WO2024053153A1

WO2024053153A1 - Processing device

Info

Publication number: WO2024053153A1
Application number: PCT/JP2023/016095
Authority: WO
Inventors: 関口政一; 小幡博志
Original assignee: 日本国土開発株式会社
Priority date: 2022-09-09
Filing date: 2023-04-24
Publication date: 2024-03-14

Abstract

In order to prevent raw material soil from adhering to a processing device for processing raw material soil, this processing device comprises: a first member having a wall surface with which raw material soil makes contact; a second member that is provided below or on the inside of the wall surface, and that makes contact with the raw material soil and processes the raw material soil; and a supply device for supplying to the first member and the second member an adhesion prevention agent for preventing adhesion of the raw material soil.　

Description

processing equipment

The present invention relates to a processing device.

A rotary crushing (mixing) method for improving and effectively utilizing construction soil and the like and a device used in the method are known (see Patent Document 1). It has also been proposed to prevent sediment from adhering to surfaces such as truck beds, belt conveyors, and continuous improvement machines that come in contact with soil by supplying dispersion or emulsion polymer electrolytes to these surfaces. (See Patent Document 2).

International Publication No. 2019/016859 Patent No. 6513272

However, Patent Document 2 does not provide any specific proposal on how to supply the polymer electrolyte to the continuous improvement machine.

Therefore, an object of the present invention is to provide a treatment device that can suppress the adhesion of raw material soil.

The treatment device according to the present invention includes: a first member having a wall surface with which the raw material soil contacts; and a second member provided below or inside the wall surface and contacting the raw material soil to treat the raw material soil. and a first supply device that supplies an anti-stick agent to the first member and the second member to prevent the raw soil from sticking.

According to the present invention, since the first supply device supplies the anti-adhesive agent that prevents the raw soil from sticking to the first member and the second member, it is possible to realize a treatment device that can suppress the adhesion of the raw soil. be able to.

FIG. 1 is a diagram showing a self-propelled processing system including a rotary crusher according to a first embodiment. 2 is a sectional view showing the configuration of the rotary crushing device of the first embodiment, FIG. 2(a) is a diagram showing a state in which the rotating shaft is stopped, and FIG. FIG. 2C is a diagram showing a state in which the member has begun to levitate, and FIG. 2(c) is a diagram showing a state in which the impact member is horizontally levitating due to rotation of the rotating shaft. It is a figure which shows the structure of the raw material soil supply apparatus of 1st Embodiment, Fig.3 (a) is a top view, FIG.3(b) is a front view, and FIG.3(c) is a side view. It is a block diagram showing a control system of a self-propelled processing system of a 1st embodiment. It is a figure showing an outline of composition of a downstream supply device. It is a figure showing an outline of composition of an upstream supply device. It is a flowchart performed by the control part of 1st Embodiment. It is a figure showing a self-propelled processing system concerning a 2nd embodiment. It is a block diagram showing a control system of a self-propelled processing system of a 2nd embodiment. It is a figure showing an outline of composition of a drone side supply device.

(First embodiment)
Hereinafter, the rotary crushing device according to the first embodiment will be described in detail based on FIGS. 1 to 7. In addition, in this embodiment, the excavated material is clayey soil, and this clayey soil is suppressed from adhering to the main parts of the self-propelled processing system 1000.

FIG. 1 schematically shows the configuration of a self-propelled processing system 1000 including a rotary crusher 100 according to the first embodiment. In FIG. 1, for convenience of explanation, the vertical direction is shown as the Z-axis direction, and two axial directions perpendicular to each other in the horizontal plane are shown as the X-axis direction and the Y-axis direction.

The treatment system 1000 can be moved to a desired installation position via a traveling device 102, and at the installed position crushes the raw soil, mixes the raw soil and additives, and discharges the mixture to the outside as improved soil. can do. Improved soil can be used, for example, for backfilling structures, backfilling buildings, backfilling civil engineering structures, embankments for river embankments, embankments for roads, embankments for land development, railway embankments, airport embankments, water surface reclamation, etc. Can be used.

(Self-propelled processing system)
The processing system 1000 will be described below based on FIG. 1. As shown in FIG. 1, the processing system 1000 has a traveling device 102, and on the traveling device 102, a rotary crushing device 100, a motor 104, and a raw soil supplying device 108 are mounted via a frame 106. , an additive supply device 110, and a discharge device 112 are provided. In addition, in the processing system 1000, the raw material soil supply device 108 is on the upstream side, and the raw material soil supplied to the raw material soil supply device 108 is conveyed toward the rotary crushing device 100 on the downstream side.

The traveling device 102 is an endless track or the like, and travels around a construction site, a construction site, etc. in response to a remote control operation by a worker.

The motor 104 is connected via a belt 113 to a pulley 32 provided at the upper end of the rotating shaft 30 of the rotary crushing device 100. The rotational force of the motor 104 is transmitted to the pulley 32 via the belt 113 and rotates the rotating shaft 30 and the impact member 34. FIG. 2 is a sectional view showing the configuration of the rotary crushing device 100 according to the first embodiment. The detailed configuration of the rotary crushing device 100 will be described later using FIG. 2.

In addition to this motor 104, various motors, electrical components, and various parts of the processing system 1000, such as the control unit 150, are powered by a generator (not shown).

The raw material soil supply device 108 has a hopper device 50, a fixed quantity supply device 60, and a belt conveyor 122, and is used to supply the raw material soil input into the hopper device 50 in a fixed quantity from the input port member 20 into the fixed drum 12. This is the device. FIG. 3 is a diagram showing the configuration of the raw material soil supply device 108 according to the first embodiment, in which FIG. 3(a) is a top view, FIG. 3(b) is a front view, and FIG. 3(c) is a top view. is a side view. The detailed configuration of the raw material soil supply device 108 will be described later using FIG. 3.

The additive supply device 110 has an additive storage section 130, and supplies the additive stored in the additive storage section 130 into the fixed drum 12 (see FIG. 2) via the belt conveyor 122 and the input port member 20. It is a device for

The belt conveyor 122 is a device that sends the treatment target (improved soil) crushed and mixed by the rotary crusher 100 to the +X side of the treatment system 1000. Belt conveyor 122 constitutes a part of raw material soil supply device 108.

Note that the crushing status of the raw material soil may be checked by the operator, or the operator may control the rotation speed of the rotating shaft 30 and the conveyance speed of the belt conveyor 122 from a remote control, an operation panel, etc. Instead, the control unit 150 may automatically control the rotation speed of the rotating shaft 30 and the conveyance speed of the belt conveyor 122.

The rotary crushing device 100 of this embodiment is a device used to improve and effectively utilize raw material soil such as construction soil. The rotary crushing device 100 crushes and pulverizes the raw material soil to finely and homogeneously disperse the raw material soil. The rotary crushing device 100 may also contain additives (lime-based solidifying agents such as quicklime and slaked lime, cement-based solidifying agents such as ordinary cement and blast furnace cement, or soil improvement materials made of polymeric materials), as needed. , natural fibers, chemical fibers made of resin, etc.) are also introduced. When additives are added, the rotary crusher 100 mixes the raw material soil and the additives to produce improved soil, thereby adjusting the properties, strength, etc. of the improved soil. Hereinafter, the details of the configuration of the rotary crushing device 100 will be explained using FIG. 2.

(Rotary crusher 100)
2(a) shows a state in which the rotating shaft 30 is stopped, FIG. 2(b) shows a state in which the impact member 34 has begun to levitate due to the rotation of the rotating shaft 30, and FIG. ) is a diagram showing a state in which the impact member 34 is horizontally floating due to the rotation of the rotating shaft 30.
As shown in FIG. 2, the rotary crushing device 100 includes a pedestal 10, a fixed drum 12, a rotating drum 14, and a rotating mechanism 16.

The pedestal 10 holds each part of the rotary crushing device 100, and has a top plate part 10a and leg parts 10b. The top plate portion 10a is, for example, a plate-like member made of iron, and has a function as a lid that closes the upper opening of the fixed drum 12 fixed to the lower surface (-Z side surface). The top plate portion 10a is provided with an inlet member 20 for charging raw soil and additives (hereinafter, the raw soil and additives will be referred to as processing objects) into the fixed drum 12. Further, the top plate portion 10a includes a first tank 11 for supplying liquid polymer electrolyte to the wall surface of the rotating drum 14 and the impact member 34, and a first tank 11 for supplying liquid polymer electrolyte to the wall surface of the rotating drum 14 and the impact member 34. A second tank 13 for supplying water (for example, water) is provided. Note that the location where the first tank 11 and the second tank 13 are provided is not limited to the top plate portion 10a, and may be provided on the frame 106, for example.

The fixed drum 12 is a cylindrical container, and is fixed to the lower surface (-Z side surface) of the top plate portion 10a. The object to be processed is charged into the fixed drum 12 via the input port member 20, and the fixed drum 12 guides the object to be processed into the rotating drum 14 provided below the fixed drum 12 (-Z side). The fixed drum 12, the rotating drum 14, and the top plate 10a function as a container into which objects to be processed are placed.

The rotating drum 14 is a cylindrical container, and rotates (rotates) around the central axis of the cylinder (around the Z axis) by a motor (not shown). Since the rotating drum 14 is supported by the pedestal 10 via a plurality of support rollers 24, it can be smoothly rotated by receiving the rotational force of this motor (not shown). Note that the rotation direction of the rotary drum 14 and the rotation direction of the impact member 34 may be the same rotation direction or may be opposite rotation directions.

One or more scraping rods (not shown) are provided inside the rotating drum 14. The scraping rod (not shown) is in contact with the inner circumferential surface of the rotary drum 14, and scrapes off the object to be treated that has adhered to the wall surface, which is the inner circumferential surface of the rotary drum 14, as the rotary drum 14 rotates. Note that while the rotating drum 14 rotates at several rpm (for example, 1 rpm), the rotating shaft 30 rotates at 300 rpm to 1200 rpm. For this reason, when the raw material soil is clayey soil, the clayey soil adhering to the wall surface of the rotating drum 14 may not be removed with a scraping rod (not shown). Therefore, the clay adhering to the wall surface of the rotating drum 14 may come into contact with the rotating impact member 34 and provide resistance to the impact member 34. Although the details will be described later, in the first embodiment, adhesion of cohesive soil is suppressed by supplying a liquid anti-stick agent to the wall surface of the rotating drum 14.

The rotation mechanism 16 includes a rotation shaft 30 arranged at the center of the fixed drum 12 and the rotation drum 14 and extending in the vertical direction (Z-axis direction), a pulley 32 provided at the upper end of the rotation shaft 30, and a rotation shaft 30 disposed at the center of the fixed drum 12 and the rotation drum 14. Two impact members 34 are provided in upper and lower stages near the lower end.

The rotating shaft 30 is a cylindrical member that extends through the top plate 10a of the pedestal 10 and is rotatable via a ball bearing (not shown) provided on the top surface of the top plate 10a. , is held on the top plate portion 10a. The lower end of the rotating shaft 30 is located inside the rotating drum 14 and is a free end. That is, the rotating shaft 30 is supported in a cantilevered manner.

The pulley 32 is connected to the motor 104 via a belt 113. When the motor 104 rotates, the pulley 32 and rotating shaft 30 rotate.

Each of the two stages of impact members 34 is provided with a thick steel plate. Note that the impact member 34 may be configured by a combination of a thick plate and a chain.

The impact member 34 is centrifugally rotated by the rotation of the rotating shaft 30, and the thick plate moves near the inner peripheral surface of the rotating drum 14 at high speed, thereby crushing or mixing the object to be processed. For this reason, the rotary crushing device 100 can also be called a rotary crushing and mixing device. Note that the number and number of stages of the thick plates of the impact member 34 can be adjusted depending on the type and properties of the raw soil, the amount of treatment, the type and amount of additives, the target quality of the improved soil, and the like.

According to the rotary crushing device 100 of the first embodiment, the processing target input into the fixed drum 12 through the input port member 20 is crushed and mixed by the impact member 34 in the rotary drum 14, and It is designed to be discharged downward.

In the first embodiment, when the raw material soil is clayey soil, the downstream side supplies liquid polymer electrolyte and water to the wall surface of the rotating drum 14, which is a main part of the rotary crushing device 100, and the impact member 34. A supply device 25 is provided. This polyelectrolyte acts as an antiblocking agent.

FIG. 5 is a diagram showing an outline of the configuration of the downstream supply device 25. As shown in FIG. 5, the downstream supply device 25 includes the first tank 11, the second tank 13, two on-off valves 26 (26a, 26b), a pressure regulating valve 27, and a nozzle 28. have. Note that each component of the downstream supply device 25 is connected by piping.

A part of the rotating shaft 30 is made into a hollow structure (a hole is made from one end of the rotating shaft 30 in the Z direction, and the other end in the Z direction is not penetrated), and this hollow structure is connected to one of the piping of the downstream supply device 25. It can also be used as a section. By using the hollow structure of the rotating shaft 30 as a pipe, it is possible to prevent the pipe from becoming entangled with the rotating shaft 30 due to rotation of the rotating shaft 30. Note that the anti-blocking agent stored in the first tank 11 and the water stored in the second tank 13 are each supplied to the nozzle 28 by a pump (not shown).

The on-off valve 26 a is connected to the first tank 11 , and when the anti-stick agent stored in the first tank 11 is supplied to the nozzle 28 , it is in an open state, and the anti-adhesive agent stored in the first tank 11 is supplied to the nozzle 28 . When nozzle 28 is not supplied, it is in a closed state.

The on-off valve 26b is connected to the second tank 13 and is in an open state when supplying the water stored in the second tank 13 to the nozzle 28, and supplies the water stored in the second tank 13 to the nozzle 28. If not, it is considered closed. In the first embodiment, the control section 150 controls the opening and closing of the on-off valve 26a and the on-off valve 26b. Although the details will be described later, the control unit 150 opens the on-off valve 26a and discharges the anti-stick agent from the nozzle 28, and then closes the on-off valve 26a and opens the on-off valve 26b to discharge water from the nozzle 28. Discharge.

The pressure regulating valve 27 is provided between the on-off valve 26 and the nozzle 28 to adjust the pressure of the liquid supplied when the on-off valve 26 is in the open state, and supplies the liquid to the nozzle 28. Pressure control by the pressure regulating valve 27 is performed by a control section 150.

The nozzle 28 includes a nozzle 28a that mainly supplies an anti-adhesive agent and water to the wall surface of the rotating drum 14, and a nozzle 28b that mainly supplies an anti-adhesive agent and water to the impact member 34.
As shown in FIG. 2, the nozzle 28a is provided horizontally along the X direction, and the nozzle 28b is provided at an angle such that it is inclined in the -Z direction. Note that in the first embodiment, the nozzle 28 is connected to the rotating shaft 30 via the pressure regulating valve 27.

When the rotating shaft 30 is stopped as shown in FIG. 2(a), the impact member 34 is located along the Z direction, which is the vertical direction, so the liquid supplied from the nozzle 28b hits the impact member 34. Hardly supplied.

On the other hand, as shown in FIG. 2(b), when the rotating shaft 30 rotates and the impact member 34 starts to levitate from -30 degrees to -60 degrees, preferably about -45 degrees from the X direction, the impact member 34 is supplied from the nozzle 28b. This makes it easier for liquid to be supplied to the impact member 34. Note that when the rotation of the rotating shaft 30 reaches several tens of rpm (for example, 10 rpm), the impact member 34 changes from -30 degrees to -60 degrees from the X direction. Further, the time required for the rotation of the rotating shaft 30 to reach several tens of rpm is approximately several seconds from the start of rotation of the rotating shaft 30.

Further, as shown in FIG. 2(c), when the impact member 34 is horizontally levitated until it becomes almost parallel to the X direction due to the rotation of the rotating shaft 30, the liquid supplied from the nozzle 28b becomes easier to be supplied to the impact member 34. . Note that when the rotation of the rotating shaft 30 reaches 350 rpm or more, the impact member 34 floats horizontally. Further, the time required for the rotation of the rotating shaft 30 to reach 350 rpm is about 5 to 8 seconds from the start of rotation of the rotating shaft 30.

In the first embodiment, the rotary crushing device 100 crushes and mixes the raw material soil by setting the rotating shaft 30 in the range of 300 rpm to 1200 rpm. Note that when the rotating shaft 30 is at 300 rpm, the impact member 34 is at -80 degrees to -85 degrees from the X direction. However, the raw material soil can be crushed and mixed even if the impact member 34 is not horizontally floating, and crushing and mixing at 300 rpm is possible.

(Raw material soil supply device 108)
FIG. 3 is a diagram showing the configuration of the raw material soil supply device 108 according to the first embodiment, in which FIG. 3(a) is a top view, FIG. 3(b) is a front view, and FIG. 3(c) is a top view. FIG. Note that, in order to make the configuration of the raw material soil supply device 108 easier to understand, FIG. 3(c) is a partial cross-sectional view. Hereinafter, the configuration of the raw material soil supply device 108 will be explained using FIG. 3.

As described above, the raw soil supply device 108 includes the hopper device 50, the quantitative supply device 60, and the belt conveyor 122. The hopper device 50 and quantitative supply device 60 will be described in detail below.

The hopper device 50 includes a hopper 51 and a loosening device 52. The hopper 51 has an input port and a discharge port, and receives raw material soil discharged from, for example, a backhoe from the input port, and discharges the raw material soil to the quantitative supply device 60 from the discharge port. Since the cross-sectional area of the input port of the hopper 51 is larger than the cross-sectional area of the discharge port, the hopper 51 can temporarily store excavated material, which is raw material soil.

The loosening device 52 loosens the input raw material soil, and includes a shaft 53, a metal rotating blade 54 provided on the shaft 53, and a motor 55 that rotates the shaft 53.

Even when the raw material soil is clayey soil, the raw material soil is torn apart by the rotational action of the rotary blade 54 and the raw material soil is moved toward the quantitative supply device 60, thereby suppressing the occurrence of arch action within the hopper device 50. can do.

Further, the loosening device 52 is provided with a part of the upstream supply device 70. The upstream supply device 70 is a device that supplies liquid polymer electrolyte and water to the inner wall surface of the hopper 51 and a part of the quantitative supply device 60 (for example, the pair of rotating rolls 62 and the scraping blade 63). This polyelectrolyte acts as an antiblocking agent.

The configuration of the upstream supply device 70 is substantially the same as the configuration of the downstream supply device 25. FIG. 6 is a diagram showing an outline of the configuration of the upstream supply device 70. As shown in FIG. 6, the upstream supply device 70 includes a third tank 71 that stores a polymer electrolyte that is an anti-blocking agent, a fourth tank 72 that stores water, and two on-off valves 73 (73a). , 73b), a pressure regulating valve 74, and a nozzle 75. Note that each component of the upstream supply device 70 is connected by piping.

In the first embodiment, the shaft 53 has a hollow structure, an on-off valve 73a is provided at one end, an on-off valve 73b is provided at the other end, and this hollow structure is used as a part of the piping of the upstream supply device 70. Can be done. By utilizing the hollow structure of the shaft 53 as a pipe, it is possible to prevent the pipe from becoming entangled with the shaft 53 due to rotation of the shaft 53. Further, the nozzle 75 can be connected to the shaft 53 or the rotating blade 54 via the pressure regulating valve 74. Note that the anti-blocking agent stored in the third tank 71 and the water stored in the fourth tank 72 are each supplied to the nozzle 75 by a pump (not shown).

The on-off valve 73a is connected to the third tank 71, and when the anti-stick agent stored in the third tank 71 is supplied to the nozzle 75, it is in an open state, and the anti-adhesive agent stored in the third tank 71 is supplied to the nozzle 75. When nozzle 75 is not supplied, it is in a closed state.

The on-off valve 73b is connected to the fourth tank 72 and is in an open state when the water stored in the fourth tank 72 is supplied to the nozzle 75, and the water stored in the fourth tank 72 is supplied to the nozzle 75. If not, it is considered closed. In the first embodiment, the control section 150 controls the opening and closing of the on-off valve 73a and the on-off valve 73b. Although the details will be described later, the control unit 150 opens the on-off valve 73a and discharges the anti-stick agent from the nozzle 75, and then closes the on-off valve 73a and opens the on-off valve 73b to discharge water from the nozzle 75. Discharge.

The pressure regulating valve 74 is provided between the on-off valve 73 and the nozzle 75, and supplies the liquid to the nozzle 75 by adjusting the pressure of the liquid supplied when the on-off valve 73 is in the open state. Pressure control by the pressure regulating valve 74 is performed by the control section 150.

The quantitative supply device 60 is provided below the hopper device 50, and continuously supplies a certain amount (predetermined amount) of the raw material soil crushed in the hopper device 50 to the rotary crushing device 100 via the belt conveyor 122. supply. Thereby, the rotary crushing device 100 can stably crush and mix raw material soil that is continuously supplied in a constant amount.

The quantitative supply device 60 includes a casing 61, a pair of rotating rolls 62, a scraping blade 63, a pair of rotating shafts 64, a pair of motors 65, and a speed reducer 66.

The casing 61 is into which the raw material soil loosened by the hopper device 50 is carried, and a pair of rotating rolls 62 are provided inside the casing 61 so as to be rotatable about a pair of rotating shafts 64 . Further, the casing 61 is provided with a third tank 71 and a fourth tank 72 on the outside. Note that the third tank 71 and the fourth tank 72 may be provided at a location other than the casing 61.

The pair of rotating rolls 62 have a cylindrical shape, and are arranged along the X direction and spaced apart from each other in the Y direction, as shown in FIG. 3(a). Thereby, a passage P is formed in the pair of rotating rolls 62 through which the raw material soil is discharged. The pair of rotating shafts 64 are rotated around the X-axis by the driving force of the pair of motors 65, and thereby the pair of rotating rolls 62 are rotated around the X-axis. Of the pair of rotating shafts 64, one rotating shaft 64 is rotated clockwise by one motor 65, and the other rotating shaft is rotated counterclockwise by the other motor 65. As a result, one of the pair of rotating rolls 62 rotates clockwise and the other rotating roll 62 rotates counterclockwise.

The speed reducer 66 reduces the power of the pair of motors 65 in order to rotate the pair of rotary rolls 62 at a predetermined rotation speed. In the first embodiment, the reducer 66 has a chain and a sprocket, but a mechanical element such as a gear may also be used as the reducer 66.

A plurality of scraping blades 63 are metal plate-like members provided around the outer periphery of the pair of rotating rolls 62. The scraping blade 63 rotates together with the pair of rotating rolls 62 to crush the raw material soil carried into the casing 61 into a predetermined size, and removes the crushed raw material soil from the passage P of the pair of rotating rolls 62. discharge. Note that the plurality of scraping blades 63 provided on the pair of rotating rolls 62 are provided so that the scraping blades 63 do not interfere with each other.

FIG. 4 is a block diagram showing the control system of the self-propelled processing system 1000. The communication device 152 is a wireless communication unit that accesses a wide area network such as the Internet. In the first embodiment, the communication device 152 communicates with a host computer located far from the construction site.

The control unit 150 is a control device that controls the entire self-propelled processing system 1000, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

The control unit 150 is connected to the traveling device 102, the rotary crushing device 100, the raw soil supply device 108, the additive supply device 110, the discharge device 112, and the communication device 152. Note that the rotary crushing device 100, the raw material soil supply device 108, the additive material supply device 110, the discharge device 112, and the communication device 152 may be referred to as units in the description.

The operation of the self-propelled processing system 1000 of the first embodiment configured as above will be explained below. FIG. 7 is a flowchart executed by the control unit 150 of the first embodiment. Note that this flowchart is executed after the self-propelled processing system 1000 arrives at the raw material soil processing site using the traveling device 102.

(flowchart)
The control unit 150 starts driving each unit (step S1). As each unit is driven, rotation of the rotating shaft 30 and the shaft 53 starts. Note that in step S1, it is assumed that raw soil is not supplied to the raw soil supply device 108.

The control unit 150 controls the downstream supply device 25 and the upstream supply device 70 to supply the anti-blocking agent (Step S2).

The control unit 150 opens the on-off valve 26a of the downstream supply device 25 and closes the on-off valve 26b. Further, the control unit 150 adjusts the pressure of the pressure regulating valve 27 so that the anti-blocking agent can be supplied from the nozzle 28.

Since the rotating shaft 30 has started rotating in step S1 and the impact member 34 is floating horizontally, the control unit 150 controls the application of the anti-adhesive agent to the wall surface of the rotating drum 14 and the impact member 34 by the downstream supply device 25. supply.

Further, the control unit 150 opens the on-off valve 73a of the upstream supply device 70 and closes the on-off valve 73b. Further, the control unit 150 adjusts the pressure of the pressure regulating valve 74 so that the anti-blocking agent can be supplied from the nozzle 75.

Since the shaft 53 has started rotating in step S1, the control unit 150 prevents the upstream supply device 70 from supplying the anti-stick agent to the wall surface of the hopper 51, the pair of rotating rolls 62, and the scraping blade 63. conduct.

The supply amount of the anti-blocking agent may be determined depending on the properties of the raw soil (for example, water content and particle size), may be determined through trial construction, or may be determined empirically.

When the supply of the anti-blocking agent is completed, the control unit 150 controls the downstream supply device 25 and the upstream supply device 70 to supply water (step S3).

The control unit 150 closes the on-off valve 26a of the downstream supply device 25 and opens the on-off valve 26b. Further, the control unit 150 closes the on-off valve 73a of the upstream supply device 70 and opens the on-off valve 73b.

The control unit 150 supplies water to the wall surface of the rotating drum 14 and the impact member 34 by the downstream supply device 25, and supplies water to the wall surface of the hopper 51, the pair of rotating rolls 62, and the scraping by the upstream supply device 70. Water is supplied to the blade 63. When the control unit 150 finishes supplying water, it closes the on-off valve 26b of the downstream supply device 25 and closes the on-off valve 73b of the upstream supply device 70.

In step S3 of this flowchart, water is supplied to increase the effect of preventing adhesion, adhesion, or fixation of the raw material soil, by supplying water to swell the polymer electrolyte contained in the anti-blocking agent. This is to make it happen. Note that the supply of water may be performed prior to the supply of the anti-blocking agent, may be performed simultaneously with the supply of the anti-blocking agent, or may be omitted. When supplying the anti-stick agent and water at the same time, the control unit 150 may open the on-off valve 26b and the on-off valve 73b in step S2.

In the self-propelled processing system 1000, a rotary crushing device 100 is arranged downstream of the raw material soil supply device 108. For this reason, it is preferable that the control unit 150 supplies the anti-blocking agent using the upstream supply device 70 and then supplies the anti-blocking agent using the downstream supply device 25.

The control unit 150 sends a signal or display to the remote control, operation panel, host computer, etc. that crushing and mixing are possible (step S4). When receiving a signal or display from the control unit 150 that crushing and mixing are possible, raw material soil excavated by, for example, a backhoe, which is a construction machine with a bucket, is supplied to the hopper device 50. Note that this backhoe may be manned, unmanned, or remotely operated.

Control unit 150 detects load currents on motor 65 and motor 104 (step S5).
Using the start of the crushing/mixing process as a trigger, the control unit 150 detects the load current of the motor 65 when the quantitative supply device 60 is supplying the raw material soil in a fixed amount, and also detects the load current of the motor 65 when the quantitative supply device 60 is supplying the raw material soil in a fixed amount. The load current of the motor 104 during crushing and mixing is detected. In addition, in step S5, the control unit 150 may detect the load current of the motor 55 when the loosening device 52 is loosening the raw material soil, or may detect the load current of another motor. .

When detecting the load current on the motor 65 and the motor 104, a large current value (for example, a current value exceeding 85% of the rated current) may be detected momentarily. Therefore, the control unit 150 detects the load currents of the motor 65 and the motor 104 at predetermined intervals for a certain period of time (for example, about 5 to 10 minutes), and sets the average value as the load current of the motor 65 and the motor 104. is preferred.

The control unit 150 determines whether it is necessary to supply an anti-tack agent (step S6). Motor 65 and motor 104 are normally driven at about 80% of the rated current. However, there are cases where the clay soil cannot pass through the passage P formed in the pair of rotating rolls 62 of the metering supply device 60, or when the clay soil adhering to the wall surface of the rotating drum 14 comes into contact with the rotating impact member 34 and causes an impact. If the resistance of the member 34 is applied, the motor 65 and the motor 104 may be driven at 85% or more of the rated current.

Therefore, in step S6, if the motor 65 is driven at 85% or more of the rated current for a certain period of time, the control unit 150 determines that it is necessary to supply the anti-blocking agent to the raw

soil supply device

108, and 104 is driven at 85% or more of the rated current for a certain period of time, it is determined that it is necessary to supply the anti-blocking agent to the rotary crushing device 100.

Note that, when the load current detected for a certain period of time in step S5 is monotonically increasing with respect to the rated current, for example every 5 minutes (for example, 82% → 83% → 84%), the control unit 150 If it is predicted that the load current will be 85% or more of the rated current for 5 minutes, it may be determined that the anti-blocking agent needs to be supplied.

Note that the determination in step S6 may use an image instead of or in combination with the detection of the load current. Specifically, an imaging device may be provided at or near the belt conveyor 122 to image the raw soil discharged from the raw soil supply device 108. When the amount of raw material soil discharged from the raw material soil supplying device 108 is small based on the image taken by this imaging device, the control unit 150 determines that it is necessary to supply the anti-blocking agent to the raw material soil supplying device 108. Note that this imaging device is preferably provided upstream of the additive supply device 110 (raw material supply device 108).

Additionally, an imaging device may be provided at or near the discharge device 112 to image the raw material soil discharged from the rotary crushing device 100. If the amount of raw material soil discharged from the rotary crushing device 100 is small based on the image taken by the imaging device, the control unit 150 determines that it is necessary to supply the anti-blocking agent to the rotary crushing device 100.

The host computer, not the control unit 150, determines whether or not the anti-blocking agent needs to be supplied based on the imaging of the raw soil discharged from the raw soil supply device 108 and the image of the raw soil discharged from the rotary crushing device 100. You can do it like this. In this case, the control unit 150 may transmit the captured image data to the host computer via the communication device 152.

If the control unit 150 determines in step S6 that it is necessary to supply an anti-blocking agent, it performs the processes of steps S7 and S8, and if it determines that it is not necessary to supply an anti-blocking agent in step S6, The process advances to step S9. Note that the process in step S7 is the same as the process in step S2, and the process in step S8 is the same as the process in step S3, so a description thereof will be omitted.

The control unit 150 determines whether the crushing/mixing process is finished (step S9). The control unit 150 ends this flowchart if the raw material soil from the backhoe has been crushed and mixed, and if the raw material soil from the backhoe is currently being crushed and mixed, the crushing and mixing process is completed. The processes from step S5 to step S9 are repeated until.

In this flowchart, before the raw material soil excavated by the backhoe was supplied to the hopper device 50, the anti-blocking agent was supplied by the downstream supply device 25. However, even after the raw material soil excavated by the backhoe is supplied to the hopper device 50, the anti-blocking agent is supplied by the downstream supply device 25 before the raw material soil is fed into the rotary crushing device 100. It's okay.

(Second embodiment)
The second embodiment will be described below with reference to FIGS. 8 to 10, and the same components as in the first embodiment will be denoted by the same reference numerals, and the explanation thereof will be omitted or simplified. In step S7 of the flowchart of the first embodiment, when the upstream side supply device 70 supplies the anti-blocking agent, there is a possibility that the opening at the tip of the nozzle 75 may be blocked by the raw material soil.

Therefore, in the second embodiment, the anti-blocking agent and water are supplied to the main parts of the raw material soil supply device 108 by an unmanned aerial vehicle (UAV (Unmanned Aerial Vehicle, hereinafter referred to as the drone 200)).

FIG. 8 is a diagram showing a self-propelled processing system according to the second embodiment, and FIG. 9 is a block diagram showing a control system of the self-propelled processing system according to the second embodiment.
The drone 200 of this embodiment includes a flight device 201, an imaging device 202, a sensor group 203, a battery 204, a second communication device 205, a memory 206, a drone-side supply device 207, and a UAV control device 208. , is equipped with. These components are provided in the main body of the drone 200.

The flight device 201 includes a motor (not shown) and a plurality of propellers, and generates thrust to cause the drone 200 to levitate in the air and move in the air. Note that the number of drones 200 can be set arbitrarily.

The imaging device 202 is a digital camera that includes a lens, an image sensor, an image processing engine, etc., and captures moving images and still images. In this embodiment, the imaging device 202 images the hopper 51 and the loosening device 52 from above the raw material soil supply device 108, or images the raw material soil being conveyed by the belt conveyor 122 from above the belt conveyor 122. are doing.

Although the lens of the imaging device 202 is attached to the side (front) of the drone 200, the lens of the imaging device 202 may be attached to the bottom surface of the drone 200, or a plurality of lenses may be provided on the drone 200. Further, a moving mechanism may be provided to move the lens attached to the side surface toward the bottom surface. Further, a mechanism for rotating the imaging device 202 around the Z-axis may be provided to position the lens of the imaging device 202 at an arbitrary position around the Z-axis. Note that an omnidirectional camera (360-degree camera) may be used as the imaging device 202, and a three-dimensional scanner may be used instead of the imaging device 202.

The sensor group 203 includes GNSS, an infrared sensor for avoiding collision between the drone 200 and other devices (for example, the self-propelled processing system 1000), an atmospheric pressure sensor for measuring altitude, a magnetic sensor for detecting direction, and , a gyro sensor that detects the attitude of the drone 200, an acceleration sensor that detects acceleration acting on the drone 200, and the like.

The battery 204 is a secondary battery connected to the power receiving device 103, and can be a lithium ion secondary battery, a lithium polymer secondary battery, or the like, but is not limited thereto. The battery 204 is capable of supplying power to the flight device 201 , the imaging device 202 , the sensor group 203 , the second communication device 205 , the memory 206 , and the UAV controller 208 .

The second communication device 205 has a wireless communication unit, and accesses a wide area network such as the Internet and communicates with the communication device 152. In the second embodiment, the second communication device 205 transmits image data captured by the imaging device 202 and detection results detected by the sensor group 203 to the communication device 152, and sends flight commands from the communication device 152 to UAV control. The data may be sent to the device 208. Note that the second communication device 205 may communicate with a host computer located away from the construction site.

The memory 206 is a nonvolatile memory (for example, a flash memory), and stores various data and programs for flying the drone 200, image data captured by the imaging device 202, detection results detected by the sensor group 203, etc. It is used to remember things.

The configuration of the drone-side supply device 207 is substantially the same as the upstream-side supply device 70, although there are some differences in size and the like. FIG. 10 is a diagram showing an outline of the configuration of the drone-side supply device 207. As shown in FIG. 10, the drone-side supply device 207 includes a fifth tank 161 that stores a polymer electrolyte that is an anti-stick agent, a sixth tank 162 that stores water, and two on-off valves 163 (163a, 163b). ), a pressure regulating valve 164, and a nozzle (not shown). Note that each component of the upstream supply device 70 is connected by piping.

The on-off valve 163a is connected to the fifth tank 161, and is opened when the anti-stick agent stored in the fifth tank 161 is supplied to a nozzle (not shown). When the agent is not supplied to a nozzle (not shown), the nozzle is in a closed state.

The on-off valve 163b is connected to the sixth tank 162, and is opened when the water stored in the sixth tank 162 is supplied to a nozzle (not shown), and the water stored in the sixth tank 162 is supplied to a nozzle (not shown). When the nozzle is not supplied, it is closed. In the second embodiment, the opening/closing control of the on-off valve 163a and the on-off valve 163b is performed by cooperative control between the control unit 150 and the UAV control device 208.

The pressure regulating valve 164 is provided between the on-off valve 163 and a nozzle (not shown), and adjusts the pressure of the liquid supplied when the on-off valve 163 is in the open state, and supplies the liquid to the nozzle (not shown). It is something. Pressure control by the pressure regulating valve 164 is performed through cooperative control between the control unit 150 and the UAV control device 208.

The UAV control device 208 includes a CPU, an attitude control circuit, a flight control circuit, and the like, and controls the entire drone 200. Further, the UAV control device 208 determines the timing of charging based on the remaining amount of the battery 204, and controls the imaging position, angle of view, frame rate, etc. of the imaging device 202.
Further, the UAV control device 208 performs various controls of the drone 200 based on instructions from the control unit 150, and in the second embodiment, controls the drone-side supply device 207.

In the second embodiment, the drone-side supply device 207 attaches to the hopper 51, which is a main part of the raw soil supply device 108, the pair of rotating rolls 62, and the scraping blade 63 from above the raw soil supply device 108. Since the antiblocking agent and water are supplied, the antiblocking agent and water can be supplied without coming into contact with the raw soil.

In the second embodiment, the upstream supply device 70 may be omitted, or the upstream supply device 70 and the drone supply device 207 may be used together.

Note that the rotary crushing apparatus 100 of the first and second embodiments is not limited to a self-propelled processing system, but also a plant-type processing system installed on site, and an on-track type processing system installed on the bed of a truck. It can also be applied to processing systems, etc.

As described above in detail, the self-propelled treatment systems of the first and second embodiments are capable of reducing the adhesion of cohesive soil to the raw soil supply device 108 and the rotary crushing device 100. can.

The embodiments described above are examples of preferred implementations of the present invention. However, it is not limited to this, and various modifications are possible. In the first and second embodiments, the anti-stick agent piping after passing through the on-off valve 26 and the water piping are made common; The piping may be provided as independent piping. Similarly, the anti-blocking agent pipe and the water pipe after passing through the on-off valve 73 and the on-off valve 163 may be independent pipes.

14 Rotating drum 25 Downstream supply device 26 Opening/closing valve 27 Pressure regulating valve 28 Nozzle 30 Rotating shaft 34 Impact member 50 Hopper device 51 Hopper 52 Loosening device 53 Shaft 60 Quantitative supply device 61 Casing 62 Pair of rotating rolls 63 Scraping blade 64 Pair of rotation Axis 70 Upstream supply device 100 Rotary crushing device 108 Raw soil supply device 110 Additive supply device 150 Control section 200 Drone 207 Drone side supply device 208 UAV control device

Claims

a first member having a wall surface with which the raw soil contacts;
a second member provided below or inside the wall surface and in contact with the raw material soil to treat the raw material soil;
A processing device comprising: a first supply device that supplies an anti-stick agent for preventing the raw soil from sticking to the first member and the second member.
The processing apparatus according to claim 1, wherein the first supply device is provided in a drive section that can drive the second member.
The processing device according to claim 2, wherein the drive unit includes a motor that rotates the second member.
The processing apparatus according to claim 1, further comprising a second supply device that supplies a substance different from the anti-blocking agent to the first member and the second member.
The processing apparatus according to claim 4, wherein the second supply device is provided in a drive section that can drive the second member.
The processing apparatus according to claim 1, further comprising a control device that causes the first supply device to supply the anti-blocking agent in accordance with the drive of the second member.
7. The processing device according to claim 6, wherein the control device supplies the anti-blocking agent to the second member by the first supply device before processing the raw material soil by the second member.
The control device instructs an unmanned flying vehicle equipped with a supply device that supplies an anti-stick agent that prevents the raw soil from sticking to the first member and the second member to supply the anti-stick agent to the first member and the second member. The processing device according to claim 6.
1 . The first supply device includes a first supply unit that supplies the anti-blocking agent to the first member, and a second supply unit that supplies the anti-blocking agent to the second member. Processing equipment as described.
A first supply angle at which the first supply unit supplies the anti-blocking agent to the first member is different from a second supply angle at which the second supply unit supplies the anti-blocking agent to the second member. 10. The processing device according to claim 9.
The first member is a hopper to which the raw material soil is supplied,
The processing device according to any one of claims 1 to 10, wherein the second member is a crushing device that crushes the raw material soil that has passed through the hopper.
The first member is a accommodating part that accommodates the second member,
The processing device according to any one of claims 1 to 10, wherein the second member is a crushing device that crushes the raw material soil.