface arranged on the inner periphery of the outer ring, the container holders revolve around the revolution axis due to the revolution of the revolving member, and rotate around the rotation axis due to frictional force received from the outer ring, and the fixing mechanism is arranged to stop the revolving member at a predetermined circumferential position, thereby positioning the container holder at the predetermined position with both rotation and revolution restricted.