JP2877898B2 - Ready-mixed mixer washing equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a ready-mixed concrete mixer that mixes water into gravel, sand, and cement poured from a hopper while mixing to produce ready-mixed concrete, and carries it out. The present invention relates to a cleaning apparatus including an industrial robot that cleans residual ready-mixed concrete.

[Conventional technology]

In recent years, it has been difficult to secure on-site workers, and in particular, the washing operation of a ready-mixed mixer, which is indispensable to experienced workers, is a completely simple manual operation, and automation of the washing operation of this ready-mixed mixer has been a compelling demand in this kind of industry.

Japanese Patent Laid-Open Publication No. 1-1505
Japanese Patent Publication No. 08 [hereinafter referred to as “conventional example”] is available.

In this conventional example, a kneading water circuit and another system of a washing water circuit are provided to pump cleaning water to a concrete mixer by a pump, and these circuits are connected to each other, and a rotating shaft in a kneading tank is interposed between kneading operations. This is a concrete mixer cleaning method in which a large amount of high-pressure water is injected into a concrete mixer from a nozzle connected to the kneading water circuit while being slowly rotated to clean the concrete mixer. That is, in the conventional example, the first nozzle directed to the side wall of the mixer and the second nozzle directed to the ceiling of the mixer are used.
This is a method in which a water injection circuit for internal cleaning having a nozzle is connected to the kneading water circuit and is always retracted to the side wall, but is moved to a required position when necessary to inject a large amount of high-pressure water.

Another conventional example is disclosed in Japanese Patent Application Laid-Open No. 62-15090 [hereinafter referred to as "conventional example"].

In the conventional example, in a method of cleaning an object using a lightweight robot configured so that an arm has a degree of freedom around a joint, an injection nozzle attached to an arm of the robot performs cleaning or the like. A light-weight robot in which the part at a fixed injection angle with respect to the part is a direct-injection nozzle, and the other part is a T-type nozzle whose injection hole is provided opposite to the nozzle axis and is appropriately changed for cleaning etc. Cleaning method. That is, in the conventional example, a direct nozzle in which the jet water directly radiates in one direction, and a T-type nozzle which is provided to face the nozzle axis and jets the jet water in two directions,
This is a method such as cleaning applied to a lightweight robot that is replaced and attached as needed.

The most necessary equipment as a washing machine for a ready-mixed mixer is, for example, a plant as shown in FIG.

FIG. 12 (a) is a side view partially illustrating the inside,
FIG. 12 (b) is a plan view showing the arrangement of the mixer in cross section.

Gravel, sand, and cement, which are the raw materials of the ready-mixed concrete, are put in from the upper part of the funnel-shaped rubber cover 2c, and while the kneading water is adjusted and added, the ready-mixed concrete is moved and generated in the direction indicated by the arrow by rotating the mixers 2a, 2b. , To be carried out.

If an industrial robot is adopted as a washing device for such raw concrete mixers 2a and 2b, a mode in which the industrial robot 1 is usually provided and used on the robot fixed base 1s (hereinafter, referred to as "conventional example") can be considered.

[Problems to be solved by the invention]

By the way, the conventional example is a method in which a plurality of washing water nozzles dedicated to washing and having relatively long pipes are mounted inside a narrow ready-mixed mixer to be able to turn, and the decrease in efficiency due to the internal space of the ready-mixed mixer is not reduced. Inevitably, there is also difficulty in maintaining the cleaning water piping.

Further, the conventional example is merely an idea of replacing a nozzle of a lightweight robot, and is not suitable for use in a cleaning device of a ready-mixed mixer.

Further, in the conventional example, although it can be used for a while, as shown in FIG. 13, the rubber cover back 2h of the rubber cover 2c, the internal inspection window 2d, the shaft 2e, the tread plate back side 2g,
It is not possible to wash the deposited ready-mixed concrete 6 sticking to the lower portion 2f of the tread plate and the four corners of the case of the ready-mixed mixer.

Further, usually, a plurality of such ready-mix mixers are arranged and operated in parallel, and efficient application of the industrial robot 1 has not been solved.

Here, an object of the present invention is to provide an ideal cleaning device using one industrial robot when, for example, a plurality of ready-mixed mixers are arranged in a narrow place.

[Means for solving the problem]

In order to achieve the above object, the present invention has a cleaning gun for spraying cleaning water at the tip of an industrial robot arm, and the robot is pre-taught to program a plurality of sequence operations at the tip of the arm. Means for cleaning the ready-mixed mixer and a means for arbitrarily selecting the washing location of the ready-mixed mixer and the frequency of washing. A ready-mixed mixer cleaning device according to the preceding paragraph, which is provided with means for programmatically changing the opening of the water discharge valve of the washing gun in response to the scattering situation. The raw concrete mixer cleaning device according to claim 1, further comprising means for cleaning with an industrial robot, further comprising an arm of an industrial robot. An elongated plate-shaped holder arm that is bolted to the distal end via a flange and is attached to the flange at an angle, and an elongated plate-shaped holder arm that has a plate-shaped member that grips the cleaning gun at the distal end A torch holding arm and a torch holding block for holding and screwing the cleaning gun to the member for holding the cleaning gun of the torch holding arm are provided.The torch holding arm has a margin of some angle in the slender direction on the holder arm. The ready-mixed mixer cleaning device according to the first aspect, further comprising means for attaching the industrial robot, wherein an outer periphery of the industrial robot is surrounded by a waterproof cover, and the industrial robot is extended outward from a periphery of the main body of the industrial robot. The ready-mix mixer cleaning device according to the first aspect, wherein the protector arm is mounted on the main body of the industrial robot so as not to get stuck. In addition, a rail is laid in front of the door to wash the inside of the multiple ready-mixed mixers, and one industrial robot that can run on the rail is provided. This industrial robot is equipped with a safety fence. 3. A raw concrete mixer cleaning device according to claim 3, further comprising a means for positioning at the front of the door, a cleaning water cable to the cleaning gun, a power supply cable to an industrial robot, an operation command to the industrial robot, Item 4. The raw concrete mixer cleaning device according to the third item, further comprising means for transporting a cable for transmitting and receiving the operation answer back following the movement of the industrial robot.

[Action]

Since the present invention has the above configuration, the fresh concrete mixer can be programmatically changed with an industrial robot to change the washing location, washing frequency, etc. arbitrarily, according to the state of adhesion of the fresh concrete on the inner wall of the fresh concrete mixer and the splashing state of the washing water. This makes it possible to programmatically adjust the opening of the radiant gun for the washing water stepwise or in an unspecified manner, and to wash a plurality of raw mixers arranged in parallel.
It can be safely and sequentially performed by one industrial robot.

〔Example〕

FIG. 1 is a drawing showing a configuration in an embodiment of the present invention.

In the drawings, the same reference numerals are the same or corresponding members.

FIG. 1 (a) is a front view showing a mechanism for moving the industrial robot, FIG. 1 (b) is a side view showing the operating state of the industrial robot, and FIG. 1 (c) is two parallel mixers in parallel. FIG. 1 (d) is a plan view of the batcher plant equipment to which the ready-mixer cleaning device is applied, as viewed from above and below.

Batcher plant equipment 2 is the first ready-mixed mixer 21
In addition, the ready-mixer No. 2 unit 22 is provided with mixer safety fences 23a and 23b on the No. 1 unit 21 and the No. 2 unit 22, respectively, to ensure the safety of the work of the workers, and the lids 24a1 and 24a which can be opened and closed.
2 and 24b1, 24b2 and 55a1, 55a2 and 55b1, 55b2, which are closed during kneading of the ready-mixed concrete, and are opened during washing of the inside.

In this embodiment, mixer hydraulic units 27a and 27b are arranged in front of the batcher plant equipment 2, and cable pulley rails 42 and cable holding arms 41b and 41c are arranged above [about 2.5 meters above the ground]. A cleaning device employing the industrial robot 1 in a narrow place where a wall 20 is provided immediately behind the mixer hydraulic units 27a and 27b is provided.

The industrial robot 1 operates between the batcher plant equipment 2 and the mixer hydraulic units 27a and 27b.

First, a traveling rail 16 is laid on the ground, and a traveling carriage 15 made movable by wheels 32 on the track is placed on the traveling rail 16. Robot [body] 1 is fixedly arranged, and commands from the lid switch 25 and the door switch 56 are transmitted to the lid switch cable.
Opened lid via 26 and door switch cable 57
Cleaning gun 12 from any of 24a1 to 24b2 and door 55a1 to 55b2
Is inserted into the batcher plant equipment 2 and the washing pump 34 [when the pump switch 35 is turned on and the pump abnormality signal lamp 36 is in the off state] is connected to the washing water cable 13 and the arm of the industrial robot [body] 1. The washing water passing through the supporting cable supporter 14 is emitted from the washing gun 12 to wash the sedimentary concrete 6.

In addition to the washing water cable 13, a power supply cable to the industrial robot [body] 1 and an information cable [not shown] for controlling the operation of the industrial robot [body] 1 are provided on the traveling cart 15.
The robot follows the movement of the industrial robot [body] 1.

The means is performed by cables supported by a pulley 43 or the like that slides on a cable pulley rail 42 held by the cable holding arms 42b and 42c (although these cables are covered with a waterproof cover 44). .

In addition, the traveling carriage 15 has a movable range of the industrial robot [body] 1 in which the robot safety fences 30a and 30b are supported by support rods 31a and 31b to prevent danger to workers.
A stopper 33 attached to the traveling carriage 15 and a traveling rail are provided on both sides in this embodiment, and are positioned at fixed positions facing the first and second units of the batcher plant equipment 2. The traveling carriage 15 is fixed at a fixed position by inserting a pin into the hole formed in the carriage 16.

Then, the industrial robot [main body] 1 is subjected to the repulsion of the high-pressure washing water that radiates, so that the water-resistant cover 18 of the robot except for the washing gun 12 is covered with a brush. However, since the industrial robot [body] 1 can move freely,
The robot waterproof cover 18 is attached to the industrial robot [body] 1 to restrict the operation of the industrial robot [body] 1 and to prevent the robot waterproof cover 18 from being damaged. Robot [body] 1
The protector arm 17 in the form of a projecting loop is attached to the industrial robot [main body] 1 so as to keep a constant distance from the robot.

The operation of the industrial robot [main body] 1 is as follows. The control device 50 [for example, YASNAC-ERC ... trade name] mounted on the control device moving base 50a is transmitted from a so-called CPU (central processing unit), a memory, or the like. Naru, CRT (Cathod Ray Tub
e) Panel 55 [washing gun 12 of industrial robot (body) 1]
, And has a waterproof cover], and teaches and stores in advance the operation locus of the cleaning gun 12 of the industrial robot [main body] 1 and the water amount adjustment via a teach box 56 provided in the industrial robot [body] 1.

The type of the work is, for example, four or more, and is selected artificially by the operation panel 53 installed near the site.

From the control device 50, the operation panel cable 52, the CRT cable 51,
The power supply cable 19 is installed and the operation panel 53, CRT panel 55
Then, a cable is erected from the AC power supply and the control device 50 to the three-phase power supply 54, and grounding 50b is performed.

FIG. 2 is a detailed diagram of a cleaning gun gripping mechanism provided at the tip of the robot arm.

FIG. 2 (a) is formed so as to have a mounting margin as shown by a broken line with respect to the shape of the solid line in the comprehensive view, and the flange 11b and the robot arm 1a are fixed with the fastening bolt 1b.

As shown in FIG. 2 (b) [plan view] and FIG. 2 (c) [top view], the elongated plate-shaped holder arm 11a fixed to the flange 11b has, for example, an axis of the elongated portion bent about 45 °. Three tap holes are created and screwed to the torch holding arm via bolts.

Fig. 2 (d) shows the elongated plate-shaped torch holding arm 11c.
As shown in the [plan view], FIG. 2 (e) [lower side view] and FIG. 2 (f) [partially cut-away upper side view], the holder arm 11a passes through a through hole. The cleaning gun 12 is fitted in a semicircular groove orthogonal to the axis of the elongated portion by, for example, swinging 10 ° around the axis of the elongated portion with a bolt [not shown].

Fig. 2 (g) [Top view], Fig. 2 (h) [Lower side view]
And Fig. 2 (i) [Top view] is a torch retainer block.
11d, covering the torch holding arm 11c from above,
The cleaning gun 12 is pressed down by screwing bolts and nuts attached to the four through holes near the four corners.

FIG. 2 (j) is a perspective view showing a combination of the holder arm 11a, the torch holding arm 11c, and the torch holding block 11d.

FIG. 3 shows a related diagram of a traveling vehicle for moving the industrial robot [main body] 1.

FIG. 3A is a front view in which a part of the traveling carriage 15 is omitted,
FIG. 3 (b) is a side view.

Robot mount 1c fixed to industrial robot [body] 1
3 (c) [front view], FIG. 3 (d) [top view], FIG. 3 (e) [left side view] and FIG. 3 (f) [right side view]. It is mounted and fixed on the upper surface of the v-carriage 15.

FIG. 3 (c) The hand push bar 15 near the center upper edge of the [front view]
FIG. 3 (j) [front view] and FIG. 3 (k) [side view] are used to move the traveling carriage 15 on the traveling rail 16 by artificially pushing the protruding portion. Let it.

The traveling cart 15 is a pillow block 15 fixed to its lower surface.
The traveling bogie shaft 15b is rotatably supported via c, and wheels 32 are fixed to both ends of the traveling bogie shaft 15b.

The wheel 32 has a square pipe with a V-shaped groove formed in the center of the outer circumference.
It is mounted on a traveling rail 16 having a triangular cross section fixed to the upper surface of 16b, and the upper part of its wheel 32 is regulated by an upper wheel guide rail 16a formed with a V-shaped projection and does not come off from the traveling rail 16. .

The square pipes 16b are welded at appropriate intervals to an anchor plate 16c fixed to a concrete floor (FL) with anchor bolts, and the upper wheel guide rails 16a are connected to the anchor plate 1c.
It is held by legs 16d welded to 6c.

Terminal stoppers 16e are attached to both ends of the traveling rail 16 as stops for the traveling carriage 15.

In addition, two batcher plant equipment 2
The stopper mechanism for positioning the raw mixer of the table at the correct front position includes a stopper moving piece 33a attached to the left and right side surfaces of the traveling vehicle 15 [FIG. 3 (h) is a (front view), and FIG. (Side view)] and the stopper fixing piece 33b attached in relation to the traveling rail 16 so that the respective through holes are aligned, and then the stopper pin 33 shown in FIG.
gripping a handle [not shown] screwed into the upper screw portion 33c of the c, inserts the leading end 33d into the through hole, and inserts the traveling cart 1
5 is fixed on the running rail 16.

FIG. 4 is a configuration diagram of a protector arm, a gantry, and a cable supporter.

FIG. 4A is a plan view of the protector arm 17, and FIG. 4B is a side sectional view.

The protector arm 17 is disassembled into two parts, 17a and 17b, and is fixed to the industrial robot [main body] 1.

Fig. 4 (c) shows the support column 5 for the operation panel and CRT.
FIG. 4 (d) shows a part of a plan view of the bottom plate 57b, and FIG. 4 (g) shows a control panel mount on which the control panel is mounted on the support column 57. Figure (h) shows the CRT as a support column 57
The CRT mounts to be mounted on the base, and the bottom plate 57b is fixed to the concrete floor with anchor bolts in each case.

FIG. 4 (e) shows a top view of a cable supporter for supporting the washing water cable 13 on the arm of the industrial robot [main body] 1, and FIG. 4 (f) is a side view.

The mounting plate 14b is fixed to the upper surface of the arm of the industrial robot [body] 1 and penetrates through the hollow pipe-shaped cable supporter 14 through the protruding rod 14a to form the cleaning water cable 13 and the cleaning gun 12
Supplied to

 FIG. 5 is a detailed view of the robot safety fence.

FIG. 5 (a) is a plan view showing a state of being mounted on the left or right side of the traveling vehicle 15, FIG. 5 (b) is a front view, and FIG. 5 (c) is a view of the support rods 31a (31b). Front view, FIG. 5 (d)
Is a plan view of a slide guide 37 for freely adjusting the height above the floor of the robot safety fence 30a (30b), FIG. 5 (e) is a front view of the slide guide 37, and FIG. FIG. 5 (g) is a plan view of a lower flange 39 to which a safety fence is fixed via a support rod (upper), and FIG. 5 (g) is a plan view of a lower flange 39 to which the safety fence is fixed via a support rod (lower).

As can be seen from these drawings, the robot safety fence 30a is supported on one side surface of the traveling carriage 15 by two support rods 31a, and the height of the robot safety fence 30a slides up and down on the slide guide 37 to move the robot. Tighten the fixing screw provided on the front to fix the positioning. Upper flange 38 and lower flange 39
Then, threaded bolts are passed through four holes near the four corners, and screwed and fixed to tap holes provided in the traveling vehicle 15.

 FIG. 6 is a view showing a mechanism for holding a cable.

FIG. 6 (a) is a side view of a cable holding arm 41a disposed at an intermediate portion of the cable pulley rail 42, although not shown in the comprehensive drawing of FIG. At the bottom, a square bottom plate is fixed to the floor with anchor bolts, and a cable pulley rail 42 is screwed and fixed to the tip of the upper protrusion to support it.

6 (b) and 6 (c) are side views of the left and right cable holding arms 41b and 41c.

FIGS. 6 (e), 6 (f) and 6 (g) are a front view, a plan view and a side view of the angle-shaped rail holder 46. FIG. The long hole 46a is a hole through which a bolt for screwing and fixing the cable pulley rail 42 to the rail holder 46 passes.
46b is a hole through which a bolt for screwing the rail holder 46 to the cable holding arms 41b and 41c is passed.

FIG. 6 (d) is a view showing a mounted state of the cable v pulley rail 42.

Cable pulley 47 on the horizontal rail of cable pulley rail 42
Slides, the joints of the cable pulley rails 42 are connected by rail connection fittings 42a, and both ends of the cable pulley rails 42 are provided with pulley stoppers 47a, and a cable holder for hanging cables at the lower part of the cable pulley rails 42. Have.

FIG. 7 shows a control device moving base that allows the control device to be appropriately moved.

FIG. 7 (a) is a top view of a control device moving base 50a on which the control device 50 is mounted, and FIG. 7 (b) is a side view thereof.
50c as a roller for movement is a free caster with a brake whose direction can be freely changed and also has a braking function, and 50b is a fixed caster which rotates only in one direction.

FIG. 8 is a view showing a mechanism of a traveling rail for moving the industrial robot [main body] 1.

FIGS. 8 (a) and 8 (b) are a plan view and a side view v of the running rail 16, in which anchor plates 16c arranged at appropriate intervals are fixed to a concrete floor with anchor bolts, and a square pipe is placed thereon. 16c are laid, and an inverted V-shaped running rail 16 is fixed thereon.

In addition, the raw concrete mixer 1 of the batcher plant equipment 2
For positioning the industrial robot [body] 1 at the correct front position of the unit 21 and the ready-mixer unit 22, two stopper fixing pieces 33 b, which are positioning stop bars, are provided on the left and right sides of the traveling rail 16. Stick to
When the holes are drilled in them, the holes are aligned with the holes of the stopper moving piece 33a, and the stopper pin 33c is inserted to lock the traveling carriage 15.

FIGS. 8 (c) and 8 (d) show a side view and a front view of the upper wheel guide rail.

The upper wheel guide rail 16a is screwed to a side surface of the square pipe 16c by a bracket 16f.

 FIG. 9 is a diagram showing a wheel peripheral mechanism of the traveling vehicle.

FIG. 9A is a sectional view of the periphery of the wheel 32, and FIG.
Is a side view of the wheel 32. The wheel 32 is fixed to an end of the traveling bogie shaft 15b by an insertion pin [not shown] screwed into the fixing tap hole 32b, and the traveling bogie shaft 15b
Is rotatably supported via a pillow block 15c.

 FIG. 10 shows a configuration diagram of the operation panel.

FIG. 10 (a) is a view of the operation panel. When the start button is pressed, the cleaning device is started, the cleaning pump 34 is operating normally, the lamp (green) PL-1 is turned on, and the cleaning pump 34 is abnormal. The lamp (red) PL-1 lights up and warns.

Then, for example, the rotary switch SS-1 is appropriately selected as A, B, C, D, etc., depending on what program is selected to perform the work of the industrial robot [main body] 1.

First, set the rotary switch SS-2 to manual,
The industrial robot [main body] 1 is caused to perform a series of operations of the cleaning gun 12 artificially and stored in the control device 50 via the teach box 56. Then, the rotary switch SS-2 is automatically set, and the original automatic Perform the sequence.

 This is performed for each type of work.

Also, one to four systems of the mixer lid and door [for example, in FIG. When the lids 24a1 to 24b2] are open and the lids are in the fixed position [all lids closed], the corresponding lamps of the lamps NL1 to NL5 are turned on.

To cancel the selected program, press the program reset push button switch PB-2. When the program is set to manual, the cleaning pump 34 is turned on and PB-4 is pressed, and the cleaning pump 34 is turned off and PB-5 is turned off. The two are pressed in opposition to each other. Emergency stop rotary switch PB-1
By pressing, the industrial robot 1 and the cleaning pump 34 are brought to an emergency stop.

FIG. 10 (b) is an arrangement diagram of internal parts of the operation panel.
Relays CR1 to CR11, etc. are provided in the second stage,
The terminal box TB for wiring is arranged in the tier.

 FIG. 11 is an electrical connection diagram of the operation panel.

FIG. 11 (a) shows the operation panel 53 for each device such as a lid switch.
11 (b) is a connection diagram on the operation panel 53 side, and FIG. 11 (c) is a connection on the control device 50 side. However, the reference numerals and numbers in FIGS. 10 and 11 are indications specific to the device, and are different from the reference numerals in the drawings.

In this way, at the ready-mixed factory, for example, when the shipping work on the day is completed, the worker turns on the power supply for operating the industrial robot 1 and the power supply for the cleaning pump operation panel 58.

The operation of the industrial robot 1 is to wash the blades of the mixer, the inner wall of the mixer and the concrete hopper [rubber cover 2] sequentially with the cleaning gun 12.

This order is taught to the robot 1 in advance and stored in the control device 50, and each part is carefully and sequentially cleaned in accordance with the order.

When all the stored contents are washed out, the power is automatically stopped. This completes the mixer washing operation.

Here, it should be noted that the amount of cleaning water discharged from the cleaning gun 12 is high, but the water pressure when the water is discharged from the cleaning gun 12 is as high as about 50 kg / cm ^2, and the back pressure of this can be ignored. Can not.

Accordingly, a special sequence for increasing the amount of water at a short distance from the cleaning gun 12 at a short distance from the cleaning gun 12 and increasing the amount of water at a long distance is incorporated at the time of the previous robot teaching, and the back pressure applied to the industrial robot 1 is optimized by this sequence. Controlling.

〔The invention's effect〕

Thus, according to the present invention, even in severe conditions in a narrow space, washing of a plurality of raw mixers can be reliably performed by following a preset sequence, and work safety and efficiency, safety and high speed can be improved. And the operating rate of the ready-mixed mixer can be significantly improved.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an embodiment of the present invention. FIG. 1 (a) is a front view showing a mechanism for moving an industrial robot, and FIG. 1 (b) shows an operating state of the industrial robot. FIG. 1 (c) is a front view of a batcher plant facility in which two ready-mixed mixers are arranged in parallel, and FIG. 1 (d) is a top view of a batcher plant facility to which the ready-mixed mixer cleaning device is applied. FIG. 2 is a detailed view of a gripping mechanism of a cleaning gun provided at the end of a robot arm, FIG. 3 is a related view of a traveling cart for moving the industrial robot [body] 1, and FIG. Fig. 5 is a configuration diagram of a protector arm, a base, and a cable supporter, Fig. 5 is a detailed view of a robot safety fence, Fig. 6 is a diagram showing a mechanism for holding a cable, and Fig. 7 is a control for appropriately moving a control device. FIG. 8 is a view showing an apparatus moving base. Shows the mechanism of the running rail for moving the industrial robot [body] 1, Figure 9 represents the wheel peripheral mechanism of the traveling vehicle figure FIG. 10 operation panel Embodiment FIG, 11
The figure is an electrical connection diagram of the operation panel, and FIGS. 12 and 13 are explanatory diagrams of a conventional example. 1 ... industrial robot [body], 11 ... gun holder, 12
… Cleaning gun, 12a… Cleaning gun movable range, 13… Cleaning water cable, 15… Traveling trolley, 16… Traveling rail, 17…
... Protector arm, 18 ... Waterproof cover for robot, 19 ...
... Power supply cable, 2 ... Batcher plant equipment, 21 ...
… The first ready-mixed mixer, 22 …… the second ready-mixer, 23a, 23b …… the mixer safety fence, 24a1-24b2 …… the lid, 25
... Lid switch, 26 ... Lid switch cable, 30a, 30b
…… Robot safety fence, 33 …… Stopper, 34 …… Wash water pump, 41a, 41b, 41c …… Cable holding arm, 42 ……
Cable pulley rail, 43 ... pulley, 50 ... control device,
53 ... Operation panel, 55 ... CRT panel, 55a1-55b2 ... door, 5
6 ... door switch, 57 ... door switch cable, 58 ...
Washing pump operation panel.

──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Tadayuki Amano 2-19-7 Akanehama, Narashino-shi, Chiba Tokyo Mechatronics Center, Yaskawa Electric Manufacturing Co., Ltd. (72) Inventor Kazuhiko Nakasone 2-chome Akanehama, Narashino-shi, Chiba 19-7 Inside Yaskawa Electric Manufacturing Co., Ltd. Tokyo Mechatronic Center (72) Inventor Hideo Nakamura 3-1-13, Yawata-cho, Fuchu-shi, Tokyo (56) References JP-A-62-15090 (JP, A) ( 58) Field surveyed (Int.Cl. ⁶ , DB name) B28C 7/00 B08B 3/02

Claims (7)

(57) [Claims] An industrial robot arm has a cleaning gun for spraying cleaning water at a tip thereof, and a means for preliminarily teaching the robot to program a plurality of sequence operations at the tip of the arm. Means for arbitrarily selecting a washing location of the mixer and a washing frequency thereof. 2. A means for programmably changing the opening of a water discharge valve of a cleaning gun in accordance with the state of adhesion of fresh concrete and the state of splashing of washing water at a washing location of a ready-mix mic key. The ready-mixed mixer washing device according to the above. 3. The apparatus for cleaning a ready-mixed mixer according to claim 1, further comprising means for cleaning a plurality of ready-mixed mixers with one industrial robot. 4. An elongated plate-shaped holder arm which is bolted to a tip of an arm of an industrial robot via a flange and is fixed to the flange by being inclined, and a plate-shaped holder for this holder arm and a tip is washed. An elongated plate-shaped torch holding arm having a member for holding the gun, and a torch holding block for holding and screwing the cleaning gun to a member for holding the cleaning gun of the torch holding arm are provided, and the torch holding arm is provided on the holder arm. 2. The apparatus for cleaning a ready-mixed mixer according to claim 1, further comprising means capable of being screwed with some degree of margin in the elongated direction. 5. The industrial robot is surrounded by a waterproof cover surrounding the outside of the industrial robot, and protrudes outward from the periphery of the industrial robot body. The protector arm is attached to the industrial robot body so that the waterproof cover does not cling to the robot body. The ready-mixed mixer cleaning device according to claim 1, which is mounted. 6. A rail is laid in front of a door to clean the inside of a plurality of ready-mixed mixers, and one industrial robot is provided which can run on the rail, and a safety fence is provided on the industrial robot. 4. The apparatus according to claim 3, further comprising: means for positioning in front of the door.
The ready-mixed mixer washing device according to the above. 7. A cleaning water cable leading to a cleaning gun, a power supply cable to an industrial robot, and a cable for transmitting and receiving an operation command and an operation answer back to the industrial robot are carried along with the movement of the industrial robot. 4. The ready-mixed mixer cleaning device according to claim 3, comprising means.