EP3442693A1 - Procédé et dispositif pour mélanger des substances pulvérulentes ou granulaires - Google Patents

Procédé et dispositif pour mélanger des substances pulvérulentes ou granulaires

Info

Publication number
EP3442693A1
EP3442693A1 EP17783486.8A EP17783486A EP3442693A1 EP 3442693 A1 EP3442693 A1 EP 3442693A1 EP 17783486 A EP17783486 A EP 17783486A EP 3442693 A1 EP3442693 A1 EP 3442693A1
Authority
EP
European Patent Office
Prior art keywords
mixing
container
lid
handling head
mixing container
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17783486.8A
Other languages
German (de)
English (en)
Other versions
EP3442693B1 (fr
Inventor
Christian Honemeyer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP3442693A1 publication Critical patent/EP3442693A1/fr
Application granted granted Critical
Publication of EP3442693B1 publication Critical patent/EP3442693B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F23/00—Mixing according to the phases to be mixed, e.g. dispersing or emulsifying
    • B01F23/60—Mixing solids with solids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F29/00—Mixers with rotating receptacles
    • B01F29/10—Mixers with rotating receptacles with receptacles rotated about two different axes, e.g. receptacles having planetary motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F29/00—Mixers with rotating receptacles
    • B01F29/30—Mixing the contents of individual packages or containers, e.g. by rotating tins or bottles
    • B01F29/34—Constructional details of holders for the individual packages or containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F29/00—Mixers with rotating receptacles
    • B01F29/40—Parts or components, e.g. receptacles, feeding or discharging means
    • B01F29/403—Disposition of the rotor axis
    • B01F29/4035—Disposition of the rotor axis with a receptacle rotating around two or more axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F33/00—Other mixers; Mixing plants; Combinations of mixers
    • B01F33/35—Mixing after turning the mixing vessel upside down
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F33/00—Other mixers; Mixing plants; Combinations of mixers
    • B01F33/80—Mixing plants; Combinations of mixers
    • B01F33/85—Mixing plants with mixing receptacles or mixing tools that can be indexed into different working positions

Definitions

  • the invention relates to a method and a device for mixing powdered or granular materials, in particular for the production of masterbatches.
  • a stationary mixing device comprises a mixing head for detecting a mixing container, which is closed by a detachable mixing lid, which has one or more mixing tools.
  • a movable lower mixing container part which is tightly connected to the mixing lid and filled with the substances to be mixed, is transported and then brought by the mixing device with driven mixing tool in different positions, for example, 90 0 to 180 0 rotated about a horizontal axis to to bring the substance in contact with the mixing tool and to mix optimally.
  • the mixing vessel is released from the mixing device and transported away with the mixed substances.
  • each mixing container must be provided with an associated mixing lid.
  • Another major disadvantage of such a device is the lack of flexibility to be able to use mixing containers with different heights and diameters. Thus, one usually needs a mixer per container diameter.
  • the equipment is immovable by stationary machine stands and can be loaded and emptied only at one point with mixing containers.
  • the object of the invention is to propose a method and a corresponding device in order to avoid the abovementioned disadvantages and to improve the efficiency of a mixing device.
  • the invention first proposes a method for mixing powdered or granular substances according to claim l before.
  • the mixing container is detected together with the mixing lid of the mixing device and released together with this after completion of the mixing process, remain on the actual mixing device no impurities or contaminated parts, so this immediately after completion of a mixing process for the adoption of another, of a Mixing lid covered mixing container is ready and can perform a new mixing process without prior cleaning would have to be done. Contamination of the actual mixing device with a mixing medium is prevented and the machine efficiency is substantially increased compared to other systems.
  • a mixing container to be subjected to a mixing process is detected in a loading position by the mixing device and released after completion of the mixing process in a dispensing position, wherein the handling head of the mixing device has degrees of freedom of movement, which makes it possible that the task position differs from the dispensing position and the mixing position.
  • the dispensing position expediently has such a distance from the loading position and the mixing position that a mixing container can be brought into the loading position, while another mixing container is in the mixing position and a third mixing container in the dispensing position, so that all three positions are occupied simultaneously can and the efficiency of the device or the method is improved.
  • At least one fixed or movable drivable mixing tool is held on the mixing lid, which, if drivable, is driven by the mixing device after the mixing container has been grasped in accordance with the mixing process.
  • a size of the mixing lid is detected, the handling head is adjusted to the detected size of the mixing lid, and the mixing container covered by the mixing lid is grasped by the handling head. Furthermore, there is the possibility that a size of the mixing container is detected, the handling head is adjusted to the detected size of the mixing container, and the mixing container covered by the mixing lid is grasped by the handling head. In particular, after completing a mixing process and releasing a mixing container in the dispensing position, the handling head for carrying out a further mixing process to another, newly detected size of another Mixing container and / or set to a different size of a mixing lid of another mixing container and detects the other mixing container with the mixing lid.
  • the mixing lid is brought by the handling head with the opening of the mixing container in dust and / or airtight engagement, in particular simultaneously with the detection of the mixing container.
  • the handling head detects a ready for mixing mixing dust and / or hermetically sealed mixing container and this also closed in the dispensing position free.
  • an interior of the mixing container is vented controlled after completion of the mixing process prior to releasing or decoupling of the mixing container.
  • the invention preferably provides that the mixing container is rotated by the handling head about an axis, two mutually perpendicular or three mutually perpendicular axes during the mixing process and / or is moved along a direction of movement, two mutually perpendicular or three mutually perpendicular directions of movement, in particular oscillating becomes.
  • the mixing device is immediately ready for detecting a further mixing container covered by a mixing lid and for carrying out a further mixing process.
  • a change in size (diameter and / or height of the mixing container) and the mixing tools without any problems and any modification can be performed.
  • the mixing lid can be removed from the mixing container and stored temporarily, if necessary cleaned and / or placed on another mixing container, which is then to be supplied to the mixing device. It can be provided that the mixing container is first closed after filling with a protective cover, for example. A film hood, which is removed before the start of the mixing process and replaced by a mixing lid. Accordingly, the mixing lid can be removed after the mixing process and replaced by a protective cover which closes the mixing container, so that the mixing lid can be stored or cleaned separately from the mixing container or used for another mixing container.
  • the object of the invention is furthermore achieved by a mixing device, in particular for carrying out the method according to the invention, with a control, a handling head which is rotatable about at least one axis or movable along at least one direction of movement, which is provided with detection means for detecting a mixing container covered by a mixing lid in which the handling head for detecting the mixing container located in a predeterminable application position can be brought into a starting position corresponding to the application position, and for carrying out a mixing process predeterminable by the controller together with the detected mixing container in at least one predetermined mixing position and after completion of the mixing process into a predefinable, from the application position and the at least one mixing position different end position can be brought, in which the mixing container covered by the mixing container is in the dispensing position and the handling opf is releasable.
  • the detection means are conveniently connected to the controller.
  • Such a mixing device has, as explained above, in addition to the improvement in efficiency due to the exclusion of impurities on the mixing device itself further the advantage that already a mixing container can be moved to the loading position or can be in the loading position while a container is mixed or is in a mixing position and a ready mixed mixing container is in the dispensing position or is brought into this.
  • the controller and the handling head can be designed to rotate the handling head about an axis, two mutually perpendicular or three mutually perpendicular axes and / or for movement of the handling head along a direction of movement, two mutually perpendicular or three mutually perpendicular directions of movement.
  • the mixing lid may form a separate part relative to the mixing container, and it may be interchangeable, whereby a cleaned mixing lid may be used for any mixing container of suitable size.
  • the mixing lid may be held on the mixing container, for example, be mounted pivotably or slidably thereto.
  • the mixing lid and / or the mixing container may be provided with a seal.
  • the mixing lid and / or the mixing container may be provided with an annular seal which is sufficiently wide in the radial direction, so that the mixing lid can be used with mixing containers of different diameters.
  • the mixing lid and / or the mixing container may have a flat, annular sealing surface of sufficient radial width and the mixing container having a circular seal.
  • the mixing lid and / or the mixing container may be provided with clamping means that allow a dust or airtight engagement of mixing lid and mixing container or its opening.
  • the mixing device in particular the handling head, is provided with clamping means for sealing engagement of the mixing lid with a particular upwardly facing opening of the mixing container. Then, the mixing lid by the mixing device, in particular by the handling head before, after or when detecting the mixing container can be tightly engaged with the mixing container, and also solved by the mixing device when releasing what independent handling operations for locking and unlocking the mixing lid superfluous and saves corresponding components.
  • the clamping means of the mixing device may be formed by the detecting means, which may be configured to detect a mixing container and a mixing lid by applying a clamping or clamping force between an opening edge of the mixing container and the mixing lid.
  • the mixing container may be provided in the region of the opening with an outwardly projecting container flange, which allows a favorable detection of the mixing container together with the mixing lid.
  • the detection means are designed to detect mixing containers and mixing caps of different diameters and are adjustable in size by the controller.
  • the mixing device or the handling head is provided with at least one mixing drive, the / s or whose / the drive shaft / n can be brought into driving connection with a arranged on the mixing cover mixing tool / are.
  • the mixing lid may have a mixing shaft rotatably mounted therein, which carries at its end facing the mixing container a mixing element, such as a mixing blade, while at its end facing away from the mixing container, a coupling attachment.
  • a mixing element such as a mixing blade
  • a coupling attachment can have, for example, a cone, a keyway arrangement or other non-circular cross-section which can be coupled to a drive shaft of the mixing device, in particular positively and / or non-positively coupled.
  • the mixing device may conveniently comprise a multi-axis robot allowing movement of the handling head about at least one, two, three, four, five or six axes (one to three linear degrees of freedom of movement and / or one to three degrees of freedom of rotation).
  • the mixing lid can be provided with a vent opening and / or a vent valve, with which the mixing container can be vented in a controlled manner after completion of a mixing process.
  • the mixing device may be provided with a suction device, which is connectable to the vent valve.
  • the mixing lid can be provided with a metering opening which can be closed, in particular, by the mixing device, via which liquids or solids can be added in a controlled manner before, during or after completion of a mixing process.
  • the mixing device can be associated with a first conveying device, with which mixing containers can be fed into the predetermined loading position or to another position within a detection area of the mixing device. Further, the mixing device may be associated with a second conveyor, with the mixing container covered by a mixing lid mixing container can be transported from the dispensing position after completion of a mixing process.
  • the mixing device can be associated with a storage and / or a feed device for mixing lid, and also a Aufsetzz Nur for placing a mixing lid on a filled mixing container, which is initially introduced without mixing lid to the mixing device, and a removal device for removing the mixing lid after completion of the mixing process ,
  • Attachment and acceptance devices can be formed by one or by one and the same robot.
  • a cleaning device for mixing lid can be provided.
  • the attachment and removal devices can be designed to remove a mixing lid from the storage device and / or to enter and remove it from the cleaning device.
  • the mixing device is associated with a transport robot, which accompanies a mixing container before and after the mixing process and hangs up a mixing lid and decreases after mixing or transported the mixing container with mixing lid and transported on after mixing.
  • the mixing container is covered or closed after filling by a protective cover, which is removed before the mixing operation and replaced by a mixing lid, such as by the Aufsetz annoying. Accordingly, after the mixing operation, the mixing lid may be removed, such as by the take-off device, and instead a protective cover may be mounted on the mixing container.
  • the mixing device is expediently provided with a first position detection device, for example with a camera system or a laser measuring system comprising in particular three sensors, with which a container position and / or a container height and / or a container diameter of a mixing container can be detected, wherein the mixing container is in particular in the feed position located.
  • a first position detection device for example with a camera system or a laser measuring system comprising in particular three sensors, with which a container position and / or a container height and / or a container diameter of a mixing container can be detected, wherein the mixing container is in particular in the feed position located.
  • the mixing device can be provided with a second position detection device, for example with a camera system or a particular three sensors comprising laser measuring system, with a position and / or a rotational position of a mixing shaft of a mixing vessel covering a mixing lid is detected, and with a rotational position of a mixing lid relative to the mixing container and / or relative to the handling head can be detected.
  • a second position detection device for example with a camera system or a particular three sensors comprising laser measuring system, with a position and / or a rotational position of a mixing shaft of a mixing vessel covering a mixing lid is detected, and with a rotational position of a mixing lid relative to the mixing container and / or relative to the handling head can be detected.
  • the first and second position detection means may be formed as a single position detection means.
  • the first, second or only position detection device can be held on the handling head and be movable therewith.
  • the invention further relates to a mixing system according to claim 19.
  • FIG. 1 shows a side view of a mixing device according to the invention
  • FIG. 2 shows a plan view of the mixing device according to FIG. 1,
  • FIG. 1 shows a side view of a mixing device according to the invention
  • FIG. 3 shows a side view of a handling head of the mixing device according to FIGS. 1 and 2,
  • FIG. 4 shows a plan view of a handling head according to FIG. 3, FIG.
  • FIGS. 3 and 4 show a perspective view of the handling head according to FIGS. 3 and 4,
  • FIG. 6 shows a schematic side view of a mixing container with a lying mixing lid
  • FIG. 7 shows another side view of the mixing container according to FIG. 6 in the direction VII, FIG.
  • FIGS. 6 and 7 shows a perspective view of the mixing container according to FIGS. 6 and 7,
  • Fig. 10 shows a plan view of the mixing lid according to Fig. 9, and
  • FIG. 11 shows a perspective view of the mixing lid according to FIGS. 9 and 10.
  • a mixing tank 2 cleaned at a cleaning station (not shown) is sized to a filling station (also not shown), either manually or controlled by a higher level control, with a predetermined amount and type of mixing Filled raw materials.
  • the raw materials are specified by a recipe and adapted, among other things, to the respective container size.
  • the recipe also determines the course of the mixing process, in particular its duration and the type of movement of the mixing container and the mixing tool.
  • the data defining the merge process is stored in memory associated with the controller. The controller is part of the mixer and controls it throughout the process.
  • a suitable mixing lid 4 (FIGS. 9 to 11) is then placed on the filled mixing container 2.
  • the type and size of the mixing lid may depend on the diameter of the mixing container 2, or with appropriate lid training regardless of, and of the required mixing elements or mixing tools. Preferably, a single size and type of mixing lid is used for all container sizes.
  • the mixing lid 4 may have a pure closure function, without mixing tools, but is usually equipped with at least one fixed or movable mixing tool, for example, a mixing blade 6, which is fixed to a mixing shaft 8 rotatably mounted in the mixing lid 4.
  • the mixing lid 4 can be placed manually or by means of a suitable robot as a separate part on the opening of the mixing container 2, or it can be stored or guided on the mixing container and brought into a closed position.
  • the mixing lid 4 When the mixing lid 4 has a flat bottom, it can be used to close mixing containers of different sizes, or vice versa, mixing caps of different sizes can be used for a particular mixing container, since the mixing device expediently comprises means for detecting a size of the mixing lid and means for detecting a size of the mixing container to adjust, via the controller, the detecting means for detecting a mixing container covered by a mixing lid to the detected size (s) of the mixing lid and / or the mixing container.
  • the mixing container 2 prepared in this way is brought into a handling or detection area of a mixing device 12 manually or by means of a first conveying device 10, which is indicated by dashed lines in FIG. 2.
  • the mixing container 2 may be provided with wheels 14 which run in corresponding rails of the first conveyor 10.
  • the mixing device comprises a multi-axis robot 6, which is arranged on a foundation or machine frame 16 and whose handling head 18 is movable about or along six axes, that is to say in FIG. H. is linearly movable in all spatial directions and about three mutually perpendicular axes (x, y, z) is rotatable so that it can take any desired orientation in space and can perform any desired movement or trajectory.
  • the handling head 18 is arranged for detecting a mixing container 2 covered with a mixing lid 4 and for moving the mixing container thus sealed in any directions or for rotating about arbitrary axes, as well as for driving a mixing tool 6, if any.
  • the handling head 18 with a mixing drive 20 provided, which has a drive coupling 22 in which a mixing shaft 8 of a mixing lid 4 is receivable.
  • the handling head 18 For detecting a mixing container covered with a mixing lid, the handling head 18 has size-adjustable detection means in the form of three tensioning means 24, each having a rotation axis 26 rotatable about an axis 26a and a plurality of different length clamping arms 28 held on the rotation axis 26.
  • semi-circular clamping elements on the axis of rotation 26 are possible to tension different diameters.
  • the initially loose-lying mixing lid 4 is firmly clamped or pressed between the mixing container 2 and the handling head 18 so that a dust- or airtight seal between mixing lid and mixing container can be achieved.
  • the axes of rotation 26 are each rotatable by a drive motor 32, which may be a stepper motor which is controllable by the controller.
  • the axes of rotation 26 are further displaceable along their longitudinal axis, by means of a likewise controlled by the control clamping drive, for. B. electric motor, pneumatic or hydraulic, so that the desired clamping effect can be achieved.
  • the detection means thus form in the described embodiment at the same time the clamping means with which the mixing lid 4 is brought close to the mixing container 2 in engagement.
  • a supplied mixing container 2 is brought via a corresponding safety device 34 such as safety lock or light grid in a task position 36, in which it can be detected by the multi-axis robot 12, the handling head is then in a starting position.
  • a safety device 34 such as safety lock or light grid in a task position 36, in which it can be detected by the multi-axis robot 12, the handling head is then in a starting position.
  • several different task positions of a mixing container are possible, each of which a conveyor can be assigned.
  • a mixing container After a mixing container has reached a loading position for the mixing device or the multi-axis robot 12, data such as diameter and height of the mixing container and the mixing program are transferred to the controller and / or the mixing device, for example via a wireless (eg with RFID) or wired interface, optically readable code (barcode, QR code), or manual input.
  • the mixing device Based on the height of the mixing container, the mixing device determines the position or height for measurements to determine the center of the mixing container and aligns accordingly.
  • Insbesonde- Re may be arranged on the handling head 18, a camera system which determines the center and the orientation in the circumferential direction of the mixing lid and a rotational position of the mixing shaft.
  • the handling head is positioned above the mixing container, and the exact center is determined from the mixing shaft. This position is transferred to the controller, and the handling head is aligned exactly over the mixing shaft.
  • This alignment can also be done with the help of a arranged in the bottom region displacement plate on which the mixing container is.
  • a position of the mixing lid in the circumferential direction is detected, for example, the angular position of a line connecting the center of the mixing shaft with a vent valve. This angle is important so that the vent valve 11 or a possible addition nozzle is accurately positioned in a designated opening on the handling head.
  • a possible sliding surface of the mixing lid or of the mixing container with respect to the handling head is determined via the camera system or distance sensors, and a correction angle is transmitted to the controller.
  • the handling head is aligned so that it is parallel to the mixing lid.
  • the drive clutch 22 is aligned parallel to the mixing shaft 8.
  • the angle of rotation of the mixing shaft 8 is determined and the mixing drive 20 and the drive coupling 22 are positioned at an identical angle of rotation.
  • the handling head 18 is now matched with respect to its orientation exactly on the mixing container and the mixing lid and can be lowered onto the mixing lid. Due to the previously performed measurements and positioning, no mechanical stresses arise.
  • the clamping devices 24 are tuned to the determined diameter of the Swinging mixing container 2 pivoted, wherein clamping arms 28 are pivoted with matching radial lengths about the axis of rotation 26, and then pneumatically and / or electrically and / or hydraulically raised. Mixing tank, mixing lid and handling head are now firmly connected, and the actual mixing process can begin.
  • the mixing lid does not necessarily have to be locked by the mixing device or the handling head itself with the mixing container 2 or tightly connected thereto, but hermetically sealed with a suitably designed mixing lid before feeding the mixing container into the loading position or can be locked.
  • the mixing container and / or the mixing lid is provided with suitable closure means to lock the mixing lid firmly and airtight with the mixing container.
  • the handling head of the mixing device is designed only for detecting the unit formed from mixing container and mixing lid.
  • the mixing container is now moved and rotated in such a way that the contained substance comes into intensive contact with the at least one active or passive mixing tool or mixing element. Due to the flexibility of the mixing device 12, which in the example described permits movement in any direction and rotation about any axis, each mixing program can be individually adapted and executed to the substance to be mixed.
  • an optimally effective mixing tool can be selected to match the substance to be mixed, for example with one or more or different mixing blades, blades, etc.
  • a conversion of the mixing device itself is not required for this purpose.
  • the mixing container After completing the mixing process, it may be necessary to vent a small overpressure in the mixing vessel that results from heating the substance and the air in the mixing vessel.
  • the mixing container is brought into its horizontal starting position and the attached in the mixing lid bleed valve actuated. Possible overpressure and fine dust can escape.
  • an abatement Suction lance brought into cooperation with the vent valve, at the end of a suction device is mounted, with the exiting dust can be sucked directly. As a result, contamination in the environment of the mixing device are prevented.
  • the product level in the mixing container can be compensated.
  • the mixing container is brought into an "over-swinging position", counter to the previously assumed pivoting position before being aligned in a horizontal basic position, thereby compensating for a possible one-sided bulk cone and distributing the product uniformly in the mixing container.
  • the mixing container is deposited at a dispensing position 38 and released from the handling head.
  • the mixing device 12 moves to a predetermined end position (in Fig. 2 above) and lowers the mixing container to a position immediately above the bottom. In this position, the clamping arms 28 of the clamping device 24 are lowered, so that the mixing container is on the ground, for example on the wheels 14.
  • a second conveyor 40 serves to remove the mixing container.
  • a transport robot can be provided, which accompanies a mixing container through the stations filling, mixing and dispensing. The clamping arms 28 are moved back to a basic position, and the handling head 18 is brought into a starting position, in which the mixing device for detecting a next, covered by a mixing lid mixing container and is ready for a new mixing process.
  • the mixing containers may be closed after filling by a protective cover, for example a plastic film or film hood, which is removed by the mixing device or an associated device prior to mixing and replaced by the mixing lid.
  • the mixing lid may be mounted by the mixing device or an associated device. Thereafter, the mixing process. Subsequently, the mixing lid can remain on the mixing container or in turn removed and replaced by a protective cover.
  • the mixing lids can be stored in the area of the mixing device in a storage facility. Thus, for example, a mixing lid for a first mixing container and then for a second mixing container identical recipe can be used.

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  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Accessories For Mixers (AREA)

Abstract

L'invention concerne un procédé permettant de mélanger des substances pulvérulentes ou granulaires, selon lequel un récipient mélangeur (2) est rempli d'une quantité prédéfinie des substances à mélanger, une ouverture du récipient mélangeur est recouverte par un couvercle de mélange (4), le récipient mélangeur recouvert du couvercle de mélange est placé dans position d'alimentation à l'intérieur d'une zone de détection d'un mélangeur (12), une tête de manipulation (18) du mélangeur pouvant tourner autour d'un axe et/ou pouvant se déplacer le long d'au moins une direction de déplacement est placée dans une position de départ correspondant à la position d'alimentation prédéfinie, le récipient mélangeur est détecté dans la position d'alimentation par la tête de manipulation, le récipient mélangeur est déplacé dans au moins une position de mélange par le mélangeur, selon un processus de mélange prédéfini et les substances contenues sont mélangées, une fois le processus de mélange terminé, le récipient mélangeur est placé au moyen de la tête de manipulation dans une position de distribution, différente de la position de chargement et de la au moins une position de mélange et est sorti du mélangeur, dans la position de déchargement prédéfinie, dans un état recouvert par le couvercle de mélange.
EP17783486.8A 2016-10-12 2017-10-11 Procédé et dispositif pour mélanger des substances pulvérulentes ou granulaires Active EP3442693B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016012872.0A DE102016012872A1 (de) 2016-10-12 2016-10-12 Verfahren und Vorrichtung zum Mischen von pulver- oder granulatförmigen Stoffen
PCT/EP2017/075958 WO2018069401A1 (fr) 2016-10-12 2017-10-11 Procédé et dispositif pour mélanger des substances pulvérulentes ou granulaires

Publications (2)

Publication Number Publication Date
EP3442693A1 true EP3442693A1 (fr) 2019-02-20
EP3442693B1 EP3442693B1 (fr) 2023-03-22

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EP (1) EP3442693B1 (fr)
DE (1) DE102016012872A1 (fr)
WO (1) WO2018069401A1 (fr)

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ES2995973T3 (en) * 2021-11-30 2025-02-11 Dr Herfeld Gmbh & Co Kg Industrial mixer
CN114405365B (zh) * 2022-01-21 2022-12-09 河南汇泉生物科技有限公司 一种淀粉类胶粘剂生产工艺及其专用混料设备
CN116550202B (zh) * 2023-05-23 2023-10-27 广州市来力实业有限公司 一种硫化剂生产工艺
CN116649123B (zh) * 2023-06-02 2023-11-17 上海华维可控农业科技集团股份有限公司 一种蔬菜全周期自动种植的设备及系统

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