JP2023130854A - Sprayer, method for operating sprayer, and program - Google Patents

Abstract

To provide a sprayer which can automatically perform operation that has been conventionally performed by an operator, a method for operating the sprayer, and a program.SOLUTION: A sprayer 1 includes: an upper pot 3 having a material charge port 2; a lower pot 13 which communicates with the upper pot 3 by a connection port 4 and has a material discharge port 15; an inner lid 17 for opening/closing the connection port 4; an inner lid driving unit 18 for moving the inner lid 17 between an open position where the connection port 4 is opened and a close position where the connection port 4 is closed; an agitator driving unit 31 for driving an upper pot agitator 6 provided on the upper pot 3 and a lower pot agitator 14 provided on the lower pot 13; and a control unit 11 for driving the inner lid driving unit 18 so that the inner lid 17 is moved to the close position, when a current value at the time of driving the agitator driving unit 31 is equal to or less than a predetermined value, and the state where the current value is equal to or less than the predetermined value continues for a predetermined period of time.SELECTED DRAWING: Figure 1

Description

The present invention relates to a spraying machine that can be used for various spraying works on slopes, a method for operating the spraying machine, and a program.

BACKGROUND ART Various types of spraying work (for example, mortar spraying, sprayed frame work, vegetation base material spraying, etc.) have been carried out for the purpose of protecting slopes and preventing collapse. For such spraying work, spraying machines such as those shown in Patent Documents 1 and 2 are used.

Generally, this type of spraying machine includes an upper pot having a material input port, a lower pot communicating with the upper pot through a connection port and having a material discharge port, and an inner lid for opening and closing the connection port. By pressurizing the lower pot, spraying material (mortar, etc.) is sprayed onto the slope from a hose connected to the material outlet. To replenish the spray material stored in the lower pot, move the inner lid and close the connection port, then put various materials into the upper pot from the material input port, then close the material input port and return to the upper pot. is pressurized, and when the pressure in the upper and lower pots is equalized, the inner lid is moved to open the connection port, and the material in the upper pot is dropped into the lower pot. In addition, in order to uniformly stir the input materials, a stirrer is provided in the upper pot and the lower pot.

Patent No. 3250589 Patent No. 6755634

By the way, conventional spray machines are generally operated and operated by workers on the spot. This is due to the fact that the operation of the spraying machine largely relies on the senses based on the experience of the operator. For example, the amount of spray material discharged from a hose is not always constant, and therefore the amount of material remaining in the spray machine may vary even though the spray time remains the same. When closing the inner lid to supply new material to the upper pot, the amount of material remaining in the spray machine is larger than usual, and when the inner lid is closed, some material cannot fall into the lower pot. Assume that it remains in the upper pot. In this case, if new material is supplied to the upper pot, the amount of material that can be accommodated in the upper pot will be exceeded, and there is a risk that the material will overflow from the material input port. On the other hand, if the inner lid is closed when the amount of material remaining in the spray machine is less than usual, the time for stirring the material in the upper pot will be shortened, and material that has not been sufficiently stirred will be discharged. There is a risk that For this reason, in conventional spray machines, a worker manually opens and closes the inner lid while estimating the remaining amount of spray material based on the spray time and sound and vibration from the spray machine.

In this way, with conventional spray machines, in order to prevent the above-mentioned malfunctions, there are operations that the operator must perform while checking the status of the spray machine, making it difficult to operate them automatically. Ta.

In view of these conventional problems, it is an object of the present invention to propose a spraying machine that can automatically perform operations that were conventionally performed by a worker. We also propose a method for operating this spray machine and a program related to this spray machine.

The present invention provides an upper pot having a material input port, a lower pot communicating with the upper pot through a connection port and having a material discharge port, an inner lid for opening and closing the connection port, and a lower pot having a material discharge port. an inner lid drive unit that moves between an open position and a closed position where the connection port is closed; an agitator drive unit that drives an upper pot agitator provided in the upper pot and a lower pot agitator provided in the lower pot; When the current value when the agitator drive section is driven is below a predetermined value and the state of being below the predetermined value continues for a predetermined period of time, the inner lid is moved to the closed position. The spray machine includes a control section that drives a lid drive section.

Such a spray machine includes a sensor that detects that the inner lid has moved to the closed position, and the control unit drives the inner lid drive unit so that the inner lid moves to the closed position. When the sensor cannot detect that the inner lid has moved to the closed position within a predetermined period of time, the inner lid is moved to the open position, and then, after a predetermined period of time, the agitator drive section When the current value during driving is below the predetermined value and the state of being below the predetermined value continues for a predetermined period of time, the inner lid drive section is operated so that the inner lid moves to the closed position. It is preferable to drive it.

Further, the present invention provides an upper pot having a material input port, a lower pot communicating with the upper pot through a connecting port and having a material discharge port, an inner lid for opening and closing the connecting port, and a lower pot having a material outlet. an inner lid drive unit that moves between an open position where the connection port is opened and a closed position where the connection port is closed; and an agitator drive unit that drives an upper pot agitator provided in the upper pot and a lower pot agitator provided in the lower pot. , a method for operating a spraying machine comprising: a control unit that drives the agitator drive unit; and a control unit that drives the inner lid drive unit; When the current value when the section is driven is below a predetermined value and the state of being below the predetermined value continues for a predetermined period of time, the control section is configured to move the inner lid to the closed position. The method also includes a first step of driving the inner lid driving section.

In such a method, the spraying machine includes a sensor that detects when the inner lid has moved to the closed position, and drives the inner lid drive unit so that the inner lid moves to the closed position. If the sensor cannot detect that the inner lid has moved to the closed position within a predetermined period of time, the inner lid is moved to the open position, and then, after a predetermined period of time, the agitator drive unit When the current value when driving is equal to or less than the predetermined value and continues to be equal to or less than the predetermined value for a predetermined period of time, the control section is configured to move the inner lid to the closed position. Preferably, the method includes a second step of driving the inner lid driving section.

Further, the present invention provides an upper pot having a material input port, a lower pot communicating with the upper pot through a connecting port and having a material discharge port, an inner lid for opening and closing the connecting port, and a lower pot having a material outlet. an inner lid drive unit that moves between an open position where the connection port is opened and a closed position where the connection port is closed; and an agitator drive unit that drives an upper pot agitator provided in the upper pot and a lower pot agitator provided in the lower pot. For a spraying machine equipped with the above, the computer may be configured such that when the material contained in the upper pot is supplied to the lower pot, the current value when the agitator drive section is driven is equal to or less than a predetermined value, and the current value is less than or equal to the predetermined value. The program is also a program for executing a first step of driving the inner lid drive unit so that the inner lid moves to the closed position when the following state continues for a predetermined period of time.

After repeated studies by the inventor of the present application, regarding the stirrer drive section that drives the upper pot stirrer provided in the upper pot and the lower pot stirrer provided in the lower pot, it was found that the current value when the stirrer drive section is driven is below a predetermined value. It has been found that if the amount of material is present and the condition below this predetermined value continues for a predetermined period of time, the inner lid can be closed with the remaining amount of material contained in the spraying machine in an appropriate state. Therefore, according to the spraying machine of the present invention configured as described above, problems such as new material being supplied with material remaining in the upper pot or material being discharged with insufficient stirring can be avoided. It is possible to prevent this, and the spraying machine can be operated automatically without the need for an operator to operate the inner lid.

1 is a diagram schematically showing the configuration of an embodiment of a spray machine according to the present invention. 2 is a diagram showing an inner lid drive section, an agitator drive section, a control section, etc. of the spray machine shown in FIG. 1. FIG. 2 is a diagram showing an operation flow of the spray machine shown in FIG. 1. FIG.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a spray machine according to the present invention, a method for operating the spray machine, and a program related to the spray machine will be described below with reference to the drawings.

FIG. 1 is a diagram schematically showing the configuration of an embodiment of a spraying machine according to the present invention. The spraying machine 1 of this embodiment includes an upper pot 3 having a material input port 2 at the top. A connecting port 4 is provided at the bottom of the upper pot 3. Further, a hopper 5 surrounding the material input port 2 is provided at the upper part of the upper pot 3.

The hopper 5 is supplied with various materials that can be used as materials for spraying materials depending on the purpose of the spraying work. For example, when mortar or concrete is used as the spraying material, aggregate such as sand or cement is supplied to the hopper 5 by a belt conveyor or the like. The water used as the material may be supplied from the hopper 5, or may be supplied through a water pipe (not shown) connected to the upper pot 3. Moreover, these materials may be supplied individually, or they may be mixed and supplied. Inside the upper pot 3, a stirrer (upper pot stirrer 6) driven by a stirrer drive unit to be described later is provided, and the material supplied to the upper pot 3 is uniformly stirred by the upper pot stirrer 6.

Further, the spraying machine 1 of this embodiment includes an upper lid 7 for opening and closing the material input port 2. The top lid 7 of this embodiment is configured to swing as shown by the solid line and the imaginary line in FIG. Move between the closed position and the closed position shown in . Note that there is no limitation to what is used as the top lid drive unit, and it may be one that uses various fluids (gas, liquid) (for example, an air cylinder or a hydraulic cylinder), or one that uses electricity (for example, a motor).

An upper pot pressurizing path 9 connected to a compressor 8 is connected to the upper pot 3 . The upper pot pressure passage 9 supplies pressurized air from the compressor 8 to the upper pot 3, thereby pressurizing the inside of the upper pot 3. The upper hook 3 is also provided with an upper hook pressure sensor 10 that measures the internal pressure. The upper pot pressure sensor 10 is electrically connected to a control section 11 shown in FIG. Although not shown, the upper pot 3 or the upper pot pressure passage 9 is provided with exhaust means for returning the pressurized pressure of the upper pot 3 to atmospheric pressure. As will be described later, the control unit 11 controls the exhaust means to exhaust the air from the upper pot 3 at a predetermined timing. The control unit 11 also has a function of controlling a switching means (not shown) that has a function of supplying pressurized air from the upper pot pressurizing path 9 to the upper pot 3 or stopping the supply of pressurized air. .

A lower hook 13 is provided below the upper hook 3. The lower hook 13 communicates with the upper hook 3 through the connecting port 4. Also provided inside the lower pot 13 is a stirrer (lower pot stirrer 14) driven by a stirring drive section. A material discharge port 15 is provided at the bottom of the lower pot 13, and a hose 16 is attached to the material discharge port 15 for spraying a spraying material (mortar or the like) toward a slope or the like.

The spray machine 1 also includes an inner lid 17 for opening and closing the connecting port 4. The inner lid 17 is configured to swing as shown by solid lines and imaginary lines in FIG. A driving section (inner lid driving section) is attached to the inner lid 17, and the inner lid driving section moves the inner lid 17 between an open position shown by a phantom line and a closed position shown by a solid line. As with the upper lid driving section, the inner lid driving section can be used in various ways, such as an air cylinder, a hydraulic cylinder, or a motor. The inner lid drive unit of this embodiment is an air cylinder 18, and a rod 19 moves forward or backward by supplying air. The inner lid 17 moves to the closed position when the rod 19 moves forward, and moves to the open position when the rod 19 moves backward.

As shown in FIG. 2, the air cylinder 18 is provided with two flow paths for supplying air into the air cylinder 18 (a closed air path 20 and an open air path 21). By supplying air from the closed side air passage 20, the rod 19 can move forward and the inner lid 17 can be moved toward the closed position. Furthermore, by supplying air from the open side air passage 21, the rod 19 can be retreated and the inner lid 17 can be moved toward the open position.

The closed air passage 20 and the open air passage 21 described above are connected to the compressor 8 described above via the control valve 23 shown in FIG. The control valve 23 is electrically connected to the control section 11 described above, and based on a command from the control section 11, the destination of the pressurized air from the compressor 8 is divided into the closed side air path 20 and the open side air path. 21. The control valve 23 also has a function of, when supplying pressurized air to either the closed air passage 20 or the open air passage 21, the other is communicated with the outside world and the air is exhausted.

The air cylinder 18 is also equipped with two sensors (an inner lid closed position detection sensor 24 and an inner lid open position detection sensor 25). The inner lid closed position detection sensor 24 detects whether the rod 19 has moved to the forward end, and thereby indirectly detects whether the inner lid 17 has moved to the closed position. The inner lid open position detection sensor 25 detects whether the rod 19 has moved to the rearward end, thereby indirectly detecting whether the inner lid 17 has moved to the open position. The inner lid closed position detection sensor 24 and the inner lid open position detection sensor 25 are electrically connected to the control unit 11 described above, and the inner lid closed position detection sensor 24 and the inner lid open position detection sensor 25 output signals. The signal is transmitted to the control section 11.

As shown in FIG. 1, a lower hook pressurizing path 26 connected to the compressor 8 is connected to the lower hook 13. That is, the compressor 8 is connected to both the above-mentioned upper hook pressurizing path 9 and lower hook pressurizing path 26. The lower pot pressure passage 26 is for supplying pressurized air from the compressor 8 to the lower pot 13, and since the inside of the lower pot 13 is pressurized by this, the material stirred by the lower pot agitator 14 is passed through the hose 16. It can be discharged from the tip. The control unit 11 has a function of controlling a switching means (not shown) that has a function of supplying pressurized air from the lower hook pressurizing path 26 to the lower hook 13 or stopping the supply of pressurized air. Furthermore, the lower hook 13 is provided with a lower hook pressure sensor 27 that measures the internal pressure. The lower pot pressure sensor 27 is electrically connected to the control section 11 as shown in FIG.

As the above-mentioned agitation drive unit, the sprayer 1 includes a motor 31 that is controlled by the control unit 11 and drives both the upper pot agitator 6 and the lower pot agitator 14 (see FIG. 2). An example of a configuration in which one motor 31 drives both the upper pot agitator 6 and the lower pot agitator 14 is a drive that is connected to the drive shaft of the motor 31, the rotating shaft of the upper pot agitator 6, and the rotating shaft of the lower pot agitator 14, for example. Examples include a mechanism in which when a drive shaft rotates, two rotating shafts also rotate in conjunction with a belt or a drive chain.

The control unit 11 has a function of controlling the spray machine 1 to perform various operations. The control unit 11 is implemented, for example, by a computer such as a PLC (programmable logic controller) or a PC (personal computer). Note that a program for controlling the operation of the spray machine 1 is stored in the internal storage device of the computer or an external storage device connected thereto, and the control unit 11 controls the operation of the spray machine 1 based on this program. do. The control unit 11 also has a function of measuring the current value when the motor 31 is driven, and a function of measuring the time when the spray machine 1 performs various operations.

Next, a method for operating the spray machine 1 of this embodiment will be described with reference to the operation flow shown in FIG. 3. The following explanation will be based on the state before the spray machine 1 is operated, with materials stored in the upper pot 3 and lower pot 13, and the upper lid 7 and inner lid 17 moved to the closed position. do.

The spray machine 1 first moves the inner lid 17 to the open position and stirs the material using the upper pot agitator 6 and the lower pot agitator 14 (step S1 in FIG. 3). At this time, the control unit 11 controls the control valve 23 so that the pressurized air from the compressor 8 is supplied to the open air path 21. As a result, the rod 19 of the air cylinder 18 moves backward, and the inner lid 17 moves toward the open position. The control unit 11 also controls the motor 31 to drive the upper pot agitator 6 and the lower pot agitator 14.

Next, the spray machine 1 discharges the material from the hose 16 (step S2 in FIG. 3). At this time, the control unit 11 controls a switching means (not shown) so that the pressurized air is supplied from the lower hook pressurizing path 26 to the lower hook 13. Note that in this state, the inner lid 17 moves to the open position and the upper hook 3 and lower hook 13 are in communication, so the control by the control unit 11 is such that the pressurized air is transferred from the upper hook pressure path 9 to the upper hook 3. Alternatively, air may be supplied from both the lower hook pressurizing path 26 and the upper hook pressurizing path 9.

By the way, as the material continues to be discharged from the hose 16, the amount of material in the spray machine 1 decreases. Therefore, in order to continuously discharge materials, it is necessary to supply new materials to the upper pot 3, and for this purpose it is necessary to move the inner lid 17 to the closed position. However, if the timing of moving the inner lid 17 to the closed position is inappropriate, a problem will occur. For example, if the timing of closing the inner lid 17 is delayed, the time during which the material can be stirred in the upper pot 3 will be reduced accordingly, and there is a risk that the material will be discharged without being sufficiently stirred.

As a result of repeated studies by the inventors of the present application, it has been found that as the amount of material in the spray machine 1 decreases, the current value when the motor 31 is driven decreases. After conducting a detailed study on this point, we found that the current value when the motor 31 is driven does not uniformly decrease as the amount of material decreases, but due to the influence of, for example, variations in the material itself, variations in the degree of stirring of the material, etc. It was also observed that the values varied. Furthermore, as a result of repeated studies by the inventor of the present application, it has been found that when the current value when the motor 31 is driven is below a predetermined value, and the state of being below the predetermined value continues for a predetermined period of time (for example, about 10 seconds), the inner lid It has been found that various problems can be effectively prevented by moving 17 to the closed position.

Therefore, in the spraying machine 1 of this embodiment, after the step S2 shown in FIG. It is confirmed whether the time has been continued (step S3 in FIG. 3). If it is confirmed that the current value remains below the predetermined value for a predetermined period of time (YES in step S3 of FIG. 3), the control unit 11 controls whether the pressurized air from the compressor 8 The control valve 23 is controlled so that the air is supplied to the air path 20. As a result, the rod 19 of the air cylinder 18 moves forward, and the inner lid 17 moves toward the closed position (step S4 in FIG. 3).

On the other hand, when the control unit 11 checks, if the current value of the motor 31 is larger than the predetermined value, or even if it is confirmed that the current value when the motor 31 is driven is less than the predetermined value, the state cannot be continued for a predetermined period of time (for example, if it is confirmed that the current value is below the predetermined value, and then it is confirmed that the current value exceeds the predetermined value before the elapse of the predetermined time (see Figure 3). (NO in step S3), the control unit 11 again confirms whether the current value when the motor 31 is driven is below the predetermined value and whether this state of below the predetermined value continues for a predetermined time (see FIG. 3 step S3).

Incidentally, the time required for all of the material in the upper pot 3 to fall into the lower pot 13 often varies due to various causes including the properties of the material and the degree of stirring of the material. Therefore, even if the inner lid 17 is moved to the closed position by checking the current value when the motor 31 is driven as described above, the timing for moving the inner lid 17 toward the closed position may be delayed. There is a possibility that the material in the pot 3 is falling into the lower pot 13. If the inner lid 17 is not completely closed due to the material falling from the upper pot 3, the upper pot 3 will be evacuated as described later without the connection port 4 being completely closed, and the material will be discharged from the hose 16. There is a risk that problems such as not being able to be used may occur.

For this reason, the control unit 11 of the present embodiment checks the signal from the inner lid closed position detection sensor 24 at a timing when a predetermined period of time (about 2 seconds as an example) has elapsed after executing step S4, and determines whether the inner lid 17 is in the closed position. It is confirmed whether the movement has been completed (step S5 in FIG. 3). Thereby, it is possible to know whether or not the connecting port 4 is completely closed.

If it is confirmed that the inner lid 17 has completely moved to the closed position (YES in step S5 in FIG. 3), the control unit 11 operates the above-mentioned exhaust means (not shown) to open the upper pot 3. A step of exhausting the air and returning the internal pressure to atmospheric pressure is executed (step S6 in FIG. 3).

On the other hand, if the signal from the inner lid closed position detection sensor 24 cannot be confirmed after the predetermined time has elapsed (NO in step S5 in FIG. 3), the control unit 11 controls the compressor 8 for the control valve 23 shown in FIG. A command is sent so that pressurized air is supplied to the open side air path 21. As a result, the rod 19 of the air cylinder 18 moves backward, and the inner lid 17 moves toward the open position (step S7 in FIG. 3). At this time, the control unit 11 is checking the signal from the inner lid open position detection sensor 25, and detects whether or not the inner lid 17 has completely moved to the open position based on this signal.

Then, the control unit 11 waits until a predetermined period of time (for example, about 60 seconds) has elapsed since the inner lid 17 moved to the open position (step S8 in FIG. 3). During this time, as the inner lid 17 moves to the open position, the connecting port 4 becomes completely open, which together with the remaining material in the upper pot 3 obstructs the movement of the inner lid 17 to the closed position. Materials can be dropped. After waiting, the control unit 11 again sends a command to the control valve 23 so that the pressurized air from the compressor 8 is supplied to the closed air path 20, and advances the rod 19 of the air cylinder 18. The inner lid 17 is moved toward the closed position (step S4 in FIG. 3). Note that when Step S5, Step S7, and Step S8 are repeated, the control unit 11 handles an error process (for example, stops the operation of the spray machine 1, and performs a malfunction installed in the spray machine 1) after the process is repeated a predetermined number of times. Display that an error has occurred on the illustrated display section, or generate an alarm sound from a not-illustrated buzzer provided in the spray machine 1, etc.).

After performing step S6 in FIG. 3 to exhaust the air in the upper pot 3, the control unit 11 operates the upper lid drive unit (not shown) to move the upper lid 7 to the open position shown by the imaginary line (FIG. Step S9). This opens the material input port 2, so that the material for the spraying material is input from the hopper 5 into the upper pot 3 (step S10 in FIG. 3). The materials put into the upper pot 3 are stirred by the upper pot stirrer 6. After the material is loaded, the top lid drive section (not shown) moves the top lid 7 to the closed position shown by the solid line in FIG. 1, thereby closing the material input port 2 (step S11 in FIG. 3).

Next, the control unit 11 controls a switching means (not shown) to supply the compressed air of the compressor 8 from the upper pot pressure path 9 to the upper pot 3. Furthermore, the control unit 11 checks whether the pressure in the upper hook 3 has become approximately the same as the pressure in the lower hook 13, based on the signals from the upper hook pressure sensor 10 and the lower hook pressure sensor 27 (step S12 in FIG. 3). After step S12, if the pressure in the upper pot 3 has not reached the same level as the pressure in the lower pot 13 (NO in step S12 in FIG. 3), the control unit 11 controls the pressure in the upper pot 3 and the pressure in the lower pot 13. Continue checking. On the other hand, if it is determined that the pressure in the upper pot 3 has become approximately the same as the pressure in the lower pot 13 (YES in step S12 of FIG. 3), the control unit 11 executes the following step S13.

When it is determined that the pressure in the upper pot 3 has become approximately the same as the pressure in the lower pot 13, the control unit 11 controls the control valve 23 shown in FIG. 21 to be supplied. As a result, the rod 19 of the air cylinder 18 retreats, and the inner lid 17 moves toward the open position (step S13 in FIG. 3). At this time, the control unit 11 is checking the signal from the inner lid open position detection sensor 25, and detects whether or not the inner lid 17 has completely moved to the open position based on this signal. If it cannot be confirmed that the inner lid 17 has completely moved to the open position, the above-mentioned error process may be executed.

When the inner lid 17 moves toward the open position, the connection port 4 opens, so that the material in the upper pot 3 that has been stirred by the upper pot stirrer 6 can be supplied to the lower pot 13. Therefore, material can be continuously discharged from the hose 16.

In this way, according to the spraying machine 1 of the present embodiment, new material can be supplied with the material remaining in the upper pot 3 without the need for the operator to operate the inner lid 17, which was required in the past. It is possible to operate automatically while preventing problems such as material being discharged with insufficient stirring. Furthermore, if there is a malfunction in the operation of the inner lid 17, error processing is automatically performed, so there is no need for a worker to be near the spray machine 1 at all times.

In the above-described embodiment, the inner lid 17 is closed after confirming that the current value when the motor 31 is driven is equal to or less than a predetermined value, and whether this state of equal to or less than the predetermined value continues for a predetermined period of time. The inner lid 17 may be closed after confirming whether the torque value of the motor 31 is below a predetermined value and whether this state of being below the predetermined value continues for a predetermined period of time. Alternatively, a strain gauge is attached to the stirring blades of the upper pot stirrer 6 and the lower pot stirrer 14, and it is confirmed whether the bending resistance value acting on the stirring blades is below a predetermined value and whether this state of being below the predetermined value continues for a predetermined time. Alternatively, the inner lid 17 may be closed.

Although one embodiment of the present invention has been described above, the present invention is not limited to such specific embodiment, and unless specifically limited by the above explanation, the gist of the present invention described in the claims Various modifications and changes are possible within the range. Furthermore, the effects of the embodiments described above are merely illustrative of the effects resulting from the present invention, and do not mean that the effects of the present invention are limited to the above effects.

For example, in this embodiment, the means for detecting whether the inner lid 17 has moved to the closed position or the open position is the inner lid closed position detection sensor 24 and the inner lid open position detection sensor 25 provided in the air cylinder 18. However, the position of the inner lid 17 may be directly detected by disposing a sensor near the closed position or the open position of the inner lid 17.

1: Spraying machine 2: Material input port 3: Upper pot 4: Connection port 5: Hopper 6: Upper pot stirrer 7: Upper lid 8: Compressor 9: Upper pot pressure path 10: Upper pot pressure sensor 11: Control section 13: Lower pot 14: Lower pot agitator 15: Material discharge port 16: Hose 17: Inner lid 18: Air cylinder (inner lid drive part)
19: Rod 20: Closed side air path 21: Open side air path 23: Control valve 24: Inner lid closed position detection sensor 25: Inner lid open position detection sensor 26: Lower hook pressure path 27: Lower hook pressure sensor 31: Motor ( Stirrer drive part)

Claims (5)

an upper pot having a material input port;
a lower pot communicating with the upper pot through a connecting port and having a material discharge port;
an inner lid that opens and closes the connection port;
an inner lid drive unit that moves the inner lid between an open position where the connection port is opened and a closed position where the connection port is closed;
an agitator drive unit that drives an upper pot agitator provided in the upper pot and a lower pot agitator provided in the lower pot;
When the current value when the agitator drive section is driven is below a predetermined value and the state of being below the predetermined value continues for a predetermined period of time, the inner lid is moved to the closed position. A spray machine comprising: a control unit that drives a lid drive unit. comprising a sensor that detects that the inner lid has moved to the closed position,
When the control unit drives the inner lid drive unit so that the inner lid moves to the closed position, if the sensor cannot detect that the inner lid has moved to the closed position within a predetermined time; moves the inner lid to the open position, and then, after a predetermined period of time has elapsed, the current value when the agitator drive unit is driven is equal to or less than the predetermined value, and the state of the current value equal to or less than the predetermined value continues for a predetermined time. 2. The spraying machine according to claim 1, wherein if the inner cover is moved to the closed position, the inner cover drive section is driven so that the inner cover is moved to the closed position. an upper pot having a material input port;
a lower pot communicating with the upper pot through a connecting port and having a material discharge port;
an inner lid that opens and closes the connection port;
an inner lid drive unit that moves the inner lid between an open position where the connection port is opened and a closed position where the connection port is closed;
an agitator drive unit that drives an upper pot agitator provided in the upper pot and a lower pot agitator provided in the lower pot;
A method of operating a spray machine comprising: a control unit that drives the agitator drive unit; and a control unit that drives the inner lid drive unit;
When supplying the material contained in the upper pot to the lower pot, the current value when the agitator drive unit is driven is below a predetermined value, and the state of being below the predetermined value continues for a predetermined period of time; The method includes a first step in which the controller drives the inner lid driver so that the inner lid moves to the closed position. The spray machine includes a sensor that detects that the inner lid has moved to the closed position,
When the inner lid drive unit is driven so that the inner lid moves to the closed position, if the sensor cannot detect that the inner lid has moved to the closed position within a predetermined time, the inner lid is moved to the closed position. is moved to the open position, and then after a predetermined period of time has elapsed, the current value when the agitator driving section is driven is equal to or less than the predetermined value, and the state of the current value equal to or less than the predetermined value continues for a predetermined period of time. 4. The method according to claim 3, further comprising a second step in which the controller drives the inner lid driver so that the inner lid moves to the closed position. an upper pot having a material input port;
a lower pot communicating with the upper pot through a connecting port and having a material discharge port;
an inner lid that opens and closes the connection port;
an inner lid drive unit that moves the inner lid between an open position where the connection port is opened and a closed position where the connection port is closed;
A spraying machine comprising an upper pot agitator provided in the upper pot and an agitator drive unit that drives a lower pot agitator provided in the lower pot,
to the computer,
When supplying the material contained in the upper pot to the lower pot, the current value when the agitator drive unit is driven is below a predetermined value, and the state of being below the predetermined value continues for a predetermined period of time; A program for executing a first step of driving the inner lid drive unit so that the inner lid moves to the closed position.

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