JP7132806B2 - Mixer drum cleaning device - Google Patents

Description

The present invention relates to a mixer drum cleaning device for a mixer truck.

Patent Literature 1 discloses a mixer drum cleaning device for cleaning a mixer drum of a mixer vehicle. In this mixer drum cleaning device, the inside of the mixer drum is cleaned by repeating rotation in the input direction and rotation in the discharge direction.

JP-A-2002-67782

In the mixer drum cleaning device described in Patent Document 1, the rotating direction of the mixer drum is switched so that it rotates at a predetermined number of revolutions in the discharging direction from a state in which it rotates in the charging direction at a predetermined number of revolutions. If the rotation direction of the mixer drum is simply switched in this manner, the vehicle may vibrate greatly due to the impact at the time of switching.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to suppress the vibration of the vehicle that occurs when the mixer drum is washed.

A mixer drum cleaning apparatus according to the present invention comprises a mixer drum rotatably mounted on a vehicle, a driving device capable of driving the mixer drum to rotate in an input direction and an ejection direction, and a mixer drum cleaning apparatus that rotates the mixer drum to a predetermined position when an instruction to clean the mixer drum is input. a controller for controlling the operation of the driving device so as to alternately repeat loading direction rotation in which the mixer drum is rotated in the loading direction at the loading side washing rotation speed and discharge direction rotation in which the mixer drum is rotated in the discharging direction at the predetermined discharge side washing rotation speed; The controller has a target cleaning pattern in which a target number of rotations of the mixer drum during cleaning is set, controls the driving device so that the number of rotations of the mixer drum changes according to the target cleaning pattern, and controls the number of rotations of the mixer drum in the target cleaning pattern. The target rotation speed is set so that it rises to the input side washing rotation speed and the discharge side washing rotation speed at a predetermined rate of change over time, or decreases from the input side washing rotation speed and the discharge side washing rotation speed at a predetermined time change rate. characterized by being

In the present invention, the rotation speed of the mixer drum when the mixer drum is washed is increased at a predetermined rate of change to the input-side cleaning rotation speed and the discharge-side cleaning rotation speed at a predetermined time rate of change, or the input-side cleaning rotation speed is increased at a predetermined time rate of change. is controlled to decrease from the number and discharge side wash rotation speed. In this way, at least one of before and after the rotation direction of the mixer drum is switched, the speed of rotation of the mixer drum is controlled so as to gradually change with the passage of time, thereby suppressing abrupt switching of the rotation direction of the mixer drum. be.

According to the present invention, the target rotation speed of the mixer drum in the target cleaning pattern increases to the loading-side cleaning rotation speed and the discharge-side cleaning rotation speed at a predetermined first time rate of change, and a predetermined second rate of change different from the first time rate of change. It is characterized in that the rate of change over time is set so as to decrease from the input-side cleaning rotation speed and the discharge-side cleaning rotation speed.

In the present invention, the rotation speed of the mixer drum when the mixer drum is washed is increased at a first time rate of change to the loading side cleaning rotation speed and the discharge side cleaning rotation speed, and is changed at a second time rate different from the first time rate of change. The rate of change is controlled so as to decrease from the input-side cleaning rotation speed and the discharge-side cleaning rotation speed. In this way, by making the time rate of change different between when the rotation speed of the mixer drum rises to the input-side cleaning rotation speed and the discharge-side cleaning rotation speed and when it decreases from the input-side cleaning rotation speed and the discharge-side cleaning rotation speed, It is possible to achieve both an improvement in detergency and a reduction in impact when the direction of rotation of the mixer drum is switched.

The present invention is characterized in that the first rate of change over time is greater than the second rate of change over time.

In this invention, the first rate of change over time is set to be greater than the second rate of change over time. In this way, by increasing the time rate of change of the target rotation speed when the rotation speed of the mixer drum rises to the input-side washing rotation speed and the discharge-side washing rotation speed, the washing power can be improved, and the rotation speed of the mixer drum can be improved. By reducing the time rate of change of the target rotation speed when the target rotation speed decreases from the input-side cleaning rotation speed and the discharge-side cleaning rotation speed, the impact when the direction of rotation of the mixer drum is switched can be reduced.

In the present invention, the target washing pattern includes a starting pattern in which a target number of rotations of the mixer drum is set from the start of washing of the mixer drum until the number of rotations of the mixer drum reaches the input-side washing rotation number. The target rotation speed increases toward the input-side cleaning rotation speed at a predetermined third time rate of change, and before reaching the input-side cleaning rotation speed, at a predetermined fourth time rate of change different from the third time rate of change. It is characterized in that it is set to rise further.

In the present invention, the time rate of change of the target rotation speed of the mixer drum is changed from the start of washing of the mixer drum until the rotation speed of the mixer drum reaches the loading-side washing rotation speed. In this way, by changing the rate of change over time, it is possible to cause the rotation speed of the mixer drum to gradually reach the loading-side washing rotation speed. It is possible to reduce the vibration of the vehicle that occurs in

The present invention is characterized in that the fourth time rate of change is smaller than the third time rate of change.

In the present invention, the time rate of change of the target rotation speed of the mixer drum before reaching the loading-side washing rotation speed is set small. In this way, by reducing the time rate of change of the target rotation speed of the mixer drum before reaching the loading-side washing rotation speed, it becomes possible to allow the rotation speed of the mixer drum to gradually reach the loading-side washing rotation speed. As such, it is possible to reduce the vibration of the vehicle that occurs when the rotation speed of the mixer drum reaches the loading-side washing rotation speed.

The present invention is characterized in that the controller changes the time for rotating the mixer drum in the discharge direction according to the amount of cleaning fluid introduced into the mixer drum.

In this invention, the time for rotating the mixer drum in the discharge direction is changed according to the amount of cleaning fluid introduced into the mixer drum. In this manner, by changing the time for rotating the mixer drum in the discharging direction according to the amount of the cleaning fluid introduced into the mixer drum, the cleaning fluid is prevented from overflowing from the opening of the mixer drum, and the opening is kept clean. Deposits adhering to the vicinity can be efficiently removed.

The present invention is characterized in that the discharge-side washing rotation speed is set smaller than the input-side washing rotation speed.

In this invention, the discharge-side cleaning rotation speed is set smaller than the input-side cleaning rotation speed. By setting the discharge-side washing rotation speed to be smaller than the input-side washing rotation speed in this way, it is possible to prevent the washing fluid from overflowing from the opening of the mixer drum, and at the same time, the input-side washing rotation speed and the discharge-side washing rotation speed are equal to each other. By providing a difference between the washing rotation speed and the speed of the washing fluid moving in the mixer drum, the washing power can be improved.

In the present invention, the controller repeats a plurality of cycles from the start of rotation in the input direction to the end of rotation in the discharge direction to rotate the mixer drum, and adjusts at least one of the input-side washing rotation speed and the discharge-side washing rotation speed for each cycle. Characterized by changing.

In the present invention, at least one of the input-side cleaning rotation speed and the discharge-side cleaning rotation speed is changed for each cycle. In this manner, by changing the input-side cleaning rotation speed and the discharge-side cleaning rotation speed for each cycle, the flow of the cleaning fluid moving in the mixer drum can be adjusted to improve the cleaning power.

ADVANTAGE OF THE INVENTION According to this invention, the vibration of the vehicle which arises when wash|cleaning a mixer drum can be suppressed.

FIG. 1 is a side view of a mixer truck to which a mixer drum cleaning device according to an embodiment of the invention is applied. FIG. 2 is a block diagram showing the hardware configuration of the mixer drum cleaning device according to the embodiment of the present invention. FIG. 3 is a diagram showing cleaning patterns by the mixer drum cleaning device according to the embodiment of the present invention. FIG. 4 is an enlarged view of the starting portion of the cleaning pattern by the mixer drum cleaning device according to the embodiment of the present invention. FIG. 5 is an enlarged view showing a part of the cleaning pattern by the mixer drum cleaning device according to the embodiment of the present invention. FIG. 6 is a flow chart showing the procedure for cleaning the mixer drum in the mixer drum cleaning apparatus according to the embodiment of the present invention. FIG. 7 is a diagram showing a modified cleaning pattern of the mixer drum cleaning device according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

First, with reference to FIGS. 1 and 2, the overall configuration of a mixer truck 1 to which a mixer drum cleaning device 100 according to an embodiment of the present invention is applied will be described. FIG. 1 is a schematic diagram showing the side of the mixer truck 1, and FIG. 2 is a block diagram showing the hardware configuration of the mixer drum cleaning device 100. As shown in FIG.

The mixer truck 1 is a vehicle for transporting so-called ready-mixed concrete such as mortar and ready-mixed concrete (hereinafter referred to as “ready-mixed concrete”) that has been put into the mixer drum 2 . In the following description, a case where the mixer truck 1 loads ready-mixed concrete as a load will be described.

The mixer truck 1 is, as shown in FIG. , and a controller 20 for controlling the rotation of the mixer drum 2 .

The mixer drum 2 is a bottomed cylindrical container that is rotatably mounted on the base 3, and is provided with an opening 2a at its rear end through which ready-mixed concrete is charged and discharged. The mixer drum 2 is mounted with an inclination such that its rotational axis O gradually rises from the front to the rear of the vehicle. Inside the mixer drum 2, drum blades (not shown) are spirally arranged along the inner wall surface of the drum. will be

A hopper 16 is provided in the rear upper portion of the opening 2 a of the mixer drum 2 . In a ready-mixed concrete factory, the ready-mixed concrete put into the mixer truck 1 is guided by the hopper 16 to the opening 2a. A flow guide 17 and a chute 18 are provided at the lower rear portion of the opening 2a of the mixer drum 2. As shown in FIG. The ready-mixed concrete discharged from the opening 2a is guided to a chute 18 by a flow guide 17 and discharged in a predetermined direction by the chute 18. As shown in FIG.

The mixer drum 2 is rotationally driven via a driving device 4 using an engine 10 for running mounted on the mixer truck 1 as a power source. The drive device 4 is a fluid pressure device that is driven by the rotation of the engine 10 and rotates the mixer drum 2 by the fluid pressure of the working fluid.

As shown in FIG. 2, the engine 10 has a throttle valve 10a for adjusting the output and speed of the engine 10. As shown in FIG. The opening degree of the throttle valve 10a is controlled by the controller 20 via an actuator (not shown) when the driving device 4 is driven by the engine 10. As shown in FIG. Further, the engine 10 is provided with a rotation sensor 10b that detects the rotational speed of the engine 10 and outputs a signal corresponding to the detected rotational speed to the controller 20 .

The rotation speed of the engine 10 when driving the driving device 4 is controlled by the controller 20 via the throttle valve 10a so that the rotation speed detected by the rotation sensor 10b becomes a predetermined magnitude. The rotation sensor 10b may detect the rotation speed of a PTO shaft 9 or a drive shaft 8, which are input shafts of the driving device 4 and will be described later.

The rotation of the engine 10 is via a PTO shaft 9 (PTO: Power take-off) that constantly takes power from the engine 10 and a drive shaft 8 (see FIG. 2) that connects the PTO shaft 9 and the drive device 4. It is transmitted to the driving device 4 .

The drive device 4 includes a hydraulic pump 5 that is driven by the engine 10 and discharges hydraulic oil as a working fluid, and a hydraulic motor 6 that is driven by the hydraulic oil supplied from the hydraulic pump 5 and rotationally drives the mixer drum 2 . In addition, in the drive device 4, other incompressible fluid may be used as the working fluid instead of working oil.

The hydraulic pump 5 is a swash plate type axial piston pump whose discharge amount and discharge direction are changed according to the tilt angle of a swash plate (not shown). and an electromagnetic valve 5b for adjusting the tilt angle of the swash plate. The capacity detection sensor 5a outputs to the controller 20 a signal corresponding to the detected discharge amount. The discharge amount and discharge direction of the hydraulic pump 5 are changed by switching the solenoid valve 5b by the controller 20. FIG. The hydraulic pump 5 may be a swash plate type axial piston pump in which the discharge amount is changed according to the tilt angle of the swash plate and the discharge direction is changed by a discharge direction switching valve.

Further, the hydraulic pump 5 is provided with a pressure sensor 5 c for detecting the discharge pressure of the hydraulic pump 5 . The pressure sensor 5c outputs a signal to the controller 20 according to the detected pressure of the hydraulic fluid. The pressure sensor 5 c may be provided in the hydraulic motor 6 to detect the pressure of hydraulic oil supplied from the hydraulic pump 5 to the hydraulic motor 6 . Thus, the pressure sensor 5c detects the pressure of hydraulic fluid in the drive device 4. FIG.

The hydraulic motor 6 is a swash plate type axial piston motor whose capacity is changed according to the tilt angle of a swash plate (not shown), and has an electromagnetic valve 6b for adjusting the tilt angle of the swash plate. The capacity of the hydraulic motor 6 is switched between two stages, a small capacity for high-speed rotation and a large capacity for normal rotation, by switching the electromagnetic valve 6b by the controller 20. FIG. The hydraulic motor 6 may be a swash plate type axial piston motor whose capacity can be continuously changed from small capacity to large capacity.

Further, the hydraulic motor 6 is provided with a rotation sensor 6a for detecting the rotation direction and rotation speed of an output shaft (not shown) of the hydraulic motor 6. As shown in FIG. The rotation sensor 6a outputs a signal to the controller 20 according to the detected rotation direction and rotation speed of the output shaft.

In the drive device 4 configured as described above, the hydraulic motor 6 is rotated by supplying the hydraulic oil discharged from the hydraulic pump 5 to the hydraulic motor 6, and the amount of oil supplied and the tilt angle of the swash plate of the hydraulic motor 6 are measured. , the rotational speed of the hydraulic motor 6 is changed. Further, the rotation direction of the hydraulic motor 6 is switched by switching the discharge direction of the hydraulic pump 5 .

The rotation of the hydraulic motor 6 of the drive device 4 is transmitted to the mixer drum 2 via the speed reducer 7, so that the rotation direction of the mixer drum 2 is changed to the forward rotation direction, which is the input direction, and the reverse rotation direction, which is the discharge direction. , and the rotation speed of the mixer drum 2 can be increased or decreased.

When the mixer drum 2 is rotationally driven in the charging direction, the ready-mixed concrete in the mixer drum 2 moves forward while being stirred by the drum blades. On the other hand, when the mixer drum 2 is driven to rotate in the discharge direction, the ready-mixed concrete in the mixer drum 2 moves backward while being stirred by the drum blades.

The ready-mixed concrete can be discharged from the opening 2a of the mixer drum 2 by rotating the mixer drum 2 in the discharge direction opposite to the charging direction. The ready-mixed concrete discharged from the mixer drum 2 is guided to a predetermined position through the flow guide 17 and the chute 18 .

When the ready-mixed concrete is charged into the mixer drum 2 via the hopper 16, the mixer drum 2 is rotated in the charging direction at a higher speed than during stirring, so that the charged ready-mixed concrete is quickly moved to the front of the mixer drum 2. move.

In the drive device 4 configured as described above, the hydraulic pump 5 is rotationally driven by the power constantly extracted from the engine 10 via the PTO shaft 9. Therefore, the rotational speed of the hydraulic pump 5 varies depending on the running state of the vehicle. affected by changes in the rotational speed of the Therefore, in the mixer truck 1, the rotation speed of the hydraulic motor 6 is controlled by the controller 20 so that the rotation speed of the mixer drum 2 becomes the target rotation speed. The drive source for rotationally driving the hydraulic pump 5 is not limited to the engine 10 for traveling, and may be an auxiliary engine or an electric motor that is not used for traveling.

The controller 20 is composed of a microcomputer having a CPU (central processing unit), a ROM (read only memory), a RAM (random access memory), an I/O interface (input/output interface), and the like. The RAM stores data in CPU processing, the ROM stores CPU control programs and the like in advance, and the I/O interface is used to input/output information with connected devices. The operation of the driving device 4 is controlled by causing the CPU, RAM, etc. to operate according to the programs stored in the ROM.

The controller 20 is arranged in the driver's cab 11 together with an operation device 32 for operating the parking brake 31 and the mixer drum 2 . Further, the controller 20 is provided with a display section 20a that displays the state of the mixer drum 2 in a character code or a blinking state of a lamp. It is possible to confirm what kind of abnormal state the control state of the mixer drum 2 is in.

The parking brake 31 is provided with a detector (not shown) that detects the lever position of the parking brake 31 . A stop signal is output from the detector to the controller 20 when the parking brake 31 is applied.

The operation device 32 includes a knob-type operation switch 32a for switching the rotation direction and rotation speed of the mixer drum 2, an input section 32b for inputting washing settings described later by the operator, and stopping the rotation of the mixer drum 2 in an emergency. An emergency stop switch 32c for turning the mixer drum 2 automatically and a washing switch 32d for automatically washing and rotating the mixer drum 2 are provided. Note that an operating device similar to the operating device 32 may be arranged at the rear of the mixing truck 1 so that the mixing drum 2 can be operated outside the mixing truck 1 . In addition, when the operation device 32 is installed in a place that is more visible than the controller 20, the operation device 32 may be provided with the above-described display unit 20a.

When the operation switch 32a is operated by the operator, the controller 20 sets the target rotation state such as the rotation direction and the target rotation speed of the mixer drum 2 according to the operation direction and the operation amount of the operation switch 32a. The driving device 4 and the engine 10 are controlled so as to achieve the target rotation state.

Specifically, since the rotation state of the mixer drum 2 is correlated with the rotation state of the hydraulic motor 6, the controller 20 controls the rotation direction signal of the hydraulic motor 6 input through the rotation sensor 6a to be in the desired rotation direction. The discharge direction of the hydraulic pump 5 is switched via the electromagnetic valve 5b. In addition, the controller 20 appropriately changes the discharge amount of the hydraulic pump 5 via the electromagnetic valve 5b so that the rotation speed signal of the hydraulic motor 6 input through the rotation sensor 6a has a desired magnitude. to appropriately change the capacity of the hydraulic motor 6 via .

When the operator operates the emergency stop switch 32c, the controller 20 controls the driving device 4 to stop the mixer drum 2 from rotating.

Further, when the cleaning switch 32d is operated by the operator, the controller 20 rotates the mixer drum 2 in the input direction at a predetermined input-side cleaning rotation speed DN1 and rotates the mixer drum 2 at a predetermined discharge-side cleaning rotation speed DN2. The driving device 4 is controlled so as to alternately repeat rotation in the ejection direction with . Thus, when the cleaning switch 32d is operated by the operator, the mixing drum cleaning device 100 cleans the mixing drum 2. FIG.

Cleaning of the mixer drum 2 by the mixer drum cleaning device 100 will be specifically described below with reference to FIGS. 2 to 6. FIG. FIG. 2 is a block diagram showing the hardware configuration of the mixer drum cleaning device 100, FIGS. 3 to 5 are diagrams showing cleaning patterns by the mixer drum cleaning device 100, and FIG. 2 is a flow chart showing a processing procedure for cleaning 2. FIG.

As shown in FIG. 2, the mixer drum cleaning device 100 for cleaning the mixer drum 2 mainly includes the mixer drum 2 rotatably mounted on the vehicle and the driving device 4 capable of rotating the mixer drum 2 in the charging direction and the discharging direction. When a washing instruction for the mixer drum 2 is input, the controller 20 controls the operation of the driving device 4 so as to alternately repeat the loading direction rotation for rotating the mixer drum 2 in the loading direction and the discharging direction rotation for rotating the mixer drum 2 in the discharging direction. and Note that description of each configuration is omitted because it has been described above.

In order to wash the mixer drum 2, the ROM of the controller 20 stores a target washing pattern in which a target transition of the rotation speed of the mixer drum 2 when washing the mixer drum 2 is set as shown in FIG. there is Further, the ROM of the controller 20 stores the target transition of the rotation speed of the engine 10 when the mixer drum 2 is washed according to the target washing pattern as shown in FIG.

The target cleaning patterns include a starting pattern PS in which a target transition of the rotation speed of the mixer drum 2 at the time of starting cleaning is set, and a washing pattern PW in which a target transition of the rotation speed of the mixer drum 2 during washing is set. and an end pattern PE in which a target transition of the rotation speed of the mixer drum 2 at the end of cleaning is set.

The washing pattern PW is a combination of an input direction rotation pattern 41 that rotates the mixer drum 2 in the input direction and a discharge direction rotation pattern 42 that rotates the mixer drum 2 in the discharge direction.

The input direction rotation pattern 41 is a process in which the water, which has been input into the mixer drum 2 as the cleaning fluid, is vigorously moved toward the front of the mixer drum 2, and the rotation speed increases toward the input-side cleaning rotation speed DN1. It has an interval 41a, an injection constant interval 41b in which the rotation speed is the injection-side washing rotation speed DN1, and an injection fall interval 41c in which the rotation speed is decreased from the injection-side washing rotation speed DN1.

The discharge direction rotation pattern 42 is a step of vigorously moving the water introduced into the mixer drum 2 toward the opening 2a of the mixer drum 2, and is a discharge rise section in which the rotation speed increases toward the discharge side washing rotation speed DN2. 42a, a constant discharge section 42b in which the rotation speed is the discharge-side cleaning rotation speed DN2, and a discharge falling section 42c in which the rotation speed decreases from the discharge-side cleaning rotation speed DN2. The input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2 may be set to the same rotation speed, or may be set to different rotation speeds.

The starting pattern PS is substantially the same as a combination of the loading direction rotation pattern 41 and the discharging direction rotation pattern 42 of the pattern during cleaning PW, and the end pattern PE is the loading direction rotation pattern of the during cleaning pattern PW. It is the same pattern as 41.

According to the target washing pattern set in this way, the mixer drum 2 filled with water as the washing fluid is repeatedly rotated in the input direction and the discharge direction to wash the inside of the mixer drum 2, and the water in the mixer drum 2 is finished. It is collected in front of the mixer drum 2 in the hour pattern PE.

Here, the target rotation speed is set so as to transition from the input-side cleaning rotation speed DN1 to zero rotation without decreasing at a predetermined rate of time change in the input falling segment 41c of the input direction rotation pattern 41, and If the target rotation speed is set to transition from zero rotation to the discharge side cleaning rotation speed DN2 without increasing the target rotation speed in the discharge rising section 42a of the discharge direction rotation pattern 42 at a predetermined rate of change over time, then the rotation direction of the mixer drum 2 is changed to It will switch abruptly.

When the direction of rotation of the mixer drum 2 is abruptly switched in this way, the vehicle may shake greatly due to the impact. If the vehicle vibrates greatly while the mixer drum 2 is being washed in this manner, the worker may feel dangerous, or the worker may misunderstand or feel uneasy that some kind of failure has occurred in the mixer drum cleaning device 100. There is a risk of

It should be noted that the target rotation speed is set to shift from the discharge-side cleaning rotation speed DN2 to zero rotation in the discharge fall section 42c of the discharge direction rotation pattern 42, and the target rotation speed is set in the supply rise section 41a of the supply direction rotation pattern 41. The same is true when the number of revolutions is set so as to shift from zero revolutions to the input-side washing revolution number DN1.

In the present embodiment, in order to prevent the vehicle from vibrating greatly when washing the mixer drum 2, the target rotation speed of the mixer drum 2 in the input rising section 41a and the discharging rising section 42a is changed by a predetermined time. The target rotation speed of the mixer drum 2 in the input fall section 41c and the discharge fall section 42c is gradually decreased at a second time change rate that is a predetermined time change rate. ing.

When the target rotation speed of the mixer drum 2 in the input rise section 41a, the input fall section 41c, the discharge rise section 42a, and the discharge fall section 42c is gradually changed over time, the target rotation speed is changed instantaneously. As compared with , it takes time to switch the direction of rotation of the mixer drum 2, so the direction of rotation of the mixer drum 2 naturally switches gently. As a result, it is possible to prevent the vehicle from vibrating due to the impact caused by switching the direction of rotation of the mixer drum 2 .

The first time rate of change of the target rotation speed in the input rise section 41a and the second time rate of change of the target rotation speed in the input fall section 41c may be the same, but depending on the flow of water in the mixer drum 2 In order to gain momentum and improve the cleaning power, it is preferable to shorten the time until the input-side cleaning rotation speed DN1 is reached. is set to be greater than the second time rate of change in . For the same reason, the first time rate of change of the target rotation speed in the discharge rising section 42a is set larger than the second time rate of change of the target rotation speed in the discharge falling section 42c.

When the washing of the mixer drum 2 is started, as shown in FIG. 3, the rotational speed of the engine 10 also increases at the same time as the rotational speed of the mixer drum 2. Become. In this way, when the increase in the rotation speed of the engine 10 and the increase in the rotation speed of the mixer drum 2 overlap, the vibration of the vehicle and the rotation speed of the mixer drum 2 caused by the rotation speed of the engine 10 reaching the cleaning rotation speed EN1 are increased. Vibration of the vehicle caused by reaching the input-side washing rotation speed DN1 is superimposed, and as a result, there is a possibility that the vehicle may shake greatly.

In this embodiment, the start pattern PS is set as follows in order to prevent the vehicle from vibrating significantly when the washing of the mixer drum 2 is started.

As shown in an enlarged view in FIG. 4, the start pattern PS includes a first start pattern 43 in which the mixer drum 2 is rotated in the input direction along with the start of cleaning, and the first start pattern 43 followed by the mixer drum 2 in the discharge direction. and a second starting pattern 44 that rotates. Note that the second start pattern 44 has the same setting as the discharge direction rotation pattern 42 of the washing pattern PW, so the description thereof will be omitted.

The first start pattern 43 is a step of vigorously moving the water, which has been introduced into the mixer drum 2 as the cleaning fluid, toward the front of the mixer drum 2, similarly to the input direction rotation pattern 41 of the during cleaning pattern PW.

The first start time pattern 43 includes a first input rise section 43a in which the rotation speed increases from zero rotation toward the input side cleaning rotation number DN1, and a first input rise section 43a before reaching the input side cleaning rotation number DN1. It has a switching second closing rising section 43b and a closing falling section 43c in which the rotation speed decreases from the washing rotation speed DN1 on the closing side.

The fourth time rate of change, which is the predetermined time rate of change of the target rotation speed in the second input rising section 43b, is higher than the third time rate of change, which is the predetermined time rate of change of the target rotation speed in the first input rise section 43a. set small. Note that the time rate of change of the target rotation speed in the closing falling section 43 c is the same as the time changing rate of the closing falling section 41 c of the turning pattern 41 in the closing direction.

By reducing the fourth time rate of change in the second input rise section 43b in this way, the rate of increase in the rotational speed of the mixer drum 2 is moderated before the rotational speed of the mixer drum 2 reaches the input-side cleaning rotational speed DN1. As a result, it is possible to prevent the rotation speed of the mixer drum 2 from overshooting and to reduce the vibration of the vehicle that occurs when the rotation speed of the mixer drum 2 reaches the loading-side washing rotation speed DN1.

As a result, even if an overshoot occurs when the rotation speed of the engine 10 reaches the washing rotation speed EN1 and the vehicle vibrates, the vibration of the vehicle occurs when the rotation speed of the mixer drum 2 reaches the washing rotation speed DN1 on the loading side. is suppressed, so that the vehicle is suppressed from swinging greatly.

Further, as shown in FIG. 4, in the first start pattern 43, the timing at which the rotation speed of the mixer drum 2 reaches the loading-side cleaning rotation speed DN1 is the timing at which the rotation speed of the engine 10 reaches the cleaning rotation speed EN1. is set to be slower than

By setting the first start pattern 43 in this way, even if the rotation speed of the mixer drum 2 reaches the input-side washing rotation speed DN1 and the vehicle vibrates somewhat, the rotation speed of the engine 10 is maintained at the washing rotation speed EN1. Since the timing of the occurrence of vibration is shifted from the vibration of the vehicle caused by reaching the point, the vehicle is prevented from swinging greatly.

In the first start pattern 43, the input rise interval is composed of two intervals. may be reached. Moreover, not only when the washing of the mixer drum 2 is started, but also the input rise section 41a and the discharge rise section 42a of the washing pattern PW are configured by a plurality of sections similarly to the first start pattern 43, and the number of revolutions of the mixer drum 2 may gradually reach the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2.

Further, when the mixer drum 2 is washed by the mixer drum cleaning device 100, the mixer drum 2 after discharging the fresh concrete has a large amount of ready-mixed concrete adhering particularly to the vicinity of the opening 2a. It is preferable to lengthen the time, especially the time of the constant discharge section 42b, and actively guide the water to the vicinity of the opening 2a.

However, when a large amount of water is introduced into the mixer drum 2 for cleaning, the water overflows from the opening 2a if the constant discharge section 42b is lengthened. On the other hand, if the time of the constant discharge section 42b is limited in order to prevent the water from overflowing from the opening 2a, when the amount of water introduced into the mixer drum 2 is small, As a result, it becomes difficult to remove the ready-mixed concrete adhering to the vicinity of the opening 2a.

In order to prevent the water from overflowing from the opening 2a or being unable to guide the water to the vicinity of the opening 2a due to the amount of water introduced into the mixer drum 2, this embodiment 2, the time of the discharge direction rotation pattern 42 in the washing pattern PW, especially the time of the constant discharge section 42b, is changed according to the amount of water introduced into the mixer drum 2. FIG.

Specifically, as shown in FIG. 5, when the amount of water introduced into the mixer drum 2 is small, the washing pattern PW is indicated by a solid line in which the time of the constant discharge section 42b is the first time T1. When the amount of water introduced into the mixer drum 2 is large while the pattern is changed, the during-washing pattern PW is indicated by a dashed line in which the duration of the constant discharge section 42b is the second time T2, which is shorter than the first time T1. changed to a pattern that

When the amount of water introduced into the mixer drum 2 is small in this way, the time of the discharge direction rotation pattern 42, especially the time of the constant discharge section 42b can be lengthened so that even in areas where water is scarce, little water can be used. It is possible to efficiently remove the ready-mixed concrete adhering to the vicinity of the opening 2a of the mixer drum 2.

Further, when the amount of water introduced into the mixer drum 2 is large, the water overflows from the opening 2a of the mixer drum 2 by shortening the time of the discharge direction rotation pattern 42, especially the time of the constant discharge section 42b. It is possible to efficiently remove the ready-mixed concrete adhering to the vicinity of the opening 2a while preventing this.

The relationship between the amount of water introduced into the mixer drum 2 and the time of the constant discharge section 42b is stored in the ROM in advance as a map.

Instead of changing the time of the constant discharge section 42b according to the amount of water introduced into the mixer drum 2, the rotation speed of the mixer drum 2 in the constant discharge section 42b may be changed. In this case, when the amount of water is small, a relatively high rotation speed is used to increase the centrifugal force to guide water to the vicinity of the opening 2a of the mixer drum 2, and when the amount of water is large, a relatively low rotation speed is used. By doing so, the centrifugal force can be reduced and water can be prevented from overflowing from the opening 2a of the mixer drum 2.

Next, a processing procedure for cleaning the mixer drum 2 by the mixer drum cleaning device 100 will be described with reference to the flowchart of FIG.

First, in step S101, it is determined whether or not the cleaning switch 32d of the operating device 32 has been pushed by the operator. If the cleaning switch 32d has not been pressed, the process is once terminated, and if the cleaning switch 32d has been pressed, the process proceeds to step S102.

In step S102, it is determined whether or not cleaning has already been set. The setting of washing includes how many cycles are to be executed when one cycle is from the start of the rotation pattern 41 in the input direction to the end of the rotation pattern 42 in the discharge direction, and how many liters of water are supplied into the mixer drum 2. There are dolphins. In addition, the loading side cleaning rotation speed DN1 and the discharging side cleaning rotation speed DN2, the length of each of the sections 41a to 41c and 42a to 42c, and the time rate of change may be settable.

If the setting for cleaning has already been performed, the process proceeds to step S104, and if the setting for cleaning has not yet been performed, the process proceeds to step S103.

In step S103, the operator inputs washing settings such as the amount of water introduced into the mixer drum 2, the washing pattern, and the number of repetitions of the washing pattern through the input unit 32b of the operating device 32. FIG. When the input of the cleaning setting is completed, the process proceeds to step S104. When the input is completed, it may be possible to omit the input of the cleaning settings from the next time onward by selecting to perform cleaning with the same settings in the future as well.

In subsequent step S104, it is determined whether or not there is an abnormality in the entire system of the truck mixer 1. If there is some kind of abnormality, the mixer drum 2 is not washed for safety reasons, and the flow proceeds to step S109 to display the reason why washing is not possible and the specific location of the abnormality on the display unit 20a. exit. If there is no abnormality, the process proceeds to step S105.

At step S105, it is determined whether or not the mixer drum 2 is stopped. If the mixer drum 2 is rotating, there is a possibility that the ready-mixed concrete is still loaded in the mixer drum 2. Therefore, for safety, the mixer drum 2 is not washed, and the process proceeds to step S109, and the mixer drum 2 is rotated. The display unit 20a displays a message indicating that cleaning cannot be performed because the cleaning is performed, and the process is temporarily terminated. If the mixer drum 2 is stopped, the process proceeds to step S106.

In step S106, it is determined whether or not the parking brake 31 is applied. If the parking brake 31 is not applied, the vehicle may move while the mixer drum 2 is being washed. Therefore, the process proceeds to step S109 without washing the mixer drum 2 for safety reasons, and the parking brake 31 is applied. A message is displayed on the display unit 20a to the effect that washing cannot be performed because it has not been applied, and the process is once terminated. If the parking brake 31 is applied, the process proceeds to step S107.

In step S107, it is determined whether or not the mixer drum 2 is loaded with ready-mixed concrete. Specifically, it is determined based on the detection value detected by the pressure sensor 5c when the mixer drum 2 is slightly rotated. When the mixer drum 2 is loaded with ready-mixed concrete, the load for rotating the mixer drum 2 is greater than when the mixer drum 2 is filled with water for washing, and the load is increased by sliding the ready-mixed concrete inside the mixer drum 2. Fluctuations occur. Therefore, when the detected value detected by the pressure sensor 5c is larger than a predetermined value, or when the fluctuation width of the detected value is larger than a predetermined value, it is determined that the mixer drum 2 is loaded with ready-mixed concrete. can do.

If it is determined that the mixer drum 2 is loaded with ready-mixed concrete, the mixer drum 2 cannot be washed. , once the process is terminated. When it is determined that the ready-mixed concrete is not loaded in the mixer drum 2, the process proceeds to step S108.

In step S108, washing of the mixer drum 2 is started. Specifically, the operation of the driving device 4 and the rotation speed of the engine 10 are controlled by the controller 20 so that the mixer drum 2 rotates according to the target cleaning pattern described above.

When the washing of the mixer drum 2 is started in step S108, the process proceeds to step S110, and it is determined whether or not the washing switch 32d of the operating device 32 has been pressed again by the operator. If any switch or the like is operated after the washing of the mixer drum 2 is started, it is assumed that the washing of the mixer drum 2 is interrupted or stopped. Proceeding to S111, the washing of the mixer drum 2 is forcibly terminated. Then, since the washing switch 32d was pressed, the fact that the washing was forcibly terminated is displayed on the display section 20a, and the process is finished.

In step S110, if the washing switch 32d is not pressed again, the process proceeds to step S112, and it is determined whether or not the operating device 32 has been operated by the operator. If any operation is performed via the operation device 32 after the start of washing of the mixer drum 2, it is considered that the operator intends to interrupt or stop the washing of the mixer drum 2. Therefore, if the operation device 32 is operated, , the process advances to step S111, and the washing of the mixer drum 2 is forcibly terminated. Then, it displays on the display unit 20a that the cleaning has been forcibly terminated because the operating device 32 has been operated, and the process is terminated.

If the operation device 32 is not operated in step S112, the process proceeds to step S113, where it is determined whether or not the operator has pressed the emergency stop switch 32c. If the emergency stop switch 32c is pushed, the process proceeds to step S111, and washing of the mixer drum 2 is forcibly terminated. Since the emergency stop switch 32c has been pressed, the display unit 20a displays that the cleaning has been forcibly terminated, and the process is terminated. If the emergency stop switch 32c is not pressed, the process proceeds to step S114.

In step S114, it is determined whether or not the set number of cycles has been completed. If the set number of cycles has not yet been reached, the process returns to step S110 and the washing of the mixer drum 2 is continued. When the set number of cycles has been reached, the process proceeds to step S115, a message indicating that the washing of the mixer drum 2 has been normally completed is displayed on the display section 20a, and the process ends.

By rotating the mixer drum 2 according to the target washing pattern described above, the mixer drum 2 can be washed while suppressing the vibration of the vehicle.

According to the above embodiment, the following effects are obtained.

In the mixer drum cleaning apparatus 100, the target rotation speed of the mixer drum 2 in the input rise section 41a and the discharge rise section 42a is gradually increased at a predetermined first time rate of change, is gradually reduced at a predetermined second rate of change over time.

By setting the target rotation speed of the mixer drum 2 in the input rise section 41a, the input fall section 41c, the discharge rise section 42a, and the discharge fall section 42c so as to change gradually over time, the mixer drum 2 The rotational speed of the mixer drum 2 is controlled so as to gradually change over time before and after the direction of rotation is switched. Thus, when the mixer drum 2 is washed, the rotation direction of the mixer drum 2 is prevented from being changed abruptly, and as a result, vibration of the vehicle due to the impact caused by the switching of the rotation direction of the mixer drum 2 is suppressed. be able to.

Modifications of the embodiments of the present invention will be described below.

In the above embodiment, as shown in FIG. 3, the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2 are the same in each cycle. Alternatively, as shown in FIG. 7, the input-side cleaning rotation speed and the discharge-side cleaning rotation speed may be changed for each cycle. Specifically, the rotation speed of the input constant section 41b is switched between a first input-side washing rotation speed DN3 with a relatively high rotation speed and a second input-side washing rotation speed DN5 with a relatively low rotation speed for each cycle. The rotation speed of the constant discharge section 42b is switched between a first discharge-side washing rotation speed DN4 with a relatively high rotation speed and a second discharge-side washing rotation speed DN6 with a relatively low rotation speed for each cycle.

By switching the washing rotation speed for each cycle in this way, the flow of water moving in the mixer drum 2 can be adjusted, and as a result, the washing power can be improved.

Further, in the above embodiment, the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2 are set to the same rotation speed. Alternatively, the discharge-side cleaning rotation speed DN2 may be set to a rotation speed lower than the input-side cleaning rotation speed DN1. In this manner, by setting the discharge-side washing rotation speed DN2 to a relatively low rotation speed, it is possible to reliably prevent water from overflowing from the opening 2a of the mixer drum 2. By providing a difference from the side washing rotation speed DN2, the flow of water moving inside the mixer drum 2 can be adjusted, and as a result, the washing power can be improved.

Further, in the above embodiment, the target rotational speed of the mixer drum 2 in the input rise section 41a and the discharge rise section 42a linearly changes at a constant rate of change over time. Alternatively, the rate of change over time of the target rotation speed of the mixer drum 2 in the input rising section 41a and the discharge rising section 42a may be changed stepwise or continuously. You may change so that it may become small gradually as rotation speed DN2 is approached. Also, the rate of change over time of the target rotational speed of the mixer drum 2 in the input fall section 41c and the discharge fall section 42c may be changed stepwise or continuously.

Further, in the cleaning pattern PW in the above embodiment, the loading direction rotation pattern 41 and the discharging direction rotation pattern 42 are alternately repeated. Alternatively, the washing pattern PW may alternately repeat the input direction rotation pattern 41 and the stop state, or alternately repeat the discharge direction rotation pattern 42 and the stop state. or a combination thereof. Also, the start pattern PS may be rotated in the input direction and then temporarily stopped, or may be rotated in the discharge direction and then temporarily stopped. Also, the ending pattern PE is not limited to be the same as the loading direction rotation pattern 41 and may be the same as the ejection direction rotation pattern 42 .

Further, in the above-described embodiment, information regarding the end of washing of the mixer drum 2 is displayed on the display section 20a. Instead of this, a monitor capable of displaying information about the washing process and washing settings of the mixer drum 2 in characters and images may be provided in the operation device 32 together with the input section 32b.

Configurations, functions, and effects of embodiments of the present invention will be collectively described below.

The mixer drum cleaning device 100 includes a mixer drum 2 rotatably mounted on a vehicle, a driving device 4 capable of rotating the mixer drum 2 in the loading direction and the discharging direction, and the mixer drum 2 when an instruction to clean the mixer drum 2 is input. The driving device 4 operates so as to alternately repeat loading direction rotation for rotating the mixer drum 2 in the loading direction at a predetermined loading side washing rotation speed DN1 and discharge direction rotation for rotating the mixer drum 2 in the discharging direction at a predetermined discharge side washing rotation speed DN2. The controller 20 has a target cleaning pattern in which a target number of revolutions of the mixer drum 2 during cleaning is set, and the drive device controls the number of revolutions of the mixer drum 2 to change according to the target cleaning pattern. 4, the target rotation speed of the mixer drum 2 of the target cleaning pattern is increased at a predetermined time rate of change to the loading side cleaning rotation speed DN1 and the discharge side cleaning rotation speed DN2, or at a predetermined time rate of change to the loading side cleaning. It is set to decrease from the rotational speed DN1 and the discharge side cleaning rotational speed DN2.

In this configuration, the rotation speed of the mixer drum 2 when the mixer drum 2 is washed increases at a predetermined time rate of change to the loading side washing rotation speed DN1 and the discharge side washing rotation speed DN2, or at a predetermined time rate of change. Control is performed so as to decrease from the input side cleaning rotation speed DN1 and the discharge side cleaning rotation speed DN2. In this manner, the rotation speed of the mixer drum 2 is controlled so as to gradually change over time at least either before or after the rotation direction of the mixer drum 2 is switched, thereby preventing the rotation direction of the mixer drum 2 from being abruptly switched. Suppressed. As a result, it is possible to prevent the vehicle from vibrating due to the impact caused by switching the direction of rotation of the mixer drum 2 .

In addition, the target rotation speed of the mixer drum 2 of the target cleaning pattern increases to the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2 at a predetermined first time rate of change. It is set to decrease from the loading side washing rotation speed DN1 and the discharge side washing rotation speed DN2 at a rate of change of 2 hours.

If the time rate of change in the number of rotations of the mixer drum 2 is increased, the flow of water moving in the mixer drum 2 will gain momentum and the cleaning power will be improved. can mitigate the impact of In this configuration, the rotation speed of the mixer drum 2 when the mixer drum 2 is washed increases to the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2 at the first time rate of change. It is controlled to decrease from the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2 at different second time rate of change. In this manner, the rate of change with time when the rotation speed of the mixer drum 2 rises to the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2 and when it decreases from the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2 is By making them different, it is possible to achieve both an improvement in cleaning power and a reduction in impact when the direction of rotation of the mixer drum 2 is switched.

Also, the first rate of change with time is set to be greater than the second rate of change with time.

In this configuration, the time rate of change in the target rotation speed when increasing the rotation speed of the mixer drum 2 to the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2 is determined by changing the rotation speed of the mixer drum 2 to the input-side cleaning rotation speed DN1 and It is set to be greater than the time rate of change of the target rotation speed when decreasing from the discharge side cleaning rotation speed DN2. In this way, by increasing the time rate of change of the target rotation speed when the rotation speed of the mixer drum 2 increases to the input-side washing rotation speed DN1 and the discharge-side washing rotation speed DN2, the flow of water moving in the mixer drum 2 is controlled. It is possible to increase the momentum and improve the cleaning power, and to reduce the time rate of change of the target rotation speed when the rotation speed of the mixer drum 2 decreases from the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2. It is possible to reduce the impact when the direction of rotation of the mixer drum 2 is switched.

Further, the target cleaning pattern includes a starting pattern in which the target number of rotations of the mixer drum 2 from the start of cleaning of the mixer drum 2 until the number of rotations of the mixer drum 2 reaches the loading-side cleaning rotation number DN1 is set. The target rotation speed of the mixer drum 2 increases toward the input-side cleaning rotation speed DN1 at a predetermined third time rate of change, and before reaching the input-side cleaning rotation speed DN1, the target rotation speed of the mixer drum 2 increases at a predetermined time rate different from the third time change rate. It is set to further increase at a rate of change of 4 hours.

In this configuration, the time rate of change of the rotation speed of the mixer drum 2 is changed from the start of washing of the mixer drum 2 until the rotation speed of the mixer drum 2 reaches the loading-side washing rotation speed DN1. By changing the rate of change over time in this way, it becomes possible for the rotation speed of the mixer drum 2 to gradually reach the input-side cleaning rotation speed DN1, and as a result, the rotation speed of the mixer drum 2 increases to the input-side cleaning rotation speed DN1. It is possible to reduce the vibration of the vehicle that occurs when reaching the

Also, the fourth rate of change with time is set smaller than the third rate of change with time.

In this configuration, the time rate of change of the target rotation speed of the mixer drum 2 before reaching the input-side cleaning rotation speed DN1 is set small. In this way, by reducing the time rate of change of the target rotation speed of the mixer drum 2 before reaching the input-side cleaning rotation speed DN1, the rotation speed of the mixer drum 2 can be gradually reached to the input-side cleaning rotation speed DN1. As a result, it is possible to reduce the vibration of the vehicle that occurs when the rotation speed of the mixer drum 2 reaches the loading-side washing rotation speed DN1.

Further, the controller 20 changes the time for rotating the mixer drum 2 in the discharge direction according to the amount of water introduced into the mixer drum 2 .

In this configuration, the time for rotating the mixer drum 2 in the discharge direction is changed according to the amount of water introduced into the mixer drum 2 . Thus, by changing the time for rotating the mixer drum 2 in the discharge direction according to the amount of water introduced into the mixer drum 2, water is prevented from overflowing from the opening 2a of the mixer drum 2, The ready-mixed concrete adhering to the vicinity of the opening 2a can be efficiently removed.

In addition, the discharging side cleaning rotation speed DN2 is set smaller than the loading side cleaning rotation speed DN1.

In this configuration, the discharge-side cleaning rotation speed DN2 is set smaller than the input-side cleaning rotation speed DN1. By setting the discharge-side cleaning rotation speed DN2 to be smaller than the input-side cleaning rotation speed DN1 in this way, it is possible to reliably prevent the water from overflowing from the opening 2a of the mixer drum 2, and the input-side cleaning speed is reduced. By providing a difference between the number of rotations DN1 and the number of rotations DN2 for cleaning on the discharge side, the flow of water moving in the mixer drum 2 can be adjusted to improve the cleaning power.

Further, the controller 20 rotates the mixer drum 2 by repeating a plurality of cycles with one cycle from the start of rotation in the input direction to the end of rotation in the discharge direction, and for each cycle, at least the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2 are adjusted. change one.

In this configuration, at least one of the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2 is changed for each cycle. In this manner, by changing the input-side cleaning rotation speed DN1 and the discharge-side cleaning rotation speed DN2 for each cycle, the flow of water moving in the mixer drum 2 can be adjusted to improve the cleaning power.

Although the embodiments of the present invention have been described above, the above embodiments merely show a part of application examples of the present invention, and the technical scope of the present invention is not limited to the specific configurations of the above embodiments. do not have.

DESCRIPTION OF SYMBOLS 100... Mixer drum cleaning apparatus, 1... Mixer vehicle, 2... Mixer drum, 2a... Opening, 4... Drive device, 5... Hydraulic pump, 6... Hydraulic motor, 7 ... speed reducer, 10 ... engine, 20 ... controller, 31 ... parking brake, 32 ... operating device

Claims (8)

a mixer drum rotatably mounted on the vehicle;
a driving device capable of rotationally driving the mixer drum in an input direction and an ejection direction;
When an instruction to wash the mixer drum is input, an input direction rotation that rotates the mixer drum in the input direction at a predetermined input-side cleaning rotation speed and a discharge that rotates the mixer drum in the discharge direction at a predetermined discharge-side cleaning rotation speed. a controller for controlling operation of the drive to alternate between directional rotation and
The controller has a target cleaning pattern in which a target number of rotations of the mixer drum during cleaning is set, controls the driving device so that the number of rotations of the mixer drum changes according to the target cleaning pattern,
The target rotation speed of the mixer drum of the target cleaning pattern increases to the input-side cleaning rotation speed and the discharge-side cleaning rotation speed at a predetermined time change rate, or increases to the input-side cleaning rotation speed and the discharge-side cleaning rotation speed at a predetermined time change rate. The mixer drum cleaning device is characterized in that it is set so as to decrease from the discharge-side cleaning rotation speed. The target rotation speed of the mixer drum in the target cleaning pattern increases to the input-side cleaning rotation speed and the discharge-side cleaning rotation speed at a predetermined first time rate of change, and is increased to a predetermined time rate different from the first time rate of change. 2. The mixer drum cleaning apparatus according to claim 1, wherein the rotation speed is set to decrease from the loading side cleaning rotation speed and the discharge side cleaning rotation speed at a rate of change of 2 hours. 3. The mixer drum cleaning apparatus according to claim 2, wherein said first time rate of change is greater than said second time rate of change. The target cleaning pattern includes a starting pattern in which a target rotation speed of the mixer drum is set from the start of cleaning of the mixer drum until the rotation speed of the mixer drum reaches the input-side cleaning rotation speed,
The target rotation speed of the mixer drum in the starting pattern increases at a predetermined third time rate of change toward the loading-side cleaning rotation speed, and before reaching the loading-side cleaning rotation speed, the target rotation speed of the mixer drum increases at the third time rate of change. 4. The mixer drum cleaning apparatus according to any one of claims 1 to 3, wherein the rate of change is set to further increase at a predetermined fourth time rate of change different from the rate of change. 5. The mixer drum cleaning apparatus according to claim 4, wherein said fourth time rate of change is smaller than said third time rate of change. 6. The controller according to any one of claims 1 to 5, wherein the controller changes the time for rotating the mixer drum in the discharge direction according to the amount of cleaning fluid introduced into the mixer drum. Mixer drum cleaning equipment. 7. The mixer drum cleaning apparatus according to claim 1, wherein said discharge-side cleaning rotation speed is set smaller than said input-side cleaning rotation speed. The controller repeats a plurality of cycles from the start of rotation in the input direction to the end of rotation in the discharge direction to rotate the mixer drum, and for each cycle, at least the input-side washing rotation speed and the discharge-side washing rotation speed are repeated. 8. The mixer drum cleaning device according to any one of claims 1 to 7, characterized in that one is changed.

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