Patent Publication Number: US-2020276548-A1

Title: Viscous material stirring apparatus and viscous material stirring method

Description:
TECHNICAL FIELD 
     The present invention relates to an apparatus and a method for stirring a viscous material such as a sealant or an adhesive. 
     BACKGROUND ART 
     At a manufacturing site of vehicles or industrial machinery, automation of work of applying a viscous material to a joining part of two components is underway. For example, PTL 1 discloses a viscous material coating apparatus that can be applied to an automobile manufacturing site. This apparatus includes a mixing head attached to a robot hand and discharging a sealant while moving along a predetermined locus. 
     CITATION LIST 
     Patent Literature 
     PTL 1: JP 6-269720 A 
     SUMMARY OF INVENTION 
     Technical Problem 
     In some situations, air may get inside the applied viscous material. In order to improve or stabilize construction quality, in viscous material coating work, work of bleeding air that has entered inside the viscous material may be performed incidentally. 
     This incidental work is performed manually by a worker at the manufacturing site, which places a heavy burden on the worker. In order to stably maintain the construction quality under such circumstances, it is essential to train workers skilled in the incidental work, but this requires a great deal of time and money. 
     Therefore, an object of the present invention is to provide an apparatus and a method that contribute to labor saving of work accompanying viscous material coating work. 
     Solution to Problem 
     A viscous material stirring apparatus according to one aspect of the present invention that is an apparatus for stirring a viscous material applied to workpieces, the viscous material stirring apparatus including: a stirring member that rotates around a rotation axis and has a tip radially separated from the rotation axis; a rotary actuator that rotates the stirring member about the rotation axis; a moving mechanism that moves the stirring member, and a control device, in which the control device is configured so that the moving mechanism is driven to immerse the tip of the stirring member in the applied viscous material, that the rotary actuator is driven to rotate the stirring member about the rotation axis, and that the moving mechanism is driven to move the stirring member along a coating direction of the viscous material with the tip of the stirring member immersed in the viscous material. 
     A viscous material stirring method according to one aspect of the present invention that is a method for stirring a viscous material applied to workpieces, the viscous material stirring method including: moving a stirring member by a moving mechanism to immerse a tip of the stirring member in the applied viscous material, and with the tip of the stirring member immersed in the viscous material, turning the stirring member around a predetermined rotation axis by a rotary actuator, and moving the stirring member along a coating direction of the viscous material by the moving mechanism. 
     According to the above-described apparatus and method, the stirring member moves in the coating direction of the viscous material while eccentrically rotating with the tip of the stirring member immersed in the viscous material. The applied viscous material is stirred by the tip of the stirring member. Thus, even if air enters inside the viscous material, the air can be extracted from a periphery of the eccentrically rotating stirring member to the outside of the viscous material. In this way, air bleeding work can be automated by operating the rotary actuator and the moving mechanism. 
     Advantageous Effects of Invention 
     According to the present invention, an apparatus and a method which contribute to labor saving of work accompanying viscous material coating work can be provided. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1A  is an explanatory view of viscous material coating work performed at a manufacturing site to which an apparatus and a method for stirring a viscous material according to Embodiment 1 are applied. 
         FIG. 1B  is an explanatory view of an air bleeding work performed at the manufacturing site, and is a view illustrating a step of immersing a tip of a stirring member in the viscous material. 
         FIG. 2  is a conceptual view showing the viscous material stirring apparatus according to Embodiment 1. 
         FIG. 3  is a block diagram showing the viscous material stirring apparatus according to Embodiment 1. 
         FIG. 4A  is a cross-sectional view of a holding member according to Embodiment 1. 
         FIG. 4B  is a view taken in a direction of arrow B in  FIG. 4A , that is, a view showing the stirring member viewed in a direction of its rotation axis. 
         FIG. 5A  is an exploded perspective view of an eccentric amount adjusting mechanism, and  FIG. 5B  is a perspective view showing the eccentric amount adjusting mechanism in an assembled state. 
         FIG. 6  is an explanatory view of viscous material stirring work, and is a view showing steps of turning the tip of the stirring member and moving the stirring member. 
         FIG. 7  is a perspective view showing a holding member of a viscous material stirring apparatus according to Embodiment 2. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Hereinafter, embodiments will be described with reference to the drawings. The same or corresponding elements are denoted by the same reference signs throughout the drawings, and redundant detailed description will be omitted. 
     Embodiment 1 
       FIGS. 1A and 1B  show a manufacturing site to which a viscous material stirring apparatus  1  (hereinafter, simply referred to as “stirring apparatus  1 ”) according to Embodiment 1 is applied. In this manufacturing site, a viscous material  95  is applied to a joining part  93  of workpieces  91  and  92  formed by overlapping or abutting the two workpieces  91  and  92 . 
     &lt;Manufacturing Site&gt; 
     As an example of a manufacturing site, a manufacturing site of a vehicle (for example, an aircraft or an automobile) or industrial machinery (for example, a construction machine, an agricultural machine, or a machine tool) can be cited. 
     &lt;Workpiece&gt; 
     In the present embodiment, as an example, the workpieces  91  and  92  are plate-shaped, and the joining part  93  is formed by overlapping the workpieces  91  and  92 . The joining part  93  is formed by a surface of the first workpiece  91  and a side end surface of the second workpiece  92 , forms a right angle, and extends along the side end surface of the second workpiece  92 . At an aircraft manufacturing site, the workpieces  91  and  92  may be segments constituting a cylindrical fuselage. 
     &lt;Viscous Material&gt; 
     The viscous material  95  is a material having viscosity such as a sealant or an adhesive. As an example, the viscous material  95  has a viscosity of 1500 to 2000 Pa·s when applied under a normal temperature environment (for example, 20 to 25° C.). However, both the sealant and the adhesive harden (the viscosity increases) with the lapse of time after being applied to the joining part  93  due to influence of moisture or heating at the manufacturing site. 
     &lt;Coating Work&gt; 
       FIG. 1A  shows work of applying the viscous material  95 . As shown in  FIG. 1A , a discharge head  80  that discharges the viscous material  95  is used in the work of applying the viscous material  95 . By a head moving mechanism (not shown), the discharge head  80  can be moved close to or away from the joining part  93 , and can be moved in an extending direction of the joining part  93 . In the coating work, while the discharge head  80  is operated to discharge the viscous material  95  to the joining part  93 , the head moving mechanism is operated to move the discharge head  80  in the extending direction of the joining part  93  while appropriately maintaining a clearance between the discharge head  80  and the joining part  93 . By adjusting discharge speed and moving speed, an amount (a volume or weight) of the viscous material  95  applied to the joining part  93  while the discharge head  80  moves by the unit distance is adjusted to fall within a range required for a product. Hereinafter, the amount is referred to as “coating amount”. 
     By this coating work, the viscous material  95  is applied along the extending direction of the joining part  93 . In the present embodiment, the viscous material  95  is provided so as to straddle the surface of the first workpiece  91  and the side end surface of the second workpiece  92 , and is provided in a bead shape along the extending direction of the joining part  93 . Thus, the viscous material  95  fills a gap between the workpieces  91  and  92 . Hereinafter, the extending direction of the viscous material applied in the bead shape is also referred to as “coating direction”. 
     As shown in a cross section of the viscous material  95  in  FIG. 1B , when viewed from outside, even if the viscous material  95  is provided so as to straddle the two workpieces  91  and  92  as described above, air  96  may enter an inside thereof. In that case, a contact area of the viscous material  95  with the workpieces  91  and  92  becomes smaller than expected. Then, the viscous material  95  is easily peeled off from the workpieces  91  and  92 , and a period in which required performance (for example, sealing performance or joining performance) can be obtained satisfactorily may be shorter than expected. Note that, as an example of a situation in which the air  96  enters, a case where a coating amount required for a product is large can be cited. 
     At this manufacturing site, after the work of applying the viscous material  95 , work of bleeding the air  96  that has entered the inside of the viscous material  95  is performed incidentally. Previously, the air bleeding work has been manually performed by an operator using a comb tool made of wood or synthetic resin, but the stirring apparatus  1  is applied to the manufacturing site for automation of the air bleeding work. 
     &lt;Viscous Material Stirring Apparatus&gt; 
     The stirring apparatus  1  includes a stirring member  2 . The stirring member  2  rotates around a rotation axis A, and its tip is radially separated from the rotation axis A. The stirring apparatus  1  causes the tip of the stirring member  2  to be immersed in the viscous material  95  applied to the joining part  93  in the coating work, and in this state, causes the stirring member  2  to turn around the rotation axis A and move the stirring member  2  along the coating direction. Here, the “turn” includes not only rotation about the rotation axis Abut also revolution about the rotation axis A or eccentric rotation about the rotation axis A. Thereby, the air  96  that has entered the inside of the viscous material  95  can be removed, whereby the viscous material  95  properly contacts the workpieces  91  and  92 , and a service life of the viscous material  95  is extended (a repair frequency is reduced). Hereinafter, a configuration and operation of the stirring apparatus  1  will be described in more detail. 
       FIG. 2  is a conceptual view showing the stirring apparatus  1 , and  FIG. 3  is a block diagram showing the stirring apparatus  1 . As shown in  FIGS. 2 and 3 , the stirring apparatus  1  includes a rotary actuator  3 , a moving mechanism  4 , and a control device  8 , in addition to the stirring member  2  described above. The rotary actuator  3  rotates the stirring member  2  around the rotation axis A. The rotary actuator  3  is configured by, for example, an electric motor. The moving mechanism  4  moves the stirring member  2 . The moving mechanism  4  is, for example, a vertical articulated robot, and includes a robot arm  5  having a plurality of (e.g., six) joints and a plurality (the same number of joints) of moving actuators  6  (see  FIG. 3 ) each driving each of the plurality of joints. 
     In the present embodiment, the stirring member  2  and the rotary actuator  3  are unitized by being held by a holding member  7 , and the stirring member  2 , the rotary actuator  3 , and the holding member  7  constitute a stirring head  10 . The holding member  7  is detachably attached to a tip of the robot arm  5 . When the robot arm  5  of the moving mechanism  4  operates, the holding member  7  and the stirring member  2  held by the holding member  7  move together with the rotary actuator  3 . 
     As an example, a base of the robot arm  5  is installed on a floor of a work site. The workpieces  91  and  92  are held by a jig  90  installed on the floor of the manufacturing site, and positioned within a movable range of the robot arm  5 . However, the base of the robot arm  5  may be slidably supported by a traveling rail installed on the floor of the manufacturing site, in which case the moving mechanism  4  includes the traveling rail and a traveling actuator that causes the robot arm  5  to travel along the traveling rail. The base of the robot arm  5  may be supported by a pedestal installed on the floor of the manufacturing site. 
     As shown in  FIG. 3 , the rotary actuator  3  and the moving actuator  6  of the moving mechanism  4  are controlled by the control device  8 . The control device  8  is, for example, a computer having a memory such as a ROM or a RAM and a CPU, and a program stored in the ROM is executed by the CPU. The control device  8  may be a single device or may be divided into a plurality of devices. 
     In the present embodiment, the program stored in the ROM includes a program that teaches a movement locus and moving speed of the tip of the robot arm  5 , and execution of the program (i.e., playback) can cause the holding member  7  and the stirring member  2  held by this to move as taught in advance. The program stored in the ROM includes a program for deriving a command value of rotation speed of the rotary actuator  3 , and the rotation speed of the rotary actuator  3  and thus the stirring member  2  is controlled by executing the program. 
     The control device  8  is connected to an operation panel  9 . The operation panel  9  is operated by an operator at the manufacturing site. When a command to start the air bleeding work is input by the operator at the operation panel  9 , the CPU of the control device  8  executes the above-described program, and the stirring member  2  is turned and moved. 
     &lt;Stirring Head&gt; 
       FIG. 4A  is a cross-sectional view of the holding member  7  according to Embodiment 1. As shown in  FIG. 4A , the holding member  7  has a holding unit  11  for holding the stirring member  2  and the rotary actuator  3  and a mounting unit  12  integrated with the holding unit  11 . Although not shown in detail, the mounting unit  12  is formed in a disk shape and is detachably attached to the tip of the robot arm  5 . The holding unit  11  is formed in a tubular shape with both ends opened. The holding unit  11  may be a cylinder other than the illustrated rectangular tube. 
     When the rotary actuator  3  is configured by the electric motor as described above, the rotary actuator  3  includes a housing  31  containing a rotor and a stator, a flange  32  provided at one end of the housing  31 , and an output shaft  33  protruding from the flange  32  to a side opposite to the housing  31 . The rotary actuator  3  is held by the holding member  7  by fastening the flange  32  to one end of the holding unit  11  in a state in which the output shaft  33  is inserted into the holding unit  11  through one end opening of the holding unit  11 . A spacer  13  may be interposed between the holding unit  11  and the flange  32 . 
     The stirring member  2  includes a driven body  21  and a stirring body  22 . In the present embodiment, the driven body  21  has a driven shaft  23  and a disk body  24 . The driven shaft  23  is partially accommodated in the holding unit  11  through another end opening of the holding unit  11 , and one end of the driven shaft  23  is connected to the output shaft  33  of the rotary actuator  3  via a shaft coupling  14  in the holding unit  11 . Another end of the driven shaft  23  is located outside the holding unit  11 . The driven shaft  23  is rotatably supported by bearings  15  and  16  provided in the holding unit  11 . The disk body  24  is fixed to the other end of the driven shaft  23 , and is positioned outside the holding unit  11 . The stirring body  22  is attached to the disk body  24  of the driven body  21  and protrudes from the disk body  24  to a side opposite to the driven shaft  23  and the rotary actuator  3 . The stirring body  22  forms a tip of the stirring member  2 . 
     In the present embodiment, the output shaft  33 , the driven shaft  23 , and the disk body  24  are coaxially arranged, and a central axis thereof forms the rotation axis A of the stirring member  2 . However, the output shaft  33  does not have to be arranged coaxially with the driven shaft  23 . For example, the two shafts  33  and  23  may be connected via an orthogonal shaft gear or a staggered shaft gear. In this case, the gear can be provided with a speed reducing function. However, even in a case of the coaxial arrangement, the speed reducing function may be provided by interposing a strain wave gearing. 
     When the rotary actuator  3  operates and the output shaft  33  rotates, the stirring member  2  (the driven body  21  and the stirring body  22 ) is driven to rotate around the rotation axis A. The stirring body  22  is attached to the disk body  24  via an eccentric amount adjusting mechanism  25 , and as shown in  FIG. 4B , a tip of the stirring body  22  (that is, the tip of the stirring member  2 ) is radially away from the rotation axis A. When the stirring member  2  rotates around the rotation axis A, if the tip of the stirring body  22  is focused, this tip revolves or rotates eccentrically around the rotation axis A. Hereinafter, a radial distance of the tip of the stirring member  2  from the rotation axis A is referred to as “eccentric amount e”. The eccentric amount adjusting mechanism  25  can adjust a mounting position of the stirring body  22  to the driven body  21  (disk body  24 ), which thereby can adjust the eccentric amount e [mm]. As an example, the eccentric amount e can be adjusted within a range of 0 to 10 mm. 
     &lt;Eccentric Amount Adjusting Mechanism&gt; 
       FIG. 5A  is an exploded perspective view of the eccentric amount adjusting mechanism  25 , and  FIG. 5B  is a perspective view showing the eccentric amount adjusting mechanism  25  in an assembled state. As an example, the eccentric amount adjusting mechanism  25  includes a slider  26  and a male screw  27  provided on the stirring body  22 , and a groove  28  provided on the disk body  24 . The eccentric amount adjusting mechanism  25  further includes a washer  29  and nuts  30 . 
     The stirring body  22  is formed in a rod shape and extends linearly, for example. The tip of the stirring body  22  is tapered. In the illustrated example, it is formed in a hemispherical shape and rounded, but may be formed in a conical shape and sharpened. 
     The slider  26  is fixed to a base end of the stirring body  22 . In other words, the stirring body  22  is provided so as to protrude from a center of the slider  26 . As an example, the slider  26  is formed in a square block shape when viewed in a direction of the rotation axis A. The male screw  27  is located at the base end of the stirring body  22  and slightly closer to the tip side thereof than the slider  26 , and is provided on an outer peripheral surface of the stirring body  22 . 
     The groove  28  is formed linearly along a diameter direction of the disk body  24  (one direction orthogonal to the rotation axis A). The groove  28  includes a penetrating part  28   a  that extends linearly inside the disk body  24  and opens through a peripheral surface of the disk body  24  and an opening part  28   b  formed on an end surface of the disk body  24  to open the penetrating part  28   a  outside the disk body  24 . The penetrating part  28   a  and the opening part  28   b  are parallel. The slider  26  is received inside the penetrating part  28   a  through an opening formed on the peripheral surface of the disk body  24 , and is slidable in an extending direction of the groove  28  in the penetrating part  28   a . A height h 28   b  of the opening part  28   b  is smaller than a height h 26  of the slider  26  and larger than an outer diameter φ 22  of the stirring body  22 . Therefore, when the slider  26  is received by the penetrating part  28   a , the stirring body  22  can protrude out of the disk body  24  through the opening part  28   b , whereas the slider  26  is prevented from falling off. 
     When the slider  26  is received inside the penetrating part  28   a , the male screw  27  is positioned outside the disk body  24  and near the end surface of the disk body  24 . The washer  29  is inserted through the stirring body  22  from the tip side of the stirring body  22 , and then the nuts  30  are fastened to the male screw  27 . By this fastening, the disk body  24  is sandwiched between the slider  26  and the washer  29 , and the stirring body  22  is fixed to the driven body  21 . A through bolt type fastening structure is employed, and the slider  26  has the same function as a bolt head in the fastening structure. Before the fastening, a position of the slider  26  in the penetrating part  28   a  is adjusted while sliding the slider  26 , thereby adjusting the eccentric amount e (see  FIG. 4B ). The eccentric amount e can be changed in accordance with a coating amount of the viscous material  95  to be subjected to air bleeding work, and air can be removed regardless of the coating amount of the viscous material  95 . Since a double nut type fastening structure is employed, the screw is not easily loosened, and the eccentric amount e after the fastening can be prevented from undesirably changing. 
     &lt;Air Bleeding Work&gt; 
     Air bleeding work using the stirring apparatus  1  having the above configuration starts when a command is input by an operator on the operation panel  9 . Note that operation of the actuator described below is based on the control of the control device  8 . When the command is input, the moving actuator  6  operates, a posture of the robot arm  5  and a position and a posture of the stirring member  2  change, and the tip of the stirring member  2  faces a stirring start position of the viscous material  95  applied to the joining part  93  as a result of the coating work (see  FIG. 1B or 2 ). When the viscous material  95  is applied in a line segment shape having both ends, the stirring start position is any end of the viscous material  95 . The viscous material  95  may be applied in a closed loop shape. In this case, the stirring start position is an arbitrary position of the viscous material  95  or a starting point/end point position of the coating work. 
     The moving actuator  6  continues to operate, and the tip of the stirring member  2  is immersed at the above-described stirring start position of the applied viscous material  95  (see  FIG. 1B  or  FIG. 6 ). The tip of the stirring member  2  (stirring body  22 ) forms an immersion part  2   a  immersed inside the viscous material  95  (see  FIG. 6 ). 
     Referring to  FIG. 6 , after this immersion step, the rotary actuator  3  operates, and the stirring member  2  turns around the rotation axis A. At the same time, the moving actuator  6  operates, and the stirring member  2  moves along the coating direction of the viscous material  95  while the tip of the stirring member  2  is immersed in the viscous material  95 . The immersion part  2   a  moves in the coating direction from the stirring start position while rotating eccentrically with respect to the rotation axis A. A movement locus T of the immersion part  2   a  is a series of a plurality of ellipses arranged in the coating direction. 
     The turning and moving steps of the stirring member  2  are performed until the immersion part  2   a  reaches a stirring end position of the viscous material  95 . When the viscous material  95  is applied in a line segment shape, the stirring end position is an end of the viscous material  95  opposite to the stirring start position. When the viscous material  95  is applied in a closed loop shape, the stirring end position is the same as the stirring start position. When the immersion part  2   a  moves to the stirring end position, the moving actuator  6  operates to retreat the stirring member  2  from the viscous material  95 . In this retreat step, before or during the retreat movement by the moving actuator  6 , the rotary actuator  3  stops and the turn of the stirring member  2  stops. 
     When the stirring member  2  is turned and moved while the tip of the stirring member  2  is immersed in the viscous material  95 , the immersion part  2   a  moves along the movement locus T while pushing away the viscous material  95 . Accordingly, the viscous material  95  is stirred by the immersion part  2   a . In the viscous material  95 , a passage mark  95   a  of the immersion part  2   a  is formed on a downstream side of the movement locus T with respect to the immersion part  2   a . The air that has entered the inside of the viscous material  95  flows out of the viscous material  95  around the immersion part  2   a , particularly through the passage mark  95   a.    
     The rotary actuator  3  rotates the stirring member  2  at a constant rotation speed n [rpm] (an angular velocity ω [rad/s] of the stirring member  2  is 2πn/60). The moving actuator  6  moves the stirring member  2  at a constant moving speed v [mm/s]. In this case, when a two-dimensional orthogonal coordinate system in which the coating direction is an x direction and a direction orthogonal to the coating direction and the direction of the rotation axis A is a y direction is assumed, the movement locus T of the immersion part  2   a  is represented in the following equation (1). 
         x=e  cos ω t+vt, y=e  sin ω t   (1)
 
     Here, t is elapsed time [s] from the start of rotation and movement of the immersion part  2   a , and x is an x coordinate and y is a y coordinate after t seconds from the start of rotation and movement of the immersion part  2   a  Note that e, ω, and v are the above-described eccentric amount [mm], angular velocity [rad/s], and moving speed [mm/s]. 
     As an example, the rotation speed n is set within a range of 50 to 100 rpm. By setting the speed relatively low in this way, the applied viscous material  95  is not disturbed, and the viscous material  95  can be stirred while maintaining a state in which the viscous material  95  is applied to the joining part  93 . In this case, if the moving speed v is too low, the movement locus T will be like a plurality of ellipses overlapping one another, and the viscous material  95  will be disturbed. If the moving speed v is too high, a plurality of ellipses will be arranged at a large interval in the coating direction, and an unstirred region will be created. Therefore, the moving speed v is set so that a plurality of ellipses constituting the movement locus T circumscribes each other, overlaps with a small amount of overlap, or is arranged with a small clearance. As an example, the moving speed v is set in a range of 0.1 to 15 m/min (1.7 to 250 mm/s). Thereby, the air  96  can be uniformly discharged without disturbing the viscous material  95  regardless of the position in the coating direction. 
     As described above, in the present embodiment, the air bleeding work that has been performed manually until now can be automated. For this reason, it contributes to labor saving of work accompanying the viscous material coating work. 
     Embodiment 2 
       FIG. 7  is a perspective view showing a holding member  107  of a stirring apparatus  101  according to Embodiment 2. In the present embodiment, the stirring head  10  (unit including the stirring member  2 , the rotary actuator  3 , and the holding unit  11  of the holding member  7 ) according to Embodiment 1 is mounted on a base  113  of the holding member  107 . A discharge head  180  is mounted on the base  113  adjacent to the stirring head  10 . The discharge head  180  has a housing  181 , a discharge actuator  182 , and a nozzle  183 . Although not shown in detail, the housing  181  has a storage unit that stores a viscous material, a plunger that pushes the viscous material stored in the storage unit to the nozzle  183 , and the like. The nozzle  183  discharges the viscous material supplied from the storage unit. The discharge actuator  182  is a power source of the plunger. When the discharge actuator  182  operates, the viscous material is discharged from the nozzle  183 . The discharge actuator  182  is configured by, for example, an electric motor. 
     A mounting unit  112  of the holding member  107  is integrated with the base  113 , and is detachably attached to a moving mechanism (for example, a tip of a robot arm of a vertical articulated robot) in the same manner as in Embodiment 1. 
     In the stirring apparatus  101  according to the present embodiment, the stirring head  10  for performing air bleeding work and the discharge head  180  for discharging the viscous material are unitized. Therefore, coating work and the air bleeding work can be performed in parallel. 
     Although not shown in detail, the stirring apparatus  101  according to Embodiment 2 also includes a control device  8  and an operation panel  9  (see  FIG. 3 ) in the same manner as in Embodiment 1. When a work start command is input on the operation panel  9 , the control device  8  performs the viscous material coating work and the air bleeding work. 
     In other words, the control device  8  drives the moving mechanism to move the holding member  107  so that the discharge head  180  is on a front side in a moving direction of the holding member  107  and the stirring member  2  is on a rear side in the moving direction of the holding member  107 . In a process of moving the holding member  107 , the control device  8  drives the discharge head  180  (discharge actuator  182 ) to apply the viscous material to workpieces, and drives the rotary actuator  3  to rotate the stirring member  2  around a rotation axis A. This allows the viscous material to be stirred in the same manner as in Embodiment 1 by immersing a tip of the stirring member  2  in the viscous material immediately after being applied while performing the work of applying the viscous material to a joining part of the workpieces. Since the coating work and the air bleeding work can be performed in parallel, production efficiency at a manufacturing site is improved. 
     Modifications 
     The embodiments have been described above, but the above configurations can be appropriately changed, added, and/or deleted within the scope of the present invention. 
     The stirring member  2  only needs to have its tip radially away from the rotation axis A, and a shape of the stirring body  22  is not limited to a rod shape. As an example, the stirring body  22  may have a crank shape. In the steps of turning and moving the stirring member  2 , the rotation speed n and the moving speed v may be changed. 
     The holding member  7  can be omitted. When the moving mechanism  4  is a vertical articulated robot and a joint closest to the tip side is a torsion shaft (so-called T shaft), the stirring member  2  may be detachably attached to the tip of the robot arm  5 . In this case, of the plurality of actuators that drives the joints of the vertical articulated robot, the actuator corresponding to the joint closest to the tip side functions as the rotary actuator  3  that drives the stirring member  2  to rotate, and the remaining actuators function as the moving actuators  6  that move the stirring member  2 . Note that the moving mechanism  4  is not limited to the vertical articulated robot. 
     REFERENCE SIGNS LIST 
     
         
         
           
               1 ,  101  viscous material stirring apparatus 
               2  stirring member 
               3  rotary actuator 
               4  moving mechanism 
               7 ,  107  holding member 
             
               13 
             
               8  control device 
               25  eccentric amount adjusting mechanism 
               80 , 180  discharge head 
               91 ,  92  workpiece 
               95  viscous material 
             A rotation axis 
             e eccentric amount