Cement paste automatic stirring cleaning device and stirring method

Abstract

The application discloses a cement paste automatic stirring and cleaning device and a stirring method, relates to the technical field of cement paste stirring machines, and comprises a rack, a Z-axis driving mechanism arranged on the rack, a planetary stirring mechanism, a stirring pot, a horizontal displacement mechanism, a stirring pot posture adjusting mechanism, an online cleaning mechanism, a control unit and a water adding unit; the Z-axis driving mechanism is configured to provide vertical lifting driving; the planetary stirring mechanism is installed on the Z-axis driving mechanism and is configured to apply stirring action to the cement paste in a planetary motion mode of rotation and revolution; the application has a multi-degree-of-freedom motion structure, enables the equipment to automatically perform different processes such as feeding, stirring, sampling and cleaning, improves the automatic integration capability, synchronously solves the residue dripping and pollution problems in the sampling process, and can be used in cooperation with automatic feeding and robot sampling equipment to realize full-process automatic operation.

Description

Technical Field

[0001] This invention relates to the field of cement paste mixer technology, specifically to an automatic cement paste mixing and cleaning device and mixing method. Background Technology

[0002] Cement paste mixing is a key step in the testing of cement physical properties, and its mixing quality directly affects the accuracy of test results such as standard consistency water requirement, setting time, and soundness.

[0003] Currently, manual mixers conforming to the JC / T729-2005 standard "Cement Paste Mixer" are commonly used equipment in cement testing laboratories. According to GB / T1346-2011 "Test Methods for Standard Consistency Water Requirement, Setting Time and Soundness of Cement", mixing water must be added to the mixing tank first, followed by cement. The mixing procedure is fixed at 120 seconds of slow mixing, 15 seconds of pause, and 120 seconds of rapid mixing. During the 15-second pause, the adhering material on the inner wall of the mixing tank needs to be manually scraped off to ensure the uniformity of the paste.

[0004] Existing cement paste mixing equipment largely relies on manual labor for operations such as feeding, sampling, and cleaning, resulting in a low level of automation and making it difficult to achieve continuous operation with automatic feeding systems and robotic sampling equipment. Furthermore, the relative positions of the mixing pot and mixing mechanism in existing equipment are usually fixed. During sampling or turning, residual material on the mixing components can easily drip onto the outside of the equipment, causing contamination, increasing cleaning workload, and affecting the testing environment and efficiency.

[0005] More importantly, wall scraping is widely recognized in the field as a necessary step in mixing, and almost all existing equipment and standard operating procedures include wall scraping. This technical bias has led those skilled in the art to focus on improving the design of wall scraping mechanisms for a long time. However, wall scraping greatly increases the complexity of the equipment and the difficulty of control. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic mixing and cleaning device and mixing method for cement paste. By coordinating the control of the tumbling motion and the horizontal displacement motion, the movement trajectory of the mixing residue is constrained, effectively solving the problem of residue dripping and contamination during the sampling and tumbling process. At the same time, the pre-wetting process eliminates the need for wall scraping operation, realizing fully automated operation.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an automatic cement paste mixing and cleaning device and mixing method, comprising a frame, and a Z-axis drive mechanism, a planetary mixing mechanism, a mixing pot, a horizontal displacement mechanism, a mixing pot attitude adjustment mechanism, an online cleaning mechanism, a control unit, and a water adding unit disposed on the frame.

[0008] The Z-axis drive mechanism is configured to provide vertical lifting drive.

[0009] The planetary mixing mechanism is mounted on the Z-axis drive mechanism and is configured to apply a mixing action to the cement paste in a planetary motion mode of rotation and revolution.

[0010] The Z-axis drive mechanism is configured to drive the planetary stirring mechanism to move up and down in the vertical direction to adjust the height position of the planetary stirring mechanism.

[0011] The mixing tank is configured to contain cement slurry and provide a mixing space;

[0012] The horizontal displacement mechanism is configured to drive the mixing pot to move in the horizontal plane along the X and Y axes.

[0013] The stirring pot attitude adjustment mechanism is configured to independently drive the stirring pot to rotate around its own axis, and to independently drive the stirring pot to flip to change the opening orientation.

[0014] The online cleaning mechanism is configured to clean the planetary mixing mechanism and the mixing pot without disassembling the mixing components, and to collect the wastewater and waste materials after cleaning.

[0015] The water-adding unit is configured to add clean water for mixing cement into the mixing pot. The water-adding unit is fixed on the Z-axis drive mechanism and moves up and down synchronously with the planetary mixing mechanism.

[0016] The control unit is connected to each of the above-mentioned mechanisms; the control unit is configured to control the Z-axis drive mechanism, planetary stirring mechanism, horizontal displacement mechanism, stirring pot attitude adjustment mechanism, online cleaning mechanism and water addition unit to perform feeding, stirring, sampling and cleaning operations in a preset working sequence.

[0017] During the sampling phase, the control unit is configured to synchronously control the horizontal displacement mechanism to drive the mixing pot to move horizontally according to the tilting angle of the mixing pot during the tilting process. This ensures that the stirring component of the planetary stirring mechanism remains above the opening of the mixing pot or within its spatial projection range throughout the tilting process, thereby controlling the trajectory of the stirred residue and causing it to fall back into the mixing pot. The horizontal displacement direction and the tilting motion of the mixing pot form a reverse compensation relationship, ensuring that the stirring component remains within the coverage area of ​​the mixing pot opening during the tilting process.

[0018] Furthermore, the horizontal displacement mechanism and the stirring pot attitude adjustment mechanism are configured to lock the stirring pot in a fixed position and fixed attitude during the stirring operation phase, so that the stirring pot remains stationary during the stirring process.

[0019] Furthermore, the control unit is configured to control the planetary stirring mechanism to sequentially execute a slow stirring stage, a pause stage, and a fast stirring stage according to a preset stirring program, wherein the wall scraping operation is not performed during the pause stage.

[0020] Furthermore, the online cleaning mechanism includes a fluid jetting unit, a scrubbing unit, and a waste collection unit; the fluid jetting unit is configured to spray cleaning fluid and / or gas onto the stirring component and the inner wall of the stirring pot; the scrubbing unit is configured to apply a mechanical scrubbing action to the inner wall of the stirring pot; and the waste collection unit is configured to receive cleaning wastewater and waste materials dumped from the stirring pot.

[0021] Furthermore, the waste collection unit includes a hopper and a second water nozzle and a second air nozzle disposed on the hopper; the second water nozzle is configured to spray water to clean the mixing pot during the pouring process; the second air nozzle is configured to blow air into the mixing pot to dry it.

[0022] Furthermore, the stirring pot attitude adjustment mechanism is configured to drive the stirring pot to rotate around its own axis during the cleaning operation phase, in conjunction with the online cleaning mechanism to perform full-coverage cleaning of the inner wall of the stirring pot.

[0023] Furthermore, the mixing pot attitude adjustment mechanism is configured to drive the mixing pot to rotate around its own axis during the sampling operation phase, and cooperate with the robot sampling device to sample the slurry in the mixing pot.

[0024] Furthermore, the control unit is configured to control the Z-axis drive mechanism to drive the planetary stirring mechanism to descend to the stirring position, so that the stirring blades extend into the stirring pot to perform stirring operations; and to control the Z-axis drive mechanism to drive the planetary stirring mechanism to rise to the avoidance position, so as to provide space for the displacement and tilting of the stirring pot.

[0025] Furthermore, the water adding unit includes a water adding needle and a hose; the water adding needle is connected to the water supply system via the hose and is used to add a measured amount of clean water into the mixing pot.

[0026] Furthermore, the control unit is configured to communicate and interact with a host computer, a quantitative feeding device, and / or a robotic sampling device to achieve fully automated collaborative operation of the entire process of feeding, mixing, sampling, and cleaning.

[0027] A method for mixing cement paste includes the following steps:

[0028] S1. Add the predetermined amount of water to the mixing pot;

[0029] S2. During the water addition process, the water flow is controlled to circumferentially flush the inner wall of the mixing pot and drive the mixing pot to rotate around its own axis so that the water flow covers the inner wall area of ​​the mixing pot to pre-wet the inner wall of the mixing pot.

[0030] S3. Add cement powder to the mixing pot;

[0031] S4. Control the planetary stirring mechanism to stir according to a preset stirring program, which includes a slow stirring stage, a pause stage, and a fast stirring stage.

[0032] Furthermore, by pre-wetting the inner wall of the mixing pot through rinsing, the cement powder is less likely to adhere to the inner wall of the mixing pot after being added, and enters the main mixing zone during the mixing process, thereby achieving uniform mixing of cement paste without scraping the wall.

[0033] In the above technical solution, the present invention provides an automatic mixing and cleaning device and mixing method for cement paste, which has the following beneficial effects:

[0034] This invention, through its multi-degree-of-freedom motion structure, enables the equipment to adapt to different processes such as feeding, stirring, sampling, and cleaning, thereby improving its automation integration capabilities.

[0035] 2. In the sampling operation after mixing, the present invention constrains the movement trajectory of the mixing residue by coordinating the flipping motion and the horizontal displacement motion, so that the residue falls back into the mixing pot and reduces external dripping pollution.

[0036] 3. By pre-wetting the inner wall of the mixing pot, the cement powder is pre-wetted with the solid wall surface, thus reducing the adhesion of the powder to the pot wall. This allows for uniform mixing of cement paste without scraping the wall, simplifying the equipment structure and control process. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0038] Figure 1 This is a schematic diagram of the overall structure of the automatic cement slurry mixing and cleaning device of the present invention.

[0039] Figure 2 This is a partial structural diagram of the present invention;

[0040] Figure 3 This is a schematic diagram of the structure of the stirring assembly of the present invention;

[0041] Figure 4 This is a schematic diagram of the displacement mechanism of the present invention;

[0042] Figure 5 This is a schematic diagram of the stirring state of the present invention;

[0043] Figure 6 This is a schematic diagram of the sampling state of the present invention;

[0044] Figure 7 This is a schematic diagram of the cleaning state of the brush of the present invention;

[0045] Figure 8 This is a schematic diagram of the tilted state of the present invention.

[0046] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Z-axis drive mechanism; 3. Planetary stirring mechanism; 4. Stirring pot; 5. Horizontal displacement mechanism; 6. Stirring pot attitude adjustment mechanism; 7. Online cleaning mechanism; 10. Water supply unit; 31. Drive assembly; 32. Planetary gear set; 33. Stirring blade; 51. X-axis drive unit; 52. Y-axis drive unit; 61. Fifth axis rotation drive unit; 62. Tilting drive unit; 71. Fluid jet unit; 72. Brushing unit; 73. Waste collection unit; 101. Water supply needle; 102. Hose; 711. First water nozzle; 712. First air nozzle; 721. Brush; 722. Cylinder mechanism; 723. Rotation mechanism; 731. Hopper; 732. Second water nozzle; 733. Second air nozzle. Detailed Implementation

[0047] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0048] like Figure 1-2 As shown, the automatic cement slurry mixing and cleaning device of the present invention includes a frame 1, a Z-axis drive mechanism 2, a planetary mixing mechanism 3, a mixing pot 4, a horizontal displacement mechanism 5, a mixing pot attitude adjustment mechanism 6, an online cleaning mechanism 7, and a water addition unit 10, all mounted on the frame 1.

[0049] The frame 1 serves as the supporting foundation for the entire device. Casters and a leveling mechanism can be installed at the bottom to facilitate equipment movement and leveling. The frame 1 can house an electrical control box, a sedimentation tank, fluid pipelines, etc.

[0050] The Z-axis drive mechanism 2 is vertically mounted on the column of the frame 1, and includes a drive motor and a transmission mechanism to provide vertical lifting drive. Specifically, the Z-axis drive mechanism 2 can achieve linear motion by using a motor-driven lead screw, synchronous belt, or gear and rack mechanism.

[0051] The planetary stirring mechanism 3 is mounted on the moving parts of the Z-axis drive mechanism 2, and can move up and down with the Z-axis drive mechanism 2 in the vertical direction, such as... Figure 3As shown, the planetary mixing mechanism 3 includes a drive assembly 31, a planetary gear set 32, and a mixing blade 33. The mixing blade 33 is connected to the output end of the planetary gear set 32. The mixing blade 33 acts as a mixing component to mix the cement paste in the mixing pot 4. The drive assembly 31 drives the mixing blade 33 to rotate and revolve simultaneously through the planetary gear set 32, forming a planetary motion trajectory to meet the national standard requirements for mixing methods, and is used for mixing cement paste.

[0052] The Z-axis drive mechanism 2 can drive the planetary stirring mechanism 3 to descend to the stirring position, so that the stirring blades 33 can extend into the mixing pot 4 to perform stirring operations; it can also drive the planetary stirring mechanism 3 to rise to the avoidance position, providing sufficient space for the displacement and tilting of the mixing pot 4.

[0053] The water addition unit 10 is mounted on the moving part of the Z-axis drive mechanism 2 and is used to add clean water for mixing cement into the mixing pot 4. The water addition unit 10 includes a water addition needle 101 and a hose 102. The water addition needle 101 is connected to an external water supply system through the hose 102 and is used to add clean water to the mixing pot 4 in a metered manner. The outlet of the water addition needle 101 faces the inner wall of the mixing pot 4 so that the water flow can be flushed along the inner wall circumferentially. The cement powder is picked up by an external robotic arm and poured into the mixing pot 4. After being mixed with the clean water added by the water addition unit 10, it forms a cement paste.

[0054] The mixing pot 4 is an upward-opening container used to hold cement and water and provide mixing space. The shape and size of the mixing pot 4 meet the requirements of national standards.

[0055] The horizontal displacement mechanism 5 is mounted on the worktable of the frame 1 and includes an X-axis drive unit 51 and a Y-axis drive unit 52. The X-axis drive unit 51 and the Y-axis drive unit 52 can achieve linear motion using a motor-driven lead screw or synchronous belt. The horizontal displacement mechanism 5 can drive the mixing pot 4 to perform two-dimensional displacement along the X and Y axes in the horizontal plane, thereby moving the mixing pot 4 to different positions such as the feeding position, mixing position, sampling position, cleaning position, and tilting position. In this embodiment, the horizontal displacement mechanism 5 adopts a dual-axis linear module structure, which has the advantages of high positioning accuracy and fast response speed.

[0056] like Figure 4As shown, the stirring pot attitude adjustment mechanism 6 is mounted on the motion platform of the horizontal displacement mechanism 5 and moves together with the horizontal displacement mechanism 5. The stirring pot attitude adjustment mechanism 6 includes a fifth-axis rotation drive unit 61 and a tilting drive unit 62. The fifth-axis rotation drive unit 61 is configured to drive the stirring pot 4 to rotate around its own central axis; the tilting drive unit 62 is configured to drive the stirring pot 4 to tilt around a horizontal tilting axis, thereby changing the opening orientation of the stirring pot 4. The stirring pot 4 is mounted on the stirring pot attitude adjustment mechanism 6 and can rotate with the fifth-axis rotation drive unit 61 and tilt with the tilting drive unit 62. Both the fifth-axis rotation drive unit 61 and the tilting drive unit 62 can be driven by a servo motor and a reducer to achieve precise angle control.

[0057] like Figure 6 , Figure 7 As shown, the online cleaning mechanism 7 includes a fluid jetting unit 71, a brushing unit 72, and a waste collection unit 73.

[0058] like Figure 3 As shown: The fluid jetting unit 71 includes a first water nozzle 711 and a first air nozzle 712, which are located at the lid position of the planetary stirring mechanism 3. They are used to spray cleaning water and compressed air onto the stirring blades 33 and the inner wall of the stirring pot 4 to achieve rinsing and drying functions.

[0059] The brushing unit 72 includes a brush 721, a cylinder mechanism 722 and a rotation mechanism 723. The brush 721 can be positioned by the Z-axis drive mechanism 2 and the cylinder mechanism 722. The brush 721 is driven to rotate by the rotation mechanism 723. The brush 721 mechanically brushes the inner wall of the mixing pot 4.

[0060] like Figure 8 As shown, the waste collection unit 73 is disposed on the workbench of the frame 1, located below the pouring position. The waste collection unit 73 includes a hopper 731 and a second water nozzle 732 and a second air nozzle 733 disposed on the hopper 731. The hopper 731 is used to receive the cleaning wastewater and residual slurry poured from the mixing pot 4. The second water nozzle 732 is disposed at the opening edge of the hopper 731 and is used to spray water to assist in cleaning the pot opening and inner wall during the pouring process of the mixing pot 4. The second air nozzle 733 is disposed at the opening edge of the hopper 731 and is used to blow air into the mixing pot 4 to dry it after cleaning.

[0061] It is electrically connected to various drive mechanisms, sensors, solenoid valves, and other electrical components to control the operating sequence and action logic of the entire device. It can use a PLC or industrial control computer as the core controller and has multi-axis linkage control capabilities. It can communicate and interact with host computers, external quantitative feeding equipment, robotic sampling devices, etc., to achieve fully automated collaborative operation.

[0062] The working process of this invention will be described in detail below with reference to the status of each workstation:

[0063] like Figure 2 During the feeding stage, the horizontal displacement mechanism 5 moves the mixing pot 4 to the feeding position, and the mixing pot attitude adjustment mechanism 6 adjusts the mixing pot 4 to a vertical position with the opening facing upwards. An external robotic arm picks up a quantity of cement powder and pours it into the mixing pot 4. Simultaneously, the water addition unit 10 adds a predetermined amount of clean water into the mixing pot 4 through the water addition needle 101. During the water addition process, the water flow from the water addition needle 101 sprays along the inner wall of the mixing pot 4. At the same time, the fifth axis rotation drive unit 61 drives the mixing pot 4 to slowly rotate around its own axis, causing the water flow to evenly wash the inner wall of the mixing pot 4 circumferentially, completing the pre-wetting treatment. After the pre-wetting treatment, a pre-wetted layer has formed on the inner wall of the mixing pot 4, creating a liquid isolation interface between the cement powder and the solid wall surface, effectively reducing the adhesion of powder to the inner wall. After the feeding is completed, the horizontal displacement mechanism 5 moves the mixing pot 4 to the mixing position.

[0064] like Figure 5 The image shows the stirring state. During the stirring operation, the Z-axis drive mechanism 2 drives the planetary stirring mechanism 3 to descend, so that the stirring blade 33 extends into the stirring pot 4 to a set depth. The horizontal displacement mechanism 5 and the stirring pot attitude adjustment mechanism 6 lock the stirring pot 4 in a fixed position and fixed attitude, so that the stirring pot 4 remains completely still throughout the stirring process.

[0065] The planetary mixing mechanism 3 is controlled according to the mixing procedure specified in GB / T1346-2011, namely, slow mixing for 120 seconds, pause for 15 seconds, and fast mixing for 120 seconds. During the 15-second pause, the wall scraping operation is not performed. Since pre-wetting is adopted during the water addition process, the slurry sticking to the wall can be reduced without the need for wall scraping, thus achieving the requirement of uniformity of the clean slurry.

[0066] like Figure 6 The sampling state shown is as follows: After the stirring is completed, the sampling stage begins. The Z-axis drive mechanism 2 drives the planetary stirring mechanism 3 to rise to the avoidance position, so that the stirring blade 33 is completely separated from the stirring pot 4.

[0067] Then, the flipping drive unit 62 of the control mixing pot attitude adjustment mechanism 6 drives the mixing pot 4 to flip, so that the opening of the mixing pot 4 faces the robot sampling direction and forms a sampling posture. At the same time, during the flipping process of the mixing pot 4, the horizontal displacement mechanism 5 is synchronously controlled to drive the mixing pot 4 to move horizontally along the Y-axis. The direction and speed of the horizontal displacement form an inverse compensation relationship with the flipping angle of the mixing pot 4. That is, as the flipping angle increases, the mixing pot 4 moves in the direction directly below the stirring blade 33, so that the stirring blade 33 is always located directly above the opening of the mixing pot 4 or within its vertical downward spatial projection range throughout the entire flipping process.

[0068] By using a flipping motion and horizontal displacement, the residual material adhering to the stirring blade 33 is ensured to fall within the opening range of the mixing pot 4 under the action of gravity, so that it all falls back into the mixing pot 4, thus avoiding the residual material from dripping onto the equipment or workbench and causing pollution.

[0069] After being flipped to the sampling position, the external robot sampling device scoops out the paste sample from the mixing pot 4. During the sampling process, the fifth axis rotation drive unit 61 of the mixing pot posture adjustment mechanism 6 can drive the mixing pot 4 to rotate around its own axis, adjust the position and angle of the paste in the pot, and cooperate with the robot sampling device to complete multi-point sampling or deep sampling, so that the sampling is more uniform and accurate, and the representativeness of the sample is improved.

[0070] like Figure 5 , 7 As shown in the brush cleaning stage, after sampling, the washing stage begins. The stirring pot attitude adjustment mechanism 6 flips the stirring pot 4 back to the opening-up position, and the horizontal displacement mechanism 5 moves the stirring pot 4 to the cleaning position (the cleaning position and the stirring position are the same). In the washing stage, the fluid jet unit 71 of the online cleaning mechanism 7 first rinses the stirring blades 33 of the planetary stirring mechanism 3 and, in conjunction with the rotation of the stirring blades 33, uses the first air nozzle 712 to blow dry the stirring blades 33; then, after moving to... Figure 7 As shown in the washing position, the brush 721 of the washing unit 72 extends into the mixing pot 4 via Z-axis drive and cylinder drive to wash the inner wall of the mixing pot 4. During the washing process, the mixing pot attitude adjustment mechanism 6 drives the mixing pot 4 to rotate around its own axis, which, together with the brush 721, achieves full coverage cleaning of the inner wall of the mixing pot 4.

[0071] like Figure 8 The tilting state shown: After cleaning, the horizontal displacement mechanism 5 moves the mixing pot 4 to the tilting position, so that the opening of the mixing pot 4 is aligned with the hopper 731 of the waste collection unit 73 of the online cleaning mechanism 7. The mixing pot attitude adjustment mechanism 6 drives the mixing pot 4 to flip to the tilting position, and pours the cleaning waste liquid and the remaining slurry into the hopper 731.

[0072] During the dumping process, the second water nozzle 732 of the waste collection unit 73 can spray water to assist in cleaning the opening and inner wall of the mixing pot 4, ensuring that the residual slurry is rinsed clean.

[0073] After the pouring is complete, the second air nozzle 733 blows air onto the mixing pot 4 to dry it. The above cleaning steps can be repeated as needed until it is completely clean. Then, the horizontal displacement mechanism 5 and the mixing pot attitude adjustment mechanism 6 return the mixing pot 4 to the mixing position, ready for the next mixing cycle.

[0074] In this field, it is generally believed that during the mixing of cement paste, the paste adhering to the inner wall of the mixing pot 4 must be reintroduced into the mixing zone by scraping the walls during the pause phase; otherwise, it is difficult to ensure the uniformity of the paste. Therefore, the wall scraping operation is considered a necessary step to achieve uniform mixing. Based on the analysis of the cement powder adhesion mechanism, this invention proposes an improved solution. In a dry state, cement powder easily adheres to the inner wall surface of the mixing pot through mechanical embedding and electrostatic effects. At the same time, after local water absorption, it forms a semi-cured layer, which is difficult to be carried into the mainstream mixing zone during subsequent mixing. Therefore, the traditional method requires the wall scraping operation to be performed during the pause phase.

[0075] The present invention proposes a method for mixing cement paste, comprising the following steps:

[0076] S1. Add the predetermined amount of water to the mixing pot 4;

[0077] S2. During the water addition process, the water flow is controlled to circumferentially flush the inner wall of the mixing pot 4, and the mixing pot 4 is driven to rotate around its own axis, so that the water flow covers the inner wall area of ​​the mixing pot, thereby pre-wetting the inner wall of the mixing pot 4; the inner wall flushing step forms a continuous pre-wetting layer on the inner wall of the mixing pot, so as to form a liquid isolation interface between the cement powder and the inner wall of the mixing pot when the cement powder is added, thereby inhibiting the adhesion of the powder to the inner wall;

[0078] S3. After completing the inner wall rinsing step, add cement powder to the mixing pot 4; the pre-wetting state formed by the inner wall rinsing step allows for uniform mixing of cement paste without the need for wall scraping in the subsequent standard mixing process.

[0079] S4. Control the planetary stirring mechanism 3 to stir according to the preset stirring program, which includes a slow stirring stage, a pause stage and a fast stirring stage.

[0080] By pre-wetting the inner wall of the mixing pot 4 through rinsing, the cement powder is less likely to adhere to the inner wall of the mixing pot after being added, and enters the main mixing zone during the mixing process, thereby achieving uniform mixing of cement paste without scraping the wall.

[0081] This invention pre-wets the inner wall of the mixing pot 4 during the water addition stage, forming a pre-wetted layer on the inner wall surface. This creates a liquid isolation interface between the cement powder and the solid wall surface, thereby inhibiting the adhesion of the powder. Therefore, under the pre-wetting condition, the formation of an adhesion layer on the inner wall of the cement powder is reduced, so that uniform mixing can be achieved without scraping the wall during the subsequent standard mixing procedure.

[0082] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An automatic mixing and cleaning device for cement slurry, characterized in that, Includes a frame (1), and a component disposed on the frame (1): Z-axis drive mechanism (2) is configured to provide vertical lifting drive; The planetary mixing mechanism (3) is mounted on the Z-axis drive mechanism (2) and is configured to use its mixing components to apply a mixing action to the cement paste in a planetary motion of rotation and revolution. The mixing pot (4) is configured to contain cement paste and provide a mixing space; The horizontal displacement mechanism (5) is configured to drive the stirring pot (4) to move in the horizontal plane along the X-axis and Y-axis directions; The stirring pot attitude adjustment mechanism (6) is configured to independently drive the stirring pot (4) to rotate around its own axis, and to independently drive the stirring pot (4) to flip to change the opening orientation; The online cleaning mechanism (7) is configured to clean the planetary stirring mechanism (3) and / or the stirring pot (4) without disassembling the stirring components, and to collect the wastewater and waste materials after cleaning. The water addition unit (10) is configured to add clean water for mixing cement into the mixing pot (4); The control unit is connected to each of the above-mentioned mechanisms; The control unit is configured to control the Z-axis drive mechanism (2), planetary stirring mechanism (3), horizontal displacement mechanism (5), stirring pot attitude adjustment mechanism (6), online cleaning mechanism (7) and water addition unit (10) to perform feeding, stirring, sampling and cleaning operations in a preset working sequence.

2. The automatic cement slurry mixing and cleaning device according to claim 1, characterized in that, During the sampling stage, the control unit is configured to synchronously control the horizontal displacement mechanism (5) to drive the mixing pot (4) to make horizontal displacement according to the rotation angle of the mixing pot (4) during the rotation process, so that the stirring component of the planetary stirring mechanism (3) is always located above the opening of the mixing pot (4) or within its spatial projection range during the entire rotation process, so as to control the movement trajectory of the stirring residue and make it fall back into the mixing pot (4).

3. The automatic cement slurry mixing and cleaning device according to claim 1, characterized in that, The horizontal displacement mechanism (5) and the stirring pot attitude adjustment mechanism (6) are configured to lock the stirring pot (4) in a fixed position and fixed attitude during the stirring operation phase, so that the stirring pot (4) remains stationary during the stirring process.

4. The automatic mixing and cleaning device for cement paste according to claim 1, characterized in that, The online cleaning mechanism (7) includes a fluid jetting unit (71), a brushing unit (72), and a waste collection unit (73). The fluid injection unit (71) is configured to inject cleaning fluid and / or gas into the stirring component and the inner wall of the stirring pot (4); The scrubbing unit (72) is configured to apply a mechanical scrubbing action to the inner wall of the mixing pot (4); The waste collection unit (73) is configured to receive the cleaning wastewater poured out by the mixing pot (4) and scrap.

5. The automatic cement slurry mixing and cleaning device according to claim 4, characterized in that, The waste collection unit (73) includes a hopper (731) and a second water nozzle (732) and a second air nozzle (733) disposed on the hopper (731); The second water nozzle (732) is configured to spray water to clean the mixing pot (4) during the pouring process; The second air nozzle (733) is configured to blow air into the mixing tank (4) to dry it.

6. The automatic mixing and cleaning device for cement slurry according to claim 1, characterized in that, The stirring pot attitude adjustment mechanism (6) is configured to drive the stirring pot (4) to rotate around its own axis during the cleaning operation phase, and cooperate with the online cleaning mechanism (7) to perform full-coverage cleaning of the inner wall of the stirring pot (4).

7. The automatic cement slurry mixing and cleaning device according to claim 1, characterized in that, The mixing pot attitude adjustment mechanism (6) is configured to drive the mixing pot (4) to rotate around its own axis during the sampling operation phase, and cooperate with the robot sampling device to sample the slurry in the mixing pot (4).

8. The automatic mixing and cleaning device for cement paste according to claim 1, characterized in that, The control unit is configured to control the Z-axis drive mechanism (2) to drive the planetary stirring mechanism (3) to descend to the stirring position; And control the Z-axis drive mechanism (2) to drive the planetary stirring mechanism (3) to rise to the avoidance position, providing space for the displacement and flipping of the stirring pot (4).

9. A method for mixing cement paste, implemented based on the automatic mixing and cleaning device for cement paste according to any one of claims 1-8, characterized in that, Includes the following steps: S1. Add the predetermined amount of water to the mixing pot (4); S2. During the water addition process, the water flow is controlled to circumferentially flush the inner wall of the mixing pot (4) and drive the mixing pot (4) to rotate around its own axis so that the water flow covers the inner wall area of ​​the mixing pot, so as to pre-wet the inner wall of the mixing pot (4). S3. Add cement powder into the mixing pot (4); S4. Control the planetary stirring mechanism (3) to stir according to the preset stirring program, which includes a slow stirring stage, a pause stage and a fast stirring stage.

10. The method for mixing cement paste according to claim 9, characterized in that, By rinsing the inner wall of the mixing pot (4) to form a pre-wetted inner wall state, the cement powder is less likely to adhere to the inner wall of the mixing pot after being added, and enters the main mixing area during the mixing process, thereby achieving uniform mixing of cement paste without scraping the wall.

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