Processing device

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

[0001] The present invention relates to a processing device.

[0002] A rotary crushing (mixing) method for improving and effectively utilizing construction waste soil and the like, and an apparatus used in this method, are known (see Patent Document 1). It has also been proposed to prevent soil from adhering to surfaces that come into contact with soil, such as truck beds, belt conveyors, and continuous soil improvers, by supplying a polymer electrolyte in the form of a dispersion or emulsion to these surfaces (see Patent Document 2).

[0003] International Publication No. 2019 / 016859 Patent No. 6513272

[0004] However, Patent Document 2 does not provide any specific proposal as to how to supply the polymer electrolyte to the continuous improver.

[0005] Therefore, an object of the present invention is to provide a treatment device that can suppress adhesion of raw soil.

[0006] The treatment device of the present invention comprises a first member having a wall surface with which the raw soil comes into contact, a second member provided below or inside the wall surface and in contact with the raw soil to treat the raw soil, and a first supply device that supplies an anti-adhesion agent to the first member and the second member to prevent the raw soil from sticking.

[0007] According to the present invention, the first supply device supplies an anti-adhesion agent that prevents the raw soil from sticking to the first member and the second member, thereby realizing a treatment device that can suppress the adhesion of the raw soil.

[0008] 2(a) is a diagram showing a self-propelled processing system equipped with a rotary crushing device of the first embodiment; FIG. 2(b) is a cross-sectional view showing the configuration of the rotary crushing device of the first embodiment, where FIG. 2(a) is a diagram showing a state in which the rotating shaft is stopped, FIG. 2(b) is a diagram showing a state in which the impact member has begun to levitate due to rotation of the rotating shaft, and FIG. 2(c) is a diagram showing a state in which the impact member is horizontally levitated due to rotation of the rotating shaft; FIG. 3(a) is a top view, FIG. 3(b) is a front view, and FIG. 3(c) is a side view showing the configuration of the raw soil supplying device of the first embodiment; FIG. 3(c) is a block diagram showing a control system of the self-propelled processing system of the first embodiment; FIG. 3(b) is a diagram showing an outline of the configuration of a downstream-side supplying device; FIG. 3(c) is a diagram showing an outline of the configuration of an upstream-side supplying device; and FIG. 3(c) is a flowchart executed by the control unit of the first embodiment. FIG. 3(b) is a diagram showing a self-propelled processing system according to a second embodiment; and FIG. 3(c) is a block diagram showing a control system of the self-propelled processing system according to the second embodiment.

[0009] (First embodiment) A rotary crushing device according to the first embodiment will be described in detail below with reference to Figures 1 to 7. In this embodiment, the excavated material is clayey soil, and the purpose is to prevent the clayey soil from adhering to the main parts of the self-propelled treatment system 1000.

[0010] Fig. 1 shows a schematic configuration of a self-propelled processing system 1000 equipped with a rotary crushing device 100 according to the first embodiment. For ease of explanation, Fig. 1 shows the vertical direction as the Z-axis direction, and two orthogonal axes in a horizontal plane as the X-axis direction and the Y-axis direction.

[0011] The treatment system 1000 can be moved to a desired installation location via the traveling device 102, and at the installed location, it can crush the raw soil, mix the raw soil with additives, and discharge the improved soil to the outside. The improved soil can be used for purposes such as backfilling of structures, backfilling of buildings, backfilling of civil engineering structures, embankments for river embankments, embankments for roads, embankments for land development, railway embankments, airport embankments, and water surface reclamation.

[0012] (Self-propelled treatment system) A treatment system 1000 will be described below with reference to Fig. 1. As shown in Fig. 1, the treatment system 1000 has a traveling device 102, and on the traveling device 102, via a frame 106, a rotary crushing device 100, a motor 104, a raw soil supplying device 108, an additive supplying device 110, and a discharge device 112 are provided. Note that in the treatment system 1000, the raw soil supplying device 108 is on the upstream side, and raw soil supplied to the raw soil supplying device 108 is transported toward the rotary crushing device 100 on the downstream side.

[0013] The traveling device 102 is an endless track or the like, and travels around a construction site, a work site, or the like in response to remote control operation by a worker, or the like.

[0014] 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 crusher 100. The rotational force of the motor 104 is transmitted to the pulley 32 via the belt 113, causing the rotating shaft 30 and the impact member 34 to rotate. Figure 2 is a cross-sectional view showing the configuration of the rotary crusher 100 according to the first embodiment. The detailed configuration of the rotary crusher 100 will be described later with reference to Figure 2.

[0015] Power is supplied to the motor 104 as well as to various other motors, electrical components, the control unit 150, and other components of the processing system 1000 by a generator (not shown).

[0016] The raw soil supplying device 108 has a hopper device 50, a constant volume supplying device 60, and a belt conveyor 122, and is a device for supplying a constant volume of raw soil fed into the hopper device 50 from the inlet member 20 into the fixed drum 12. Figure 3 shows the configuration of the raw soil supplying device 108 according to the first embodiment, with Figure 3(a) being a top view, Figure 3(b) being a front view, and Figure 3(c) being a side view. The detailed configuration of the raw soil supplying device 108 will be described later with reference to Figure 3.

[0017] The additive supply device 110 has an additive storage section 130 and is a device for supplying additives stored in the additive storage section 130 into the fixed drum 12 (see Figure 2) via a belt conveyor 122 and an inlet member 20.

[0018] The belt conveyor 122 is a device that sends the treated material (improved soil) crushed and mixed by the rotary crusher 100 to the +X side of the treatment system 1000. The belt conveyor 122 constitutes a part of the raw soil supply device 108.

[0019] The crushing status of the raw soil may be checked by an operator, or the operator may control the rotation speed of the rotating shaft 30 and the transport speed of the belt conveyor 122 using a remote control or an operation panel. Alternatively, the rotation speed of the rotating shaft 30 and the transport speed of the belt conveyor 122 may be automatically controlled by the control unit 150.

[0020] The rotary crushing device 100 of this embodiment is a device used to improve and effectively utilize raw soil, such as construction waste soil. The rotary crushing device 100 crushes and refines the raw soil, dispersing it into a fine, homogeneous dispersion. In addition, additives (lime-based solidification materials such as quicklime and slaked lime, cement-based solidification materials such as ordinary cement and blast furnace cement, soil improvement materials made from polymeric materials, natural fibers, chemical fibers made from resin, etc.) are also added to the rotary crushing device 100 as needed. When additives are added, the rotary crushing device 100 mixes the raw soil and additives to produce improved soil, thereby adjusting the properties and strength of the improved soil. The detailed configuration of the rotary crushing device 100 will be described below using FIG. 2 .

[0021] (Rotary crushing device 100) Fig. 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. 2(c) is a diagram showing a state in which the impact member 34 is levitated horizontally due to the rotation of the rotating shaft 30. As shown in Fig. 2, the rotary crushing device 100 includes a base 10, a fixed drum 12, a rotating drum 14, and a rotation mechanism 16.

[0022] The base 10 supports the various components of the rotary crushing device 100 and includes a top plate 10a and legs 10b. The top plate 10a is, for example, a steel plate-like member and functions as a lid that closes the upper opening of the fixed drum 12, which is fixed to the underside (the -Z side surface). The top plate 10a is provided with an inlet member 20 for introducing raw soil and additives (hereinafter, the raw soil and additives will be referred to as the treatment target) into the fixed drum 12. The top plate 10a also includes a first tank 11 for supplying a liquid polymer electrolyte to the wall surface of the rotating drum 14 and the impact member 34, and a second tank 13 for supplying a liquid (e.g., water) to the wall surface of the rotating drum 14 and the impact member 34. The first tank 11 and the second tank 13 may be provided on any location other than the top plate 10a, for example, on the frame 106.

[0023] The fixed drum 12 is a cylindrical container, and is fixed to the underside (-Z side surface) of the top plate 10a. The object to be treated is introduced into the fixed drum 12 via an inlet member 20, and the fixed drum 12 guides the object to be treated 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 all function as a container into which the object to be treated is introduced.

[0024] The rotating drum 14 is a cylindrical container that rotates (spins) around the central axis of the cylinder (around the Z-axis) by a motor (not shown). The rotating drum 14 is supported by the frame 10 via a plurality of support rollers 24, and receives the rotational force of this motor (not shown) to rotate smoothly. The rotational direction of the rotating drum 14 and the rotational direction of the impact member 34 may be the same or opposite.

[0025] One or more scraping rods (not shown) are provided inside the rotating drum 14. The scraping rods (not shown) contact the inner circumferential surface of the rotating drum 14 and scrape off the material to be treated that has adhered to the inner circumferential wall surface of the rotating drum 14 as the rotating drum 14 rotates. While the rotating drum 14 rotates at a few rpm (e.g., 1 rpm), the rotating shaft 30 rotates at 300 rpm to 1200 rpm. Therefore, if the raw soil is clayey, the scraping rods (not shown) may not be able to remove the clayey soil that has adhered to the wall surface of the rotating drum 14. Therefore, the clayey soil that has adhered to the wall surface of the rotating drum 14 may come into contact with the rotating impact member 34, creating resistance to the impact member 34. As will be described in more detail below, in this first embodiment, adhesion of the clayey soil is suppressed by supplying a liquid anti-adhesion agent to the wall surface of the rotating drum 14.

[0026] The rotation mechanism 16 has a rotation shaft 30 extending vertically (in the Z-axis direction) and positioned at the center of the fixed drum 12 and the rotating drum 14, a pulley 32 provided at the upper end of the rotation shaft 30, and two impact members 34 arranged in two tiers, one above the other, near the lower end of the rotation shaft 30.

[0027] The rotating shaft 30 is a cylindrical member that penetrates the top plate 10a of the gantry 10 and is held by the top plate 10a in a freely rotatable state via a ball bearing (not shown) provided on the upper surface of the top plate 10a. The lower end of the rotating shaft 30 is located inside the rotating drum 14 and is a free end. In other words, the rotating shaft 30 is supported in a cantilevered manner.

[0028] The pulley 32 is connected to the motor 104 via a belt 113. When the motor 104 rotates, the pulley 32 and the rotary shaft 30 rotate.

[0029] Each of the two stages of impact members 34 is provided with a thick steel plate. Note that the impact members 34 may be configured by combining a thick plate and a chain.

[0030] The impact member 34 rotates centrifugally due to the rotation of the rotary shaft 30, and the thick plates move at high speed near the inner circumferential surface of the rotary drum 14, crushing and mixing the material to be treated. For this reason, the rotary crushing device 100 can also be called a rotary crushing and mixing device. The number and stage of the thick plates of the impact member 34 can be adjusted depending on the type and properties of the raw soil, the amount to be treated, the type and amount of additives, the target quality of the improved soil, etc.

[0031] According to the rotary crushing device 100 of this first embodiment, the material to be treated is introduced into the fixed drum 12 through the inlet member 20, crushed and mixed by the impact member 34 inside the rotating drum 14, and then discharged below the rotating drum 14.

[0032] In the first embodiment, when the raw soil is clayey soil, a downstream supply device 25 is provided to supply liquid polymer electrolyte and water to the wall surface of the rotary drum 14, which is a main part of the rotary crushing device 100, and to the impact member 34. This polymer electrolyte acts as an anti-adhesion agent.

[0033] 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 has the first tank 11, the second tank 13, two on-off valves 26 (26a, 26b), a pressure adjusting valve 27, and a nozzle 28. The components of the downstream supply device 25 are connected by piping.

[0034] A portion of the rotating shaft 30 may be hollow (a hole may be drilled from one end of the rotating shaft 30 in the Z direction, without penetrating to the other end in the Z direction), and this hollow structure may be used as part of the piping of the downstream supply device 25. By using the hollow structure of the rotating shaft 30 as piping, it is possible to prevent the piping from becoming tangled with the rotating shaft 30 due to rotation of the rotating shaft 30. The anti-sticking 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).

[0035] The on-off valve 26a is connected to the first tank 11 and is in an open state when the anti-adhesive agent stored in the first tank 11 is to be supplied to the nozzle 28, and is in a closed state when the anti-adhesive agent stored in the first tank 11 is not to be supplied to the nozzle 28.

[0036] The on-off valve 26b is connected to the second tank 13, and is in an open state when water stored in the second tank 13 is supplied to the nozzle 28, and is in a closed state when water stored in the second tank 13 is not supplied to the nozzle 28. In the first embodiment, the opening and closing of the on-off valves 26a and 26b is controlled by the control unit 150. As will be described in detail later, the control unit 150 opens the on-off valve 26a to discharge the anti-sticking 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.

[0037] The pressure regulating valve 27 is provided between the on-off valve 26 and the nozzle 28, and adjusts the pressure of the liquid to be supplied when the on-off valve 26 is open, and supplies the liquid to the nozzle 28. Pressure control by the pressure regulating valve 27 is performed by the control unit 150.

[0038] The nozzles 28 include a nozzle 28a that supplies anti-sticking agent and water mainly to the wall surface of the rotating drum 14, and a nozzle 28b that supplies anti-sticking agent and water mainly to the impact member 34. As shown in Fig. 2, the nozzle 28a is provided horizontally along the X direction, while the nozzle 28b is provided at an angle that is inclined toward the -Z direction. In the first embodiment, the nozzles 28 are connected to the rotating shaft 30 via a pressure adjusting valve 27.

[0039] When the rotation shaft 30 is stopped as shown in FIG. 2A, the impact member 34 is positioned along the Z direction, which is the vertical direction, and therefore the liquid supplied from the nozzle 28b is not easily supplied to the impact member 34.

[0040] 2B, when the rotation shaft 30 rotates and the impact member 34 begins to float and reaches an angle of −30 to −60 degrees, preferably about −45 degrees, from the X direction, the liquid supplied from the nozzle 28b becomes more easily supplied to the impact member 34. When the rotation of the rotation shaft 30 reaches several tens of rpm (for example, 10 rpm), the impact member 34 reaches an angle of −30 to −60 degrees from the X direction. Furthermore, it takes about several seconds from the start of rotation of the rotation shaft 30 until the rotation of the rotation shaft 30 reaches several tens of rpm.

[0041] 2C, when the impact member 34 is horizontally levitated until it is approximately parallel to the X direction due to the rotation of the rotary shaft 30, the liquid supplied from the nozzle 28b is more easily supplied to the impact member 34. When the rotation of the rotary shaft 30 reaches 350 rpm or more, the impact member 34 is horizontally levitated. The time required for the rotation of the rotary shaft 30 to reach 350 rpm is approximately 5 to 8 seconds from the start of rotation of the rotary shaft 30.

[0042] In this first embodiment, the rotary crushing device 100 crushes and mixes the raw soil by setting the rotation axis 30 in the range of 300 rpm to 1200 rpm. When the rotation axis 30 is set to 300 rpm, the impact members 34 are at an angle of -80 degrees to -85 degrees from the X direction. However, crushing and mixing of the raw soil is possible even if the impact members 34 are not levitated horizontally, and crushing and mixing at 300 rpm is possible.

[0043] (Raw soil supply device 108) Figure 3 shows the configuration of the raw soil supply device 108 according to the first embodiment, with Figure 3(a) being a top view, Figure 3(b) being a front view, and Figure 3(c) being a side view. To make the configuration of the raw soil supply device 108 easier to understand, Figure 3(c) is a partial cross-sectional view. The configuration of the raw soil supply device 108 will be explained below with reference to Figure 3.

[0044] As described above, the raw soil supplying device 108 includes the hopper device 50, the constant volume supplying device 60, and the belt conveyor 122. The hopper device 50 and the constant volume supplying device 60 will be described in detail below.

[0045] The hopper device 50 has a hopper 51 and a loosening device 52. The hopper 51 has an inlet and a discharge outlet, and receives raw soil discharged from a backhoe, for example, through the inlet and discharges the raw soil from the discharge outlet to the constant-quantity supply device 60. The cross-sectional area of ​​the inlet of the hopper 51 is larger than that of the discharge outlet, so that the excavated raw soil can be temporarily stored.

[0046] The loosening device 52 loosens the raw soil that has been added, and has a shaft 53, a metallic rotating blade 54 attached to the shaft 53, and a motor 55 that rotates the shaft 53.

[0047] Even if the raw soil is clayey soil, the rotation of the rotating blades 54 cuts through the raw soil and moves it toward the quantitative supply device 60, thereby suppressing the occurrence of arch action within the hopper device 50.

[0048] The loosening device 52 is also 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 to a part of the constant-volume supply device 60 (for example, the pair of rotating rolls 62 and the scraping blade 63). This polymer electrolyte acts as an anti-adhesion agent.

[0049] 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 has a third tank 71 that stores a polymer electrolyte as an anti-tack agent, a fourth tank 72 that stores water, two on-off valves 73 (73a, 73b), a pressure adjustment valve 74, and a nozzle 75. The components of the upstream supply device 70 are connected by piping.

[0050] In the first embodiment, the shaft 53 has a hollow structure, and is provided with an on-off valve 73a at one end and an on-off valve 73b at the other end, and this hollow structure can be used as part of the piping of the upstream supply device 70. By using the hollow structure of the shaft 53 as the piping, it is possible to prevent the piping from becoming tangled with the shaft 53 due to rotation of the shaft 53. Furthermore, the nozzle 75 can be connected to the shaft 53 or the rotary vane 54 via a pressure adjusting valve 74. The anti-adhesive 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).

[0051] The on-off valve 73a is connected to the third tank 71 and is in an open state when the anti-adhesive agent stored in the third tank 71 is supplied to the nozzle 75, and is in a closed state when the anti-adhesive agent stored in the third tank 71 is not supplied to the nozzle 75.

[0052] The on-off valve 73b is connected to the fourth tank 72, and is in an open state when water stored in the fourth tank 72 is supplied to the nozzle 75, and is in a closed state when water stored in the fourth tank 72 is not supplied to the nozzle 75. In the first embodiment, the on-off valves 73a and 73b are controlled to open and close by the control unit 150. As will be described in detail later, the control unit 150 opens the on-off valve 73a to discharge the anti-sticking 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.

[0053] The pressure regulating valve 74 is provided between the on-off valve 73 and the nozzle 75, and adjusts the pressure of the liquid to be supplied when the on-off valve 73 is open, and supplies the liquid to the nozzle 75. Pressure control by the pressure regulating valve 74 is performed by the control unit 150.

[0054] The constant volume supply device 60 is provided below the hopper device 50 and continuously supplies a certain constant volume (predetermined volume) of raw soil loosened by the hopper device 50 to the rotary crusher 100 via the belt conveyor 122. This allows the rotary crusher 100 to stably crush and mix the raw soil that is continuously supplied in a constant volume.

[0055] The constant volume 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 reducer 66 .

[0056] The casing 61 is a casing into which the raw soil loosened by the hopper device 50 is carried, and inside the casing 61, a pair of rotating rolls 62 are provided rotatably about a pair of rotating shafts 64. In addition, a third tank 71 and a fourth tank 72 are provided on the outside of the casing 61. The third tank 71 and the fourth tank 72 may be provided in a location other than the casing 61.

[0057] The pair of rotating rolls 62 are cylindrical and, as shown in Figure 3(a), are arranged along the X direction and spaced apart in the Y direction. This forms a passage P between the pair of rotating rolls 62 through which the raw soil is discharged. The pair of rotating shafts 64 are rotated around the X axis by the driving force of a pair of motors 65, causing the pair of rotating rolls 62 to rotate 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. This causes one rotating roll 62 of the pair of rotating rolls 62 to rotate clockwise and the other rotating roll 62 to rotate counterclockwise.

[0058] The reducer 66 reduces the power of the pair of motors 65 in order to rotate the pair of rotating 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.

[0059] The scraping blades 63 are metal plate-like members provided in plurality on the outer periphery of the pair of rotating rolls 62. The scraping blades 63 rotate together with the pair of rotating rolls 62 to crush the raw soil carried into the casing 61 into pieces of a predetermined size, and discharge the crushed raw soil from the passage P of the pair of rotating rolls 62. The scraping blades 63 provided in plurality on the pair of rotating rolls 62 are arranged so that the scraping blades 63 do not interfere with each other.

[0060] 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 this first embodiment, the communication device 152 communicates with a host computer located away from the construction site.

[0061] 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.

[0062] The control unit 150 is connected to the traveling device 102, the rotary crushing device 100, the raw soil supplying device 108, the additive supplying device 110, the discharge device 112, and the communication device 152. Note that the rotary crushing device 100, the raw soil supplying device 108, the additive supplying device 110, the discharge device 112, and the communication device 152 may be referred to as each unit in the following description.

[0063] The operation of the self-propelled processing system 1000 of the first embodiment configured as described above will be described below. Figure 7 is a flowchart executed by the control unit 150 of the first embodiment. This flowchart is executed after the self-propelled processing system 1000 arrives at the processing site of the raw soil by the traveling device 102.

[0064] (Flowchart) The control unit 150 starts driving each unit (step S1). Driving each unit starts the rotation of the rotating shaft 30 and the shaft 53. Note that in step S1, raw soil is not yet supplied to the raw soil supply device 108.

[0065] The control unit 150 controls the downstream supply device 25 and the upstream supply device 70 to supply the anti-tack agent (step S2).

[0066] The control unit 150 opens the on-off valve 26 a of the downstream supply device 25 and closes the on-off valve 26 b. The control unit 150 also adjusts the pressure of the pressure regulator valve 27 so that the anti-sticking agent can be supplied from the nozzle 28.

[0067] Since the rotating shaft 30 has started to rotate in step S1 and the impact member 34 is floating horizontally, the control unit 150 controls the downstream supply device 25 to supply anti-sticking agent to the wall surface of the rotating drum 14 and the impact member 34.

[0068] The control unit 150 also opens the on-off valve 73 a of the upstream supply device 70 and closes the on-off valve 73 b, and adjusts the pressure of the pressure regulator valve 74 so that the anti-sticking agent can be supplied from the nozzle 75.

[0069] Since the shaft 53 has started to rotate in step S1 , the control unit 150 controls the upstream supply device 70 to supply anti-adhesion agent to the wall surface of the hopper 51 , the pair of rotating rolls 62 , and the scraping blade 63 .

[0070] The amount of anti-adhesion agent to be supplied may be determined according to the properties of the raw soil (for example, moisture content and particle size), may be determined by trial construction, or may be determined empirically.

[0071] When the supply of the anti-tack agent is completed, the control unit 150 controls the downstream supply device 25 and the upstream supply device 70 to supply water (step S3).

[0072] The control unit 150 closes the on-off valve 26a of the downstream supply device 25 and opens the on-off valve 26b. The control unit 150 also closes the on-off valve 73a of the upstream supply device 70 and opens the on-off valve 73b.

[0073] The control unit 150 controls the downstream supply device 25 to supply water to the wall surface of the rotating drum 14 and the impact member 34, and also controls the upstream supply device 70 to supply water to the wall surface of the hopper 51, the pair of rotating rolls 62, and the scraping 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.

[0074] In step S3 of this flowchart, water is supplied to swell the polymer electrolyte contained in the anti-adhesion agent, thereby enhancing the effectiveness of preventing sticking, adhesion, or solidification of the raw soil. The water supply may be performed prior to the supply of the anti-adhesion agent, simultaneously with the anti-adhesion agent, or may be omitted. When the anti-adhesion agent and water are supplied simultaneously, the control unit 150 simply opens the on-off valves 26b and 73b in step S2.

[0075] In the self-propelled processing system 1000, the rotary crushing device 100 is disposed downstream of the raw soil supply device 108. Therefore, it is preferable that the control unit 150 supply the anti-adhesion agent by the upstream supply device 70 first, and then by the downstream supply device 25.

[0076] The control unit 150 sends a signal or displays to a remote control, an operation panel, a host computer, or the like that crushing and mixing is possible (step S4). When the control unit 150 receives a signal or displays that crushing and mixing is possible, raw 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.

[0077] The control unit 150 detects the load currents of the motors 65 and 104 (step S5). The control unit 150 detects the load current of the motor 65 when the constant-volume feeder 60 is feeding the constant amount of raw soil, triggered by the start of the crushing and mixing process, and detects the load current of the motor 104 when the rotary crusher 100 is crushing and mixing the raw soil. Note that 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 soil, or may detect the load current of another motor.

[0078] There are cases where a momentarily large current value (for example, a current value exceeding 85% of the rated current) is detected when detecting the load current of motor 65 and motor 104. For this reason, it is preferable that control unit 150 detects the load current of motor 65 and 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 motor 65 and motor 104.

[0079] The control unit 150 determines whether or not the supply of anti-sticking agent is necessary (step S6). The motors 65 and 104 are normally driven at approximately 80% of their rated current. However, if the clay cannot pass through the passage P formed in the pair of rotating rolls 62 of the constant-quantity feeder 60, or if the clay adhering to the wall surface of the rotating drum 14 comes into contact with the rotating impact member 34 and creates resistance to the impact member 34, the motors 65 and 104 may be driven at 85% or more of their rated current.

[0080] Therefore, in step S6, the control unit 150 determines that it is necessary to supply anti-adhesion agent to the raw soil supply device 108 if the motor 65 has been operating at 85% or more of the rated current for a certain period of time, and determines that it is necessary to supply anti-adhesion agent to the rotary crushing device 100 if the motor 104 has been operating at 85% or more of the rated current for a certain period of time.

[0081] In addition, the control unit 150 may determine that it is necessary to supply anti-adhesion agent if the load current detected for a certain period of time in step S5 monotonically increases, for example, every 5 minutes relative to the rated current (for example, 82% → 83% → 84%) and it is predicted that the load current will be 85% or more of the rated current in the next 5 minutes.

[0082] The determination in step S6 may be made using an image instead of or in combination with detecting the load current. Specifically, an imaging device may be installed on or near the belt conveyor 122 to capture an image of the raw soil discharged from the raw soil supply device 108. If the amount of raw soil discharged from the raw soil supply device 108 is small based on the image captured by this imaging device, the control unit 150 determines that an anti-sticking agent needs to be supplied to the raw soil supply device 108. It is preferable to install this imaging device upstream of the additive supply device 110 (at the raw soil supply device 108).

[0083] Furthermore, an imaging device may be provided at or near the discharge device 112 to capture an image of the raw soil discharged from the rotary crushing device 100. When the amount of raw soil discharged from the rotary crushing device 100 is small based on the image captured by this imaging device, the control unit 150 determines that it is necessary to supply an anti-adhesion agent to the rotary crushing device 100.

[0084] The determination of whether or not to supply anti-adhesion agent based on the images of the raw soil discharged from the raw soil supply device 108 and the raw soil discharged from the rotary crushing device 100 may be performed by the host computer rather than the control unit 150. In this case, the control unit 150 may transmit the captured image data to the host computer via the communication device 152.

[0085] If the control unit 150 determines in step S6 that the supply of anti-adhesive agent is necessary, it performs the processes of steps S7 and S8, and if it determines in step S6 that the supply of anti-adhesive agent is not necessary, it proceeds to step S9. Note that the process of step S7 is the same as the process of step S2, and the process of step S8 is the same as the process of step S3, so their explanations will be omitted.

[0086] The control unit 150 determines whether the crushing and mixing process is complete (step S9). If the raw soil from the backhoe has been crushed and mixed, the control unit 150 ends this flowchart. If the raw soil from the backhoe is still being crushed and mixed, the control unit 150 repeats steps S5 to S9 until the crushing and mixing process is complete.

[0087] In this flowchart, the downstream supply device 25 supplies the anti-adhesion agent before the raw soil excavated by the backhoe is supplied to the hopper device 50. However, even after the raw soil excavated by the backhoe is supplied to the hopper device 50, the downstream supply device 25 may supply the anti-adhesion agent before the raw soil is fed into the rotary crushing device 100.

[0088] 8 to 10, the second embodiment will be described below. The same components as those in the first embodiment are denoted by the same reference numerals, and their description will be omitted or simplified. In step S7 of the flowchart in the first embodiment, when the upstream supply device 70 supplies the anti-adhesive agent, there was a risk that the opening at the tip of the nozzle 75 would be blocked by the raw soil.

[0089] Therefore, in the second embodiment, the supply of anti-adhesion agent and water to the main parts of the raw soil supply device 108 is performed by an unmanned aerial vehicle (UAV, hereinafter referred to as drone 200).

[0090] 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 according to 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. These components are provided in the main body of the drone 200.

[0091] The flight device 201 has a motor (not shown) and multiple propellers, and generates thrust to lift the drone 200 into the air and move it through the air. The number of drones 200 can be set as desired.

[0092] The imaging device 202 is a digital camera that has a lens, an imaging element, an image processing engine, etc., and captures moving and still images. In this embodiment, the imaging device 202 captures images of the hopper 51 and the loosening device 52 from above the raw soil supply device 108, and captures images of the raw soil being transported by the belt conveyor 122 from above the belt conveyor 122.

[0093] The lens of the imaging device 202 is attached to the side (front) of the drone 200, but the lens of the imaging device 202 may also be attached to the underside of the drone 200, or multiple lenses may be provided on the drone 200. Also, a movement mechanism may be provided that moves the lens attached to the side toward the underside. Also, a mechanism that rotates the imaging device 202 around the Z axis may be provided so that the lens of the imaging device 202 can be positioned at any position around the Z axis. Note that an omnidirectional camera (360-degree camera) may be used as the imaging device 202, and a 3D scanner may be used instead of the imaging device 202.

[0094] The sensor group 203 includes a GNSS, an infrared sensor for avoiding collisions between the drone 200 and other devices (e.g., the self-propelled processing system 1000), a barometric pressure sensor for measuring altitude, a magnetic sensor for detecting direction, a gyro sensor for detecting the attitude of the drone 200, and an acceleration sensor for detecting the acceleration acting on the drone 200.

[0095] The battery 204 is a secondary battery connected to the power receiving device 103, and may be, but is not limited to, a lithium ion secondary battery or a lithium polymer secondary battery. 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 control device 208.

[0096] 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 transmits flight commands from the communication device 152 to the UAV control device 208. The second communication device 205 may also communicate with a host computer located away from the construction site.

[0097] The memory 206 is a non-volatile memory (e.g., flash memory) that stores various data and programs for flying the drone 200, as well as image data captured by the imaging device 202 and detection results detected by the sensor group 203.

[0098] The configuration of the drone-side supply device 207 is substantially the same as that of the upstream-side supply device 70, although there are some differences in size and other aspects. 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 has a fifth tank 161 that stores a polymer electrolyte as an anti-adhesion agent, a sixth tank 162 that stores water, two on-off valves 163 (163a, 163b), a pressure adjustment valve 164, and a nozzle (not shown). Note that each component of the upstream-side supply device 70 is connected by piping.

[0099] The on-off valve 163a is connected to the fifth tank 161, and is in an open state when the anti-adhesive agent stored in the fifth tank 161 is supplied to a nozzle (not shown), and is in a closed state when the anti-adhesive agent stored in the fifth tank 161 is not supplied to a nozzle (not shown).

[0100] The on-off valve 163b is connected to the sixth tank 162, and is in an open state when the water stored in the sixth tank 162 is supplied to a nozzle (not shown), and is in a closed state when the water stored in the sixth tank 162 is not supplied to a nozzle (not shown). In the second embodiment, the on-off valves 163a and 163b are controlled by the control unit 150 and the UAV control device 208 in cooperation with each other.

[0101] 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 to be supplied when the on-off valve 163 is open, and supplies the liquid to the nozzle (not shown). Pressure control by the pressure regulating valve 164 is performed by cooperative control between the control unit 150 and the UAV control device 208.

[0102] 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. The UAV control device 208 also determines the timing for charging based on the remaining charge of the battery 204, and controls the imaging position, angle of view, frame rate, and the like of the imaging device 202. The UAV control device 208 also 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.

[0103] In this second embodiment, the drone-side supply device 207 supplies anti-adhesive agent and water from above the raw soil supply device 108 to the hopper 51, a pair of rotating rolls 62, and scraping blade 63, which are essential parts of the raw soil supply device 108, so that the anti-adhesive agent and water can be supplied without coming into contact with the raw soil.

[0104] 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 in combination.

[0105] The rotary crushing device 100 of the first and second embodiments is not limited to self-propelled processing systems, but can also be applied to plant-type processing systems installed on-site, on-truck type processing systems installed on the bed of a truck, and the like.

[0106] As explained in detail above, the self-propelled treatment systems of the first and second embodiments can reduce adhesion of clay soil to the raw soil supply device 108 and the rotary crushing device 100.

[0107] The above-described embodiments are preferred examples of the present invention. However, the present invention is not limited to these, and various modifications are possible. In the first and second embodiments, the piping for the anti-adhesion agent and the piping for the water after passing through the on-off valve 26 are common, but the piping for the anti-adhesion agent and the piping for the water after passing through the on-off valve 26 may each be separate piping. Similarly, the piping for the anti-adhesion agent and the piping for the water after passing through the on-off valve 73 and the on-off valve 163 may each be separate piping.

[0108] DESCRIPTION OF SYMBOLS 14 Rotating drum 25 Downstream supply device 26 On-off valve 27 Pressure regulating valve 28 Nozzle 30 Rotating shaft 34 Impact member 50 Hopper device 51 Hopper 52 Loosening device 53 Shaft 60 Fixed quantity supply device 61 Casing 62 Pair of rotating rolls 63 Scrapering blade 64 Pair of rotating shafts 70 Upstream supply device 100 Rotary crushing device 108 Raw soil supply device 110 Additive supply device 150 Control unit 200 Drone 207 Drone-side supply device 208 UAV control device

Claims

1. A first member having a wall surface with which the raw soil comes into contact; A second member is provided below or inside the wall surface, contacts the raw soil, and is driven by a drive unit to process the raw soil; A treatment device comprising: a first supply device that supplies an anti-adhesion agent to the first member and the second member to prevent the raw soil from sticking.

2. The processing apparatus according to claim 1 , wherein the first supply device is provided in the drive unit capable of driving the second member.

3. The processing apparatus according to claim 2 , wherein the drive unit includes a motor that rotates the second member.

4. 2. The processing apparatus according to claim 1, further comprising a second supplying device for supplying a substance different from the anti-sticking agent to the first member and the second member.

5. The processing apparatus according to claim 4 , wherein the second supply device is provided in the drive unit capable of driving the second member.

6. 2. The treatment apparatus according to claim 1, further comprising a control device which controls the first supply device to supply the anti-adhesive agent in response to the driving of the second member.

7. The treatment apparatus according to claim 6 , wherein the control device supplies the anti-adhesive agent to the second member by the first supply device before the raw soil is treated by the second member.

8. The treatment device described in claim 6, wherein the control device instructs an unmanned aerial vehicle equipped with a supply device that supplies an anti-adhesion agent to prevent the raw soil from sticking to supply the anti-adhesion agent to the first member and the second member.

9. A first member having a wall surface with which the raw soil comes into contact; A second member provided below or inside the wall surface and contacting the raw soil to treat the raw soil; A first supply device supplies an anti-adhesion agent to the first member and the second member to prevent adhesion of the raw soil, The first supply device is a processing device including a first supply unit that supplies the anti-adhesive agent to the first member, and a second supply unit that supplies the anti-adhesive agent to the second member.

10. 10. The processing apparatus according to claim 9, wherein a first supply angle at which the first supply unit supplies the anti-adhesive agent to the first member is different from a second supply angle at which the second supply unit supplies the anti-adhesive agent to the second member.

11. The first member is a hopper into which the raw soil is supplied, The treatment device according to any one of claims 1 to 10, wherein the second member is a crushing device that crushes the raw soil that has passed through the hopper.

12. the first member is a housing portion that houses the second member, The treatment device according to claim 1 , wherein the second member is a crushing device for crushing the raw soil.