Mixing device

Abstract

To provide a mixing device with an automatic washing function, capable of aiming at a place requiring intensive washing and applying wash water thereto, and performing efficient washing regardless of suppressing introduction costs with a simple structure.SOLUTION: A mixing device includes rotary vanes 20, 30 for mixing a mixed material put into a mixing tank 10, an upper cover 40 for covering the upper part of the mixing tank 10, and automatic washing means 50 automatically washing the vanes 20, 30. The automatic washing means 50 comprises: a washing nozzle 51 supported from the periphery of the upper cover 40; rotation support means 52 for supporting the washing nozzle 51 in a rotatable state around non-parallel two shafts (center lines L3, L4); rotation driving means 53 for changing the direction of the washing nozzle 51 by rotating and driving the washing nozzle 51 around the center lines L3, L4; and control means for automatically controlling the direction of the washing nozzle 51 by controlling the rotation driving means 53.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a mixing device having a function of automatically cleaning a rotating blade for mixing or the like.

Background Art

[0002] Conventionally, a method of cleaning a mixing device by attaching a nozzle to the tip of an arm of an articulated robot has been known. FIG. 1 of Patent Document 1 discloses an automatic cleaning device in which nozzles (nozzles 3A, 3B, 3C in the figure) for injecting cleaning water are attached to the tip of an arm of an articulated robot (manipulator 2 in the figure). The automatic cleaning device of this document is installed beside the mixing device (concrete mixer 10 in the figure). When cleaning a portion to be cleaned in the mixing tank, a window provided in the upper cover of the mixing tank is opened, and the nozzles 3A, 3B, 3C are inserted into the mixing tank through the window. The positions of the nozzles 3A, 3B, 3C in the articulated robot 2 are controlled based on a previously input program.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since an articulated robot is expensive, it is not practical to use it only for cleaning a mixing device. In addition, the more joints an articulated robot has, the lower its mechanical rigidity becomes. For this reason, when high-pressure cleaning water is injected from a nozzle attached to the tip of the arm of an articulated robot, the direction of the nozzle may change due to the reaction force received from the cleaning water, and there is a risk that the cleaning water will not hit the target location. Furthermore, it is necessary to secure space for installing an articulated robot near the mixing device.

[0005] The present invention is made to solve the above problems, and although it has a simple structure and can suppress the introduction cost, it can direct the washing water at the locations that require intensive washing, and provides a mixing device with an automatic washing function that can perform efficient washing.

Means for Solving the Problems

[0006] The above problems are a mixing tank, a rotating blade for mixing the mixture placed in the mixing tank, an upper cover for covering the upper part of the mixing tank, an automatic washing means for automatically washing the rotating blade and a mixing device comprising wherein the automatic washing means a washing nozzle supported from around the upper cover, a rotation support means for supporting the washing nozzle in a rotatable state around two non-parallel axes, a rotation drive means for changing the orientation of the washing nozzle by rotationally driving the washing nozzle around the two axes, and a control means for automatically controlling the orientation of the washing nozzle by controlling the rotation drive means characterized in that the mixing device comprises is solved by providing.

[0007] By adopting a structure that allows the washing nozzle to rotate around two axes, the washing nozzle can be directed in any direction in the global direction. Also, not only can the mechanism for supporting the washing nozzle be simplified, but its mechanical rigidity can also be increased. For this reason, even when receiving a strong reaction force from the washing water, it is possible to make it difficult for the orientation of the washing nozzle to change. Therefore, the washing water can be accurately directed at the targeted location. Furthermore, since the orientation of the washing nozzle is controlled by the control means, it is also possible to direct the washing water at the locations that require intensive washing for a long time, while directing the washing water at the locations that do not require much washing for only a short time. For this reason, not only can the washing target locations be efficiently washed, but also the washing water can be saved. Furthermore, since the automatic cleaning means is attached around the upper cover, it is possible to solve the problem of installation space as seen in articulated robots. In addition, in order to prevent an operator of the mixing device or the like from buffering against the automatic cleaning means, it becomes unnecessary to take measures such as surrounding the periphery of the automatic cleaning means with safety measures.

[0008] In the mixing device of the present invention, it is preferable that the control means executes control based on a cleaning program in which cleaning parameters composed of at least a combination of the respective rotation angles of the cleaning nozzle around the two axes, the rotation angle of the rotating blade, and the time for maintaining these rotation angles are arranged in time series. Thereby, it becomes possible to execute a series of cleaning steps by a simple operation of executing the cleaning program. It is preferable to prepare a plurality of types of cleaning programs (for example, a cleaning program for thorough cleaning, a cleaning program for simple cleaning, etc.). Thereby, it is possible to perform appropriate cleaning according to the situation. Therefore, it can be effectively utilized and cleaned even in a short time (about 5 to 10 minutes) when switching from one batch to the next batch.

[0009] In the mixing device of the present invention, it is also preferable to provide teaching means for teaching the cleaning program. Thereby, it becomes possible to easily configure an appropriate cleaning program according to the type of the mixture to be mixed, the timing of performing cleaning, and the like.

[0010] In the mixing device of the present invention, it is preferable that the control means controls the washing water sprayed from the washing nozzle to hit the surface to be washed obliquely. This makes it easier to wash off the mixture adhering to the rotating blades or the like. In addition, the mixture peeled off from the surface to be washed by the impact of the washing water can be prevented from bouncing back to the side of the washing nozzle. Therefore, it is possible to suppress the occurrence of malfunctions in the operation of the automatic cleaning means (for example, a malfunction in which the mixture adhering to the rotation support means after bouncing back hardens and the washing nozzle cannot rotate around two axes, or a malfunction in which the washing nozzle is clogged with the bounced-back mixture and the washing water cannot be sprayed at the desired pressure).

[0011] In the mixing device of the present invention, it is preferable that the washing nozzle is a pipe material having a washing water injection port on the peripheral wall, the rotation support means is composed of a first bearing, a shaft supported by the first bearing, and a second bearing that is fixed to the shaft and supports the pipe material serving as the washing nozzle, and the rotation driving means is composed of a first motor that rotationally drives the shaft and a second motor that rotationally drives the pipe material serving as the washing nozzle. By adopting such a structure that rotationally drives the pipe material itself serving as the washing nozzle, the rotation support means and the like can be realized more simply, and its mechanical rigidity can be further increased.

[0012] In the mixing device of the present invention, it is also preferable to provide a washing nozzle advancing / retreating means for advancing and retreating the washing nozzle between a washing position where it enters the upper cover and a storage position where it retreats outside the upper cover. Thereby, when mixing the mixture, the washing nozzle can be retracted to a position (storage position) where it does not interfere.

Effects of the Invention

[0013] As described above, according to the present invention, it is possible to provide a mixing device with an automatic cleaning function that can direct the washing water at the locations that require focused cleaning and perform efficient cleaning, despite having a simple structure and being able to suppress the introduction cost.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying out the Invention

[0015] A preferred embodiment of the mixing device of the present invention will be described more specifically with reference to the drawings. FIGS. 1 to 6 shown below show the x-axis, y-axis, and z-axis. The directions of the x-axis, y-axis, and z-axis are made to coincide with each other even in different figures. In the following, for convenience of explanation, the positive side in the x-axis direction is referred to as the "right" side, the negative side in the x-axis direction is referred to as the "left" side, the positive side in the y-axis direction is referred to as the "rear" side, the negative side in the y-axis direction is referred to as the "front" side, the positive side in the z-axis direction is referred to as the "upper" side, and the negative side in the x-axis direction is referred to as the "lower" side.

[0016] FIG. 1 is a view showing the main part of the mixing device as seen from the front. FIG. 2 is a view showing the main part of the mixing device as seen from above. In FIGS. 1 and 2, the internal mechanisms of the mixing tank 10, the upper cover 40, and the cleaning box 60 are shown in a perspective view. As shown in FIGS. 1 and 2, the mixing device of the present embodiment includes a mixing tank 10, rotating blades 20, 30, an upper cover 40 (FIG. 1), and automatic cleaning means 50.

[0017] The mixing tank 10 is for containing the mixture to be mixed. Preferably, the mixture to be mixed is put into the mixing tank 10 through a charging chute (not shown) attached to the upper cover 40. The upper cover 40 is for covering the upper part of the mixing tank 10. The mixture to be mixed in the mixing tank 10 may be bounced up by the rotating blades 20 and 30. The upper cover 40 prevents the mixture to be mixed from scattering outside the mixing tank 10.

[0018] The rotating blades 20 and 30 are for mixing the mixture to be mixed put into the mixing tank 10. Preferably, two rotating blades 20 and 30 are provided for one mixing tank 10. As shown in FIG. 2, the rotating blades 20 and 30 are each in a spiral shape. The center line L1 of the rotating blade 20 and the center line L2 of the rotating blade 30 are substantially parallel. Rotating blade driving motors 23 and 33 are connected to the rotating blades 20 and 30. By driving the rotating blade driving motors 23 and 33 to rotate the rotating blades 20 and 30 around the center lines L1 and L2 respectively, the mixture to be mixed is mixed. In a general mixing device, the rotating blades 20 and 30 are constituted by spirally attaching a plurality of plate materials to the outer peripheral part of a central shaft body arranged along the center lines L1 and L2. On the other hand, in the mixing device of the present embodiment, the rotating blades 20 and 30 have a structure without a central shaft body. For this reason, it is possible to efficiently mix the mixture to be mixed.

[0019] The rotating blade 20 is composed of a kneading blade 21 and a turning-back blade 22, and the spiral directions of the kneading blade 21 and the turning-back blade 22 are opposite. Similarly, the rotating blade 30 is also composed of a kneading blade 31 and a turning-back blade 32, and the spiral directions of the kneading blade 31 and the turning-back blade 32 are opposite. The turning-back blade 22 of the rotating blade 20 is arranged on the side of the kneading blade 31 of the rotating blade 30. Similarly, the turning-back blade 32 of the rotating blade 30 is arranged on the side of the kneading blade 21 of the rotating blade 20. As a result, as shown by the arrows A1 and A2 in Fig. 2, when the rotating blades 20 and 30 are rotated in the reverse direction, the mixture to be mixed in the mixing tank 10 is mixed while being circulated and transferred in the mixing tank 10 as shown by the arrow A3 in the same figure. Therefore, the mixture to be mixed can be mixed more efficiently. The mixture to be mixed that has been mixed in the mixing tank 10 can be sent out of the mixing tank 10 through a discharge port (not shown) provided at the bottom of the mixing tank 10.

[0020] The automatic cleaning means 50 is for cleaning the rotating blades 20 and 30, the inner wall of the mixing tank 10, and the inner wall of the upper cover 40. As a result, the mixture to be mixed adhering to the rotating blades 20 and 30 etc. can be automatically washed off. As shown in Fig. 1, the mechanical part of the automatic cleaning means 50 (the cleaning nozzle 51, the rotation support means 52, and the rotation drive means 53, which will be described later) is provided around the upper cover 40. Preferably, the mechanical part of the automatic cleaning means 50 is supported by a cleaning box 60 fixed to the outer surface of the upper cover 40. The automatic cleaning means 50 may be provided at only one location for each mixing device, but as shown in Fig. 2, the automatic cleaning means 50 may be provided at a total of two locations near the diagonal of the mixing tank 10. By providing a plurality of automatic cleaning means 50 in this way, the dead angles of the automatic cleaning means 50 can be eliminated, and it is possible to prevent any residue from remaining on the rotating blades 20 and 30 etc.

[0021] An opening / closing window 41 is provided at the location on the upper cover 40 where the cleaning box 60 is attached. When the automatic cleaning means 50 is not in use (when the mixture to be mixed is being mixed in the mixing tank 10), the automatic cleaning means 50 is stored in the cleaning box 60 as in the automatic cleaning means 50 on the left side of Fig. 1 (at this time, the opening / closing window 41 is closed). On the other hand, when the automatic cleaning means 50 is in use (before or after mixing the mixture to be mixed in the mixing tank 10), the automatic cleaning means 50 enters from the cleaning box 60 into the upper cover 40 as in the automatic cleaning means 50 on the right side of Fig. 1 (at this time, the opening / closing window 41 is opened). This forward and backward movement (the movement of advancing and retracting the cleaning nozzle 51 of the automatic cleaning means 50 between the cleaning position and the storage position) is realized by the cleaning nozzle advancing and retracting means 54 (FIG. 4) described later.

[0022] FIGS. 3 and 4 show the state of the periphery of the cleaning box 60 in the mixing device as viewed from the front. FIG. 3 shows the state where the cleaning nozzle 51 of the automatic cleaning means 50 is in the storage position, and FIG. 4 shows the state where the cleaning nozzle 51 of the automatic cleaning means 50 is in the cleaning position. Also, FIG. 5 shows an enlarged view of the α portion (the periphery of the cleaning nozzle 51) in FIG. 4. Further, FIG. 6 shows the state of the periphery of the cleaning box 60 in the mixing device as viewed from the side. FIG. 6 shows the state where the cleaning nozzle 51 is in the cleaning position. In FIGS. 3 to 6, the internal mechanism of the cleaning box 60 is shown in a perspective view.

[0023] As shown in FIGS. 3 to 6, the automatic cleaning means 50 includes a cleaning nozzle 51, a rotation support means 52, a rotation drive means 53, a control means 56, and a cleaning nozzle advancing and retracting means 54.

[0024] The cleaning nozzle 51 is for injecting cleaning water. As shown in FIG. 5, preferably, the cleaning nozzle 51 is a pipe material having a cleaning water injection port 51a on its peripheral wall. One end of a cleaning water supply pipe 55 is connected to this cleaning nozzle 51. On the other hand, the other end of the cleaning water supply pipe 55 is connected to a support shaft 54a (FIG. 6) arranged at the upper part of the cleaning box 60. The support shaft 54a is preferably a hollow pipe. When cleaning water is supplied into the support shaft 54a by a pump (not shown), the cleaning water is introduced into the cleaning nozzle 51 through the cleaning water supply pipe 55 and is injected from the cleaning water injection port 51a (FIG. 4). The outer peripheral portion near the tip of the cleaning water supply pipe 55 is held by a holding member 57. The holding member 57 is fixed to the outer peripheral portion of a shaft 52b in the rotation support means 52.

[0025] The cleaning nozzle 51 may be provided with only one cleaning water injection port 51a, or two cleaning water injection ports 51a may be arranged along the longitudinal direction of the pipe material. In this way, by providing a plurality of cleaning water injection ports 51a, the range where the cleaning water hits can be widened, enabling efficient cleaning.

[0026] The orientation of the cleaning nozzle 51 (the orientation of the cleaning water injection port 51a) can be changed so that the cleaning water sprayed therefrom hits the targeted location. This is achieved by the rotation support means 52, the rotation drive means 53, and the control means 56.

[0027] The rotation support means 52 is for supporting the cleaning nozzle 51 in a rotatable state about two non-parallel axes (center lines L3 , L4). Preferably, the rotation support means 52 is composed of a first bearing 52a, a shaft 52b, and a second bearing 52c. The first bearing 52a is fixed to the lower end portion of a suspension member 54b described later. The shaft 52b is pivotally supported by the first bearing 52a in a rotatable state about the center line L3. The second bearing 52c is fixed to the tip end portion of the shaft 52b. The cleaning nozzle 51 is pivotally supported by the second bearing 52c in a rotatable state about the center line L4. When the shaft 52b is rotated about the center line L3, the cleaning nozzle 51 and the second bearing 52c also rotate about the center line L3 together with the shaft 52.

[0028] The rotation drive means 53 is for rotationally driving the cleaning nozzle 51 about the center lines L3 and L4. Preferably, the rotation drive means 53 includes a first motor 53a and a second motor 53b. The first motor 53a is connected to the shaft 52b, and by rotationally driving this shaft 52b, the cleaning nozzle 51 is rotationally driven about the center line L3. The second motor 53b is connected to the cleaning nozzle 51, and this cleaning nozzle 51 is rotationally driven about the center line L4. The first motor 53a and the second motor 53b are capable of forward and reverse rotation, and an electric motor (such as an IPM motor, SPM motor, stepping motor, or servo motor) that can control its rotation angle is used. By independently controlling the rotation angles of these first motor 53a and second motor 53b, the direction of the cleaning water injection port 51a of the cleaning nozzle 51 can be directed in any direction in the global direction. Therefore, the objects to be cleaned, such as the rotating blades 20 and 30, can be precisely targeted and cleaned beautifully without leaving any residue. Also, not only can specific objects to be cleaned be precisely targeted for cleaning, but it is also possible to clean a wide area uniformly (for example, clean the inside of the mixing tank 10 and the inside of the upper cover 40 evenly).

[0029] As described above, the cleaning nozzle 51 is rotationally driven around the center lines L3 and L4. As described above, a cleaning water supply pipe 55 is connected to the cleaning nozzle 51. For this reason, when the cleaning nozzle 51 rotates around the center lines L3 and L4, a torsional force is applied to the cleaning water supply pipe 55. In this regard, by providing a joint 55a in the middle part of the cleaning water supply pipe 55, rotation of the cleaning water supply pipe 55 around the center line L3 is allowed. In addition, at the connection part between the cleaning water supply pipe 55 and the cleaning nozzle 51, rotation around the center line L4 is allowed. Therefore, even when the cleaning nozzle 51 rotates around the center lines L3 and L4, a large load is not applied to the cleaning water supply pipe 55.

[0030] The control means 56 is for controlling the rotation driving means 53, the rotating blades 20 and 30, and the nozzle advancing and retreating means 54. As shown in FIG. 2, power lines L 10 ~L 15 and encoder lines L 20 ,L 21 are connected thereto. The power line L 10 is for the first motor 53a (FIG. 3) and the second motor 53b (FIG. 3) in the automatic cleaning means 50 on the rotating blade 20 side, and the power line L 11is connected to the telescopic means 54d (Fig. 3) of the nozzle advancing and retracting means 54 in the automatic cleaning means 50 on the side of the rotary blade 20. Power line L 12 is connected to the first motor 53a (Fig. 3) and the second motor 53b (Fig. 3) in the automatic cleaning means 50 on the side of the rotary blade 30, and the power line L 13 is connected to the telescopic means 54d (Fig. 3) of the nozzle advancing and retracting means 54 in the automatic cleaning means 50 on the side of the rotary blade 30. Power line L 14 is connected to the rotary blade driving motor 23 that rotationally drives the rotary blade 20, and the power line L 15 is connected to the rotary blade driving motor 33 that rotationally drives the rotary blade 30. Encoder line L 20 is connected to the encoder 24 that detects the rotation angle of the rotary blade 20, and the encoder line L 21 is connected to the encoder 34 that detects the rotation angle of the rotary blade 30.

[0031] The control signal from the control means 56 is input via the power lines L 10 ~L 15 to the first motor 53a and the second motor 53b, the rotary blade driving motors 23 and 33, and the telescopic means 54d (telescopic cylinder) of the nozzle advancing and retracting means 54, thereby controlling the rotation angle of each motor and the expansion and contraction amount of the telescopic cylinder. As a result, the orientation of the cleaning nozzle 51 is automatically controlled so that the cleaning water injection port 51a of the cleaning nozzle 51 faces the targeted location. Also, the orientations (rotation angles) of the rotary blades 20 and 30 are controlled. The control means 56 uses a computer (such as a programmable controller) equipped with a central processing unit (CPU) and a storage device. As described above, the mechanical parts of the automatic cleaning means 50 (cleaning nozzle 51, rotary support means 52, and rotary drive means 53) are housed around the upper cover 40 (Fig. 1) (inside the cleaning box 60). On the other hand, this control means 56 is housed in the control panel (not shown) of the mixing device. The control means 56 may be housed in the same control panel or in separate control panels, with a part for controlling the rotary drive means 53 and a part for controlling the rotary blades 20, 30.

[0032] A program for executing cleaning (cleaning program) is stored in the control means 56. The cleaning program uses a time series arrangement of cleaning parameters consisting of the combination of the rotation angle around the center line L3 of the cleaning nozzle 51 (rotation angle of the first motor 53a), the rotation angle around the center line L3 of the cleaning nozzle 51 (rotation angle of the second motor 53b), the respective rotation angles of the rotary blades 20, 30 (Fig. 1), and the time for maintaining these rotation angles. By executing this cleaning program, cleaning of the rotary blades 20, 30, etc. can be automatically performed without manual labor. Also, other parameters such as the rotation speeds of the first motor 53a and the second motor 53b, and the rotation speeds of the rotary blades 20, 30 can be included in the cleaning parameters.

[0033] It is preferable to prepare multiple types of cleaning programs. For example, a cleaning program for thorough cleaning and a cleaning program for simple cleaning can be prepared. Thereby, when the mixing device finishes its operation for the day, thorough cleaning can be performed by executing the cleaning program for thorough cleaning, and when switching from one batch to the next, appropriate cleaning according to the situation can be performed, such as performing simple cleaning by executing the cleaning program for simple cleaning.

[0034] The cleaning program may use the default one (pre-set at the time of factory shipment of the mixing device), but it is preferable to be able to teach the cleaning program afterwards. This enables an appropriate cleaning program according to the type of the mixture to be cleaned, the timing of performing the cleaning, etc. to be easily configured on-site.

[0035] The means for teaching the cleaning program (teaching means) is not particularly limited. Preferably, the first motor 53a, the second motor 53b, and motors for rotationally driving the rotary blades 20, 30, etc. can be manually operated, and by pressing a button (button for teaching) at a predetermined timing and inputting the time for maintaining that state, the cleaning parameters at each stage constituting the cleaning program can be taught. By repeating this teaching in chronological order, a series of cleaning programs is completed.

[0036] The cleaning program may be set such that the cleaning water sprayed from the cleaning water injection port 51a hits the surface to be cleaned perpendicularly. However, in this case, the mixture to be cleaned peeled off from the surface to be cleaned by the impact of the cleaning water is likely to bounce back toward the side of the cleaning nozzle 51. For this reason, there is a risk of problems such as the mixture to be cleaned that has bounced back and adhered to the rotation support means 52 hardening and the cleaning nozzle 51 being unable to rotate around the two axes L3, L4, or the mixture to be cleaned that has bounced back clogging the cleaning nozzle 51 and the cleaning water not being sprayed at the desired pressure. In this regard, the cleaning program is set such that the cleaning water sprayed from the cleaning water injection port 51a hits the surface to be cleaned obliquely. This not only prevents the above problems but also makes it easier to wash off the mixture to be cleaned adhering to the cleaning surface. The cleaning water is preferably made to enter at an angle of 30° or more with respect to the normal direction of the surface to be cleaned.

[0037] The nozzle advancing / retreating means 54 is for advancing and retreating the cleaning nozzle 51 between a storage position (Fig. 3) where it is stored in the cleaning box 60 (retreated outside the upper cover 40 (Fig. 1)) and a cleaning position (Fig. 4) where it protrudes outside the cleaning box 60 (advances into the upper cover 40 (Fig. 1)). Preferably, as shown in Figs. 4 and 6, the nozzle advancing / retreating means 54 is composed of a support shaft 54a, a suspension member 54b, an acting member 54c, a telescopic means 54d, and a base member 54e.

[0038] As shown in Fig. 6, the support shaft 54a is provided in a state of penetrating the upper part of the cleaning box 60 in the front-rear direction (y-axis direction). This support shaft 54a is supported in a rotatable state about a center line L5 parallel to the front-rear direction (y-axis direction).

[0039] The suspension member 54b is for suspending and supporting the cleaning nozzle 51, the rotation support means 52, and the rotation drive means 53 in the self-propelled cleaning means 50. As shown in Fig. 4, the first bearing 52a of the rotation support means 52 is fixed to the lower end of the suspension member 54b, and the upper end of the suspension member 54b is fixed to the outer peripheral part of the support shaft 54a. This suspension member 54b rotates around the center line L5 integrally with the support shaft 54a. The suspension member 54b is preferably in an arm shape and is provided in pairs on both sides sandwiching the rotation support means 52 as shown in Fig. 6.

[0040] The acting member 54c is for acting on the telescopic part of the telescopic means 54d described later. For this reason, the telescopic part of the telescopic means 54d is connected to one end of the acting member 54c. The other end of the acting member 54c is fixed to the outer peripheral part of the support shaft 54a. The acting member 54c rotates around the center line L5 integrally with the above support shaft 54a.

[0041] The telescoping means 54d is for performing a telescoping operation. Preferably, the telescoping means 54d is a telescoping cylinder. The upper end of the piston rod of this telescoping cylinder is connected to the above-described actuating member 54c. The lower end of the telescoping means 54d is connected to the base member 54e. The base member 54e is fixed in a non-movable state with respect to the cleaning box 60 or the upper cover 40 (FIG. 1).

[0042] As shown in FIG. 3, when the telescoping means 54d is extended, this nozzle advancing / retreating means 54 maintains the cleaning nozzle 51 at the retracted position. On the other hand, when the telescoping means 54d is contracted from the state of FIG. 3, as shown in FIG. 4, the actuating member 54c is pulled downward by the telescoping means 54d, so that the actuating member 54c rotates around the center line L5, and the support shaft 54a and the suspension member 54b also rotate around the center line L5. Thereby, the periphery of the first bearing 52a of the rotary support means 52 is pushed in the left-right direction (x-axis direction), and the cleaning nozzle 51 is moved to the cleaning position.

[0043] As described above, the mixing device of the present embodiment can save labor for the cleaning operation of the mixing blades 20, 30, etc. by automatically changing the direction of the cleaning nozzle 51 while the automatic cleaning means 50 has a relatively simple structure. In addition, it is also possible to perform efficient cleaning such as applying cleaning water for a long time to a location that requires intensive cleaning, while applying cleaning water only for a short time to a location that does not require much cleaning. Furthermore, the mechanical rigidity of the automatic cleaning means 50 (particularly, the rotary support means 52) is high, and even when cleaning water is sprayed at high pressure, the direction of the cleaning nozzle 51 is less likely to shift. Therefore, the cleaning water can be accurately applied to the targeted location.

[0044] The use of the mixing device of the present invention is not particularly limited. In the mixing device of the present invention, various mixtures to be mixed can be mixed. However, since the mixing device of the present invention can save labor in cleaning the rotating blades 20, 30, etc., it can be preferably adopted for mixing relatively highly viscous mixtures to be mixed (mixtures that are likely to adhere to the rotating blades 20, 30, etc.). Such mixtures to be mixed are exemplified by fresh concrete (a mixture of water (mixing water), sand, gravel, cement, etc.) and mortar (a mixture of water (mixing water), sand, cement, etc.).

Explanation of Signs

[0045] 10 Mixing tank 20 Rotating blade 30 Rotating blade 40 Upper cover 50 Automatic cleaning means 51 Cleaning nozzle 51a Cleaning water injection port 52 Rotating support means 52a First bearing 52b Shaft 52c Second bearing 53 Rotating drive means 53a First motor 53b Second motor 54 Nozzle advancing and retreating means

Claims

1. A mixing tank, a rotating blade for mixing the mixture placed in the mixing tank, an upper cover for covering the upper part of the mixing tank, and an automatic cleaning means for automatically cleaning the rotating blade A mixing device comprising: The automatic cleaning means includes a cleaning nozzle supported from around the upper cover, a rotation support means for supporting the cleaning nozzles so as to be rotatable around two non-parallel axes with respect to each other, a rotation drive means for changing the orientation of the cleaning nozzles by rotationally driving the cleaning nozzles around the two axes, and a control means for automatically controlling the orientation of the cleaning nozzles by controlling the rotation drive means The control means is configured to execute control based on a cleaning program in which cleaning parameters, which at least consist of a combination of the respective rotation angles of the cleaning nozzles around the two axes, the rotation angle of the rotating blade, and the time for maintaining these rotation angles, are arranged in time series. The mixing device is characterized by this.

2. The mixing device according to claim 1, further comprising a teaching means for teaching the cleaning program.

3. The mixing device according to claim 1 or 2, wherein the control means controls so that the cleaning water jetted from the cleaning nozzle hits the surface to be cleaned obliquely.

4. The cleaning nozzle is a pipe material having a cleaning water jet port on its peripheral wall, The rotation support means includes a first bearing, a shaft pivotally supported by the first bearing, and a second bearing fixed to the shaft and pivotally supporting the pipe material serving as the cleaning nozzle The rotation drive means includes a first motor for rotationally driving the shaft, and a second motor for rotationally driving the pipe material serving as the cleaning nozzle The mixing device according to any one of claims 1 to 3.

5. The mixing device according to any one of claims 1 to 4, further comprising a cleaning nozzle advancing / retracting means for advancing and retracting the cleaning nozzle between a cleaning position where it enters the upper cover and a storage position where it retracts outside the upper cover. ​ ​ ​

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