JP3540402B2 - Finishing equipment for floor surface composed of aging hardening fluid - Google Patents

Description

[0001]
[Industrial applications]
The present invention provides concrete, cement, mortar, plaster, or a hardened fluid such as wall soil,FinishingEquipment related.
[0002]
[Prior art]
BACKGROUND ART Conventionally, concrete works have been performed in buildings, theaters, stadiums, roads, runways, and various other civil engineering construction works. In factories, concrete wall materials, building materials, and other various structural members are also produced. Generally, in these concrete works, ready-mixed concrete in which cement, aggregate, water, and various admixtures are mixed at an appropriate ratio is hardened through construction such as driving, compaction, surface finishing, and curing.
[0003]
2. Description of the Related Art Conventionally, in a floor compaction or surface finishing process in concrete work, the surface of a poured concrete is leveled by a trowel (plastering trowel), and the hardened concrete surface becomes a glossy flat surface. It is finished as follows. Such plastering work is performed manually by the plasterer, a specialist.
[0004]
[Problems to be solved by the invention]
However, with the enlargement of the construction, the manual work by the plasterer requires a longer construction period, and in addition to this, the cost required for the plasterer work also increases. Furthermore, in recent years, plastering work has been lacking, and both the construction period and cost required for plastering work tend to further increase.
[0005]
Therefore, in order to improve the work efficiency of plastering work and reduce the construction period and cost, it is necessary to automatically perform plastering work by a machine instead of the conventional manual work by plastering work.
[0006]
The present invention has been made in view of the above problems, and has as its object to automatically perform a work of finishing a floor surface made of a time-hardenable fluid such as concrete, instead of a manual operation of a plasterer. .
[0007]
[Means for Solving the Problems]
According to the invention of claim 1The apparatus includes a rotational drive source and a traveling tire rotationally driven by the rotational drive source, a traveling drive vehicle traveling on a floor made of a fluid, a flat iron base and the iron base. An ultrasonic trowel having an ultrasonic transducer directly or indirectly attached to the upper surface, a trowel posture holding mechanism for rotatably supporting the ultrasonic trowel, and a trowel posture holding mechanism. A trowel angle adjustment mechanism for adjusting the angle between the lower surface of the trowel pedestal and the floor by acting, and vertically moving the ultrasonic iron while maintaining the posture of the ultrasonic iron. And a trowel unit having a pantograph mechanism for allowing.
[0017]
[Action]
The vibration of the ultrasonic transducer is transmitted to the iron pedestal, and the iron pedestal performs ultrasonic vibration. When the lower surface or the edge of the iron pedestal comes into contact with the floor made of the fluid, ultrasonic vibration is transmitted to the fluid and is combined with the load pressure, so that the surface of the fluid is leveled or finished.
[0018]
The traveling drive vehicle travels when the tires are rotationally driven by a rotational drive source. As the traveling drive vehicle travels, the ultrasonic iron is pulled on the floor surface, and finishing and the like are performed over a wide range of the floor surface.
[0019]
The vertical movement accompanying the travel of the traveling drive vehicle is absorbed by the pantograph mechanism. The operation of the iron lifting mechanism raises the ultrasonic iron and separates it from the floor. In this state, the vehicle can travel and travel without using an ultrasonic iron. The angle of the ultrasonic iron with respect to the floor is adjusted by the iron angle adjusting mechanism.
[0020]
In the case where the ultrasonic iron is attached to the front and rear of the traveling drive vehicle, the floor can be constructed by the configuration for reversible reversal regardless of whether the traveling drive vehicle is moving forward or backward.
[0021]
In this specification, the fluid includes ready-mixed concrete, cement, mortar, plaster, wall clay, and the like. The floor includes buildings or structural members having a substantially horizontal planar surface.
[0022]
【Example】
1 is a front view showing a finishing apparatus 1 according to the present invention, FIG. 2 is a plan view of the finishing apparatus 1, and FIG. 3 is an enlarged view showing the vicinity of a trowel unit 12A of the finishing apparatus 1 shown in FIG. FIG. 4 is an enlarged view showing the vicinity of a traveling drive vehicle 11 of the finishing apparatus 1 shown in FIG. 2, FIG. 5 is a cross-sectional view showing an enlarged neighborhood of a connecting portion 31b of the traveling drive vehicle 11, and FIG. 7 is a front view showing the iron unit 12 in an enlarged manner, FIG. 8 is a plan view showing an enlarged part of the iron unit 12, and FIG. It is a right view which expands and shows a part.
[0023]
Note that the finishing device 1 described in the present embodiment corresponds to the construction device of the present invention. In FIG. 2, the finishing device 1 is shown in a simplified manner, and in FIG. 4, the inside of a control device 13 mounted on the traveling drive vehicle 11 and the power supply device 14 are omitted and a part thereof is cross-sectionally shown. .
[0024]
Referring to FIGS. 1 to 5, the finishing device 1 includes a traveling drive vehicle 11, two iron units 12A and 12B, a control device 13, and a power supply device 14. In some cases, both or one of the two iron units 12A and 12B may be referred to as "iron unit 12".
[0025]
4, the traveling drive vehicle 11 includes a vehicle body 21, four traveling tires 22a, 22b, 22c, and 22d, motors 23a and 23b as rotation driving sources, and transmission mechanisms 24a and 24b. I have. It should be noted that the tires 22a, 22b, 22c, and 22d may be referred to as "tires 22" to indicate all or some of them. Similarly, both or one of the motors 23a and 23b or the transmission mechanisms 24a and 24b may be referred to as "motor 23" or "transmission mechanism 24".
[0026]
The vehicle body 21 is formed of a metal plate into a rectangular parallelepiped box shape having an open upper surface. The left and right side plates of the vehicle body 21 extend forward and backward, and form connecting portions 31a, 31b, 31c, 31d for connecting the iron unit 12.
[0027]
As shown in FIG. 5, the distal end 32 of the connecting portion 31 b is bent at a right angle, and fits into the connecting groove 33 formed in the trowel unit 12. The other connecting portions 31a, 31c, 31d have the same structure as the connecting portion 31b.
[0028]
In the actual connection between the traveling drive vehicle 11 and the iron unit 12A, the two connection grooves 33 formed in the iron unit 12A are inserted into the two connection portions 31a and 31b of the travel drive vehicle 11 from above to below. When the holes 34 and the holes 35 coincide with each other, the pins 36 are inserted into the holes 34, 34. The pins 36 position the traveling drive vehicle 11 and the iron unit 12A in the vertical direction. The other iron unit 12B is similarly connected.
[0029]
In FIG. 4, all four tires 22 are balun tires (low internal pressure tires) made of a low-pressure rubber film. The use of a balun tire reduces the contact pressure and reduces sinking into the floor. These tires 22 are provided with unevenness for preventing slip on the surface thereof. Due to the unevenness, the traction force of the traveling drive vehicle 11 is increased by utilizing the shear resistance of concrete.
[0030]
FIG. 10 is a diagram showing an example of a pattern of irregularities provided on the surface of the tire 22, and FIG. 11 is a diagram showing a sectional shape of the irregularities.
The concavo-convex pattern UP1 shown in FIG. 10A is composed of a large number of two types of straight lines that cross obliquely. The concavo-convex pattern UP2 shown in FIG. 10B is composed of a large number of straight lines parallel to each other. The concavo-convex pattern UP3 illustrated in FIG. 10C includes many small circles. As shown in FIG. 11, it is appropriate that the line width W of each of the uneven patterns UP1 to UP3 is about 1 to 3 mm and the depth d is about 0.5 to 1 mm.
[0031]
The respective tires 22 are mounted on axles 41a, 41b, 41c, 41d rotatably supported independently of each other via bearings mounted on the vehicle body 21. One sprocket is mounted on each axle 41a, 41d, and two sprockets are mounted on each axle 41b, 41c.
[0032]
Each of the motors 23a and 23b is a DC motor having a built-in reduction gear. Sprockets 43a and 43b are attached to output shafts of the motors 23a and 23b.
[0033]
The transmission mechanisms 24a and 24b are composed of sprockets attached to the axles 41a to 41d and the output shafts of the motors 23a to 23b, and a chain bridged over these sprockets. The traveling drive vehicle 11 travels at a speed of about 0.3 m / sec by the rotational drive of the motors 23a and 23b. Forward control, reverse drive, left turn, right turn, and speed control are performed by the rotation control of the motors 23a and 23b.Thus, the traveling drive vehicle 11 can freely travel on the floor surface of the ready-mixed concrete.
[0034]
Next, a schematic configuration of the iron unit 12 will be described mainly with reference to FIGS.
The ironing units 12A and 12B include ultrasonic irons 71A, 72A, 71B and 72B, vibro plates 73A and 73B, connection support mechanisms 81A and 81B, pantograph mechanisms 82A and 82B, iron attitude holding mechanisms 83A and 83B, and irons. It comprises angle adjusting mechanisms 84A and 84B, iron elevating mechanisms 85A and 85B, and the like.
[0035]
Since these iron units 12A and 12B have the same structure, only one iron unit 12A will be mainly described. In the following description, the symbol “A” or “B” will be omitted unless otherwise required.
[0036]
When the traveling drive vehicle 11 travels without performing work, the iron unit 12 is moved to the raised position PU by the built-in iron lifting mechanism 85 so that the ultrasonic irons 71 and 72 do not contact the floor surface. Can be raised. At the time of work, the ultrasonic irons 71 and 72 are lowered by gravity to the operating position PE in contact with the floor surface. In operation, the two iron units 12 are both used simultaneously. The angles α1, α2 of the ultrasonic irons 71, 72 are adjusted according to the traveling direction of the traveling drive vehicle 11. However, the vibrating plate 73 connected forward in the traveling direction is not used after being raised to the raised position PU.
[0037]
The ultrasonic irons 71 and 72 are supported by the iron attitude holding mechanism 83, and each attitude is held. The trowel attitude holding mechanism 83 is supported by the connection support mechanism 81 via a pantograph mechanism 82 composed of a parallelogram whose four vertices are rotatable. Therefore, when the pantograph mechanism 82 is deformed, the trowel posture holding mechanism 83 can move in the up-down direction (vertical direction) while maintaining the posture. The connection support mechanism 81 controls the pantograph mechanism 82, the iron attitude holding mechanism 83, and the iron angle adjustment mechanism 84 around the shaft pin 125 along the traveling direction of the traveling driving vehicle 11 with respect to the vehicle body 21 of the traveling driving vehicle 11. And the trowel elevating mechanism 85 is connected to and supported by the vehicle body 21 of the traveling drive vehicle 11.
[0038]
The iron angle adjusting mechanism 84 variably adjusts the position of the iron attitude holding mechanism 83 with respect to the pantograph mechanism 82, and sets the angle between the ultrasonic irons 71 and 72 and the floor surface. The iron lifting mechanism 85 raises and lowers the iron attitude holding mechanism 83 and the ultrasonic irons 71 and 72. When the ultrasonic irons 71 and 72 are used, the engagement between the iron elevating mechanism 85 and the pantograph mechanism 82 and the iron attitude holding mechanism 83 is released, and the iron attitude holding mechanism 83 and the ultrasonic irons 71 and 72 are disengaged. , Descend by their weight and touch the floor. When the ultrasonic irons 71 and 72 are not used, the iron posture holding mechanism 83 is lifted by the iron elevating mechanism 85 and is raised to the raised position PU where the ultrasonic irons 71 and 72 do not contact the floor surface. .
[0039]
Next, the detailed structure of the iron unit 12 will be described mainly with reference to FIGS. 3, 5 to 9, and 12.
First, the ultrasonic irons 71 and 72 are respectively flat ultrasonic pedestals 101A and 101B, and ultrasonic vibrators 103 attached to the upper surfaces of the iron pedestals 101A and 101B by elastic coupling via keel members 102, respectively. (See FIG. 12). The vibration of the ultrasonic vibrator 103 causes surface vibrations on the iron pedestals 101A and 101B, and the floor surfaces of the ready-mixed concrete are leveled and finished by the lower surfaces or edges of the iron pedestals 101A and 101B. Details of the ultrasonic irons 71 and 72 will be described later.
[0040]
The vibrating plate 73 is for leveling ready-mixed concrete in advance by vibration.
Next, the connection support mechanism 81 will be described. The connection support mechanism 81 includes an outer substrate 121, a rear plate 122 fixed to the center of the rear side of the substrate 121, plate members 123 and 124 fixed to both sides of the rear side of the substrate 121, and a shaft on the front side of the substrate 121. It comprises a rotating plate 126 and the like, which are rotatably connected by pins 125.
[0041]
As is well shown in FIG. 3, the substrate 121 has bracket portions 121a and 121b formed at right and left sides (upper and lower sides in FIG. 3) by being bent at right angles. Above the substrate 121, a top plate 121c that covers a part thereof is fixed.
[0042]
As shown in FIG. 5, a connection groove 33 is formed by the substrate 121 and the plate members 123 and 124, and the distal end 32 of the connection portion 31 b or 31 a is inserted into the connection groove 33 and connected. The shaft pin 125 is located at a position slightly higher than the rotation center position of the tire 22. In a state where the connection support mechanism 81 is connected to the connection portions 31a and 31b, the rotating plate 126 is pulled and pulled by the shaft pin 125. The pantograph mechanism 82 is connected to the rotating plate 126.
[0043]
With particular reference to FIGS. 7 and 8, the pantograph mechanism 82 has four sides of a parallelogram rotatably connected at the positions of four vertexes PG1 to PG4. Vertex PG1 and vertex PG4 positionIs fixedly provided to the rotating plate 126. That is, the vertices PG1 and PG4Are connected by the rotating plate 126 itself. The vertices PG1 and PG2 and the vertices PG3 and PG4 are connected by an arm member 131 and an arm member 132, respectively. The apex PG2 and the apex PG3 are connected by arm members 144 and 145 that are a part of the iron posture holding mechanism 83. The arm member 144 and the arm member 145 are fixed to each other in an inverted T shape.
[0044]
In the trowel posture holding mechanism 83, four sides of the parallelogram are rotatably connected at the positions of the four vertexes HM1 to HM4. The apex HM1 and the apex HM2, the apex HM2 and the apex HM3, the apex HM3 and the apex HM4, the apex HM4 and the apex HM1 are connected by an arm member 141, an arm member 142, an arm member 143, and an arm member 144, respectively. The lower ends of the arm member 142 and the arm member 144 are fixed to rotatable shaft members 146 and 147 that are horizontally arranged at the respective positions of the vertices HM3 and HM4. Under the shaft members 146 and 147, ultrasonic trowels 71 and 72 are arranged along the shaft members 146 and 147. The ultrasonic trowels 71 and 72 are easily detachably attached to both ends of the shaft members 146 and 147 by fasteners 151 and 152 such as patch locks.
[0045]
Further, a plurality of arm members 157 are rotatably attached to the rotating plate 126 by pins 156, respectively. One horizontal shaft member 158 is fixed to the lower end of the arm member 157. At both ends of the shaft member 158, the vibrating plates 73 are easily detachably attached by stoppers 153, respectively.
[0046]
Between the arm member 141 and the arm member 145, a trowel angle adjusting mechanism 84 for adjusting the trowel angles α1 and α2 by changing their mutual positions is attached.
[0047]
That is, a motor 161 for adjusting the iron angle is attached to a lower portion on the distal end side of the arm member 141. The motor 161 is a DC motor having a built-in reduction gear. A link arm 162 is fixed to an output shaft of the motor 161. A link arm 163 is rotatably mounted at a connection point between the distal end of the link arm 162 and the upper end (apex PG2) of the arm member 145. An angle sensor 164 for detecting a rotation angle is attached to the output shaft of the motor 161.
[0048]
Therefore, when the motor 161 is driven to rotate, the link arm 162 rotates, and the link arm 163 moves linearly left and right according to the rotation angle of the link arm 162. Then, since the posture of the arm member 145 is fixed by the pantograph mechanism 82, the arm member 141 moves left and right with the rotation of the motor 161. As a result, the parallelogram of the trowel posture holding mechanism 83 is deformed, the arm members 142 and 144 rotate around the vertices HM3 and HM4, and move the ultrasonic trowels 71 and 72 in the direction of the arrow AR1 and the arrow. Rotate in the direction of AR2. Thus, the angles α1 and α2 between the lower surface of the iron pedestal 101 of the ultrasonic irons 71 and 72 and the floor surface are adjusted, and the ultrasonic irons 71 and 72 are positioned at angular positions corresponding to the rotation amount of the motor 161.
[0049]
An outwardly protruding engagement pin 148 is attached to the arm member 145, and a lever for engaging the engagement pin 148 from below to lift the trowel posture holding mechanism 83 and the ultrasonic trowels 71, 72. The elevating mechanism 85 is attached to the substrate 121 or the like.
[0050]
That is, the link 171 is rotatably attached to the bracket portion 121 a of the board 121 by the pin 172. One end of the link 173 is rotatably connected to the upper end of the link 171 by a pin 174. One end of the link 175 is rotatably connected to the other end of the link 173 by a pin 176. The other end of the link 175 is rotatably attached to the board 121 by a pin 177. A link mechanism similar to the link mechanism using the links 171, 173, and 175 is also provided on the other bracket portion 121b of the board 121.
[0051]
A horizontal rod 178 is fixedly attached between two links 175 and 175 provided on the bracket portion 121a and the bracket portion 121b. Since the two links 175 and 175 are connected by the rod 178, their link mechanism moves together.
[0052]
As shown well in FIGS. 3, 7, and 8, motors 181a and 181b for elevating and lowering the trowel are mounted on the top plate 121c of the substrate 121. Each of the motors 181a and 181b is a DC motor having a built-in reduction gear. A link arm 182a or 182b is fixed to each output shaft of the motors 181a and 181b. A link arm 183a or 183b is rotatably mounted at a connection point between the tip of each of the link arms 182a and 182b and the rod 178. The link arms 183a and 183b each have two arms connected by bolts, and the length can be adjusted by loosening the bolts and changing the mutual positions of the two arms. is there. An angle sensor 184 for detecting a rotation angle is attached to the output shaft of one motor 181a.
[0053]
Therefore, when the motors 181a and 181b are driven to rotate, the link arms 182a and 182b are rotated, and the link arms 183a and 183b move linearly right and left according to the rotation angle of the link arms 182a and 182b. Then, the link 175 rotates about the pin 177, and the link 171 rotates about the pin 172.
[0054]
When the link 175 rotates to the left in FIG. 7, the engaging claw 175a provided on the lower end of the link 175 engages with the engaging pin 148 provided on the arm member 145 and raises it upward (in the vertical direction). ). Then, the pantograph mechanism 82 is deformed, and the trowel posture holding mechanism 83 is lifted while maintaining the shape and posture at that time. Thereby, the ultrasonic irons 71 and 72 are lifted to the raised position PU not in contact with the floor surface.
[0055]
On the contrary, when the link 175 is rotated rightward in FIG. 7 in a state where the ultrasonic irons 71 and 72 are lifted, the iron posture holding mechanism 83 and the ultrasonic irons 71 and 72 become gravitational. Then, the ultrasonic irons 71 and 72 descend to the operating position PE in contact with the floor surface FL and stop. Thereafter, the link 175 rotates, so that the engaging claw 175 a of the link 175 is separated from the engaging pin 148.
[0056]
When the link 171 rotates to the left in FIG. 7, the engaging claw 171a provided at the lower end of the link 171 hits the shaft member 158, and moves the shaft member 158 obliquely upward. Then, vibrating plate 73 is lifted to a raised position PU not in contact with the floor surface. Conversely, when the link 171 rotates rightward in FIG. 7 in a state where the vibro plate 73 is lifted, the vibro plate 73 is lowered by gravity, and the operating position where the vibro plate 73 contacts the floor surface FL. It descends to PE and stops. Thereafter, the link 171 rotates, so that the engaging claw 171a of the link 171 is separated from the shaft member 158.
[0057]
Note that the arm member 143 of the trowel posture holding mechanism 83 is extended forward, and a bumper 191 is attached to a tip end thereof. Proximity sensors 192a to 192d are provided on both sides of the bumper 191 to detect whether there is an obstacle in the left-right direction and the forward direction.
[0058]
Next, the details of the ultrasonic irons 71 and 72 will be described. Since the ultrasonic irons 71 and 72 have the same structure, only one ultrasonic iron 71 will be described. For the ultrasonic iron 71, reference can be made to JP-A-6-193268.
[0059]
12 is an exploded perspective view showing the structure of the ultrasonic iron 71, FIG. 13 is a diagram showing the ultrasonic oscillator 103, and FIG. 14 is a diagram showing a drive control circuit 201 of the ultrasonic oscillator 103.
[0060]
In FIG. 12, the ultrasonic iron 71 is a flat iron pedestal 101, a keel member 102 attached to the upper surface of the iron pedestal 101 by elastic coupling, and attached to the upper surface of the keel member 102 in an insulating state and elastic coupling. It comprises six ultrasonic transducers 103a to 103f, a cover 104 for sealing and protecting the ultrasonic transducers 103a to 103f, and the like. It should be noted that the ultrasonic transducers 103a to 103f may be referred to as "ultrasonic transducer 103" in all or a part.
[0061]
The iron pedestal 101 is substantially the same as that used as the plastering iron iron pedestal, and is made of a stainless steel plate or a hard thin copper plate or the like, and has elasticity that flexes appropriately and flexibly. . Iron pedestal 101Is a long band,The length is set slightly larger than the width of the traveling drive vehicle 11. In this embodiment, it is about 60 cm. The iron pedestal 101 is used to cut the surface of the ready-mixed concreteWidelyPushing or leveling, the iron pedestal 101 performs ultrasonic vibration, thereby transmitting an elastic wave to a material that comes into contact with the iron pedestal 101 to drive the material.
[0062]
The keel member 102 is made of a stainless steel plate or the like having substantially the same thickness as the iron pedestal 101, and is firmly attached to the upper surface of the iron pedestal 101 by a structural adhesive or silver brazing. The keel member 102 converts the mode of the longitudinal wave from the ultrasonic transducer 103 into a transverse wave, and effectively generates vibrations of both the longitudinal wave and the transverse wave on the entire surface of the iron pedestal 101. The keel member 102 is called a coupler, a vibration cone, a vibration horn, a vibration plate, or the like in terms of ultrasonic engineering.
[0063]
When the length of the iron pedestal 101 is relatively large, the keel member 102 is used as a vibration drive source by performing vibration mode conversion. The name of the "keel member" is because it resembles a keel structure for reinforcing the strength in the length and width directions of a hull by a rib structure in a large tanker. That is, the keel member 102 forms a keel structure of a vibration system.
[0064]
As shown in FIG. 13, the ultrasonic vibrator 103 is, for example, a disk-shaped one in which a PZT-based piezoelectric ceramic plate and a metal plate are bonded together. By supplying the driving power, it vibrates in the radial direction and emits ultrasonic waves of, for example, 40 to 50 kHz. The ultrasonic transducer 103 is firmly attached by a structural adhesive or silver brazing so as to be elastically coupled to the keel member 102. Since it is difficult to manufacture a high-output ultrasonic vibrator 103 by itself in terms of electric capacity, six ultrasonic vibrators 103 are used and they are arranged in a straight line.
[0065]
Note that a thin glass epoxy or carbon-based Capeler thin plate which is an insulator and is an ultrasonically elastic coupling body may be interposed between the ultrasonic transducer 103 and the keel member 102. Further, the number of the ultrasonic transducers 103 may be other than six. In that case, for example, it is preferable to use an even number such as 2, 4, 8, 10, 12, or the like.
[0066]
14, a drive control circuit 201 includes an intermittent oscillation circuit 203, a sweep circuit 204, a VCO 205, a frequency corrector 206, a DC amplifier circuit 207, a pulse drive circuit 208, a comparison circuit 209, an output transformer 210, a changeover switch 211, and the like. Has become.
[0067]
The drive control circuit 201 is for supplying drive power of a predetermined frequency and power to the ultrasonic transducer 103, and automatically detects a change in drive power due to a difference in acoustic impedance of a load of the ultrasonic transducer 103. Tracking and always providing the best power supply.
[0068]
The operation of the drive control circuit 201 will be briefly described. The output current of the pulse drive circuit 208 is compared with a set value by a comparison circuit 209, and the oscillation frequency of the VCO 205 is determined according to the difference. The sweep circuit 204 initializes the control voltage to the VCO 205 when the tracking is lost due to a change in load or the like, and then sweeps from the lower limit set frequency to the upper set frequency. During the sweep, it stabilizes at the optimal frequency. When the changeover switch 211 is switched, the strength of the driving power supplied to the ultrasonic transducer 103 is adjusted.
[0069]
The intermittent oscillation circuit 203 can switch between its own operation and its stop. When the intermittent oscillation circuit 203 operates, the pulse drive circuit 208 operates intermittently. The operation state of the ultrasonic iron 71 in this case is referred to as a tack mode. On the other hand, when the intermittent oscillation circuit 203 is stopped, the pulse drive circuit 208 operates continuously. The operation state of the ultrasonic iron 71 in this case is referred to as a smoothing mode.
[0070]
In the example shown in FIG. 14, six ultrasonic transducers 103 are connected in parallel. However, depending on the impedance of the ultrasonic transducer 103 and the output transformer 210, they are connected in series or mixed with series and parallel. May be connected. Further, since the vibrations at both ends tend to be weaker than those at the center of the iron pedestal 101, as shown in FIG. f may be used alone, two ultrasonic transducers 103b to 103e at the center may be connected in series, and they may be connected in parallel with each other.
[0071]
In addition, in plastering work on the floor surface using plastering plaster by plastering, corresponding to the fact that multiple types of plastering work such as wood trowel finishing, smooth finishing, leveling finishing, holding polishing finishing etc. are performed Also, in the ultrasonic irons 71 and 72 and the drive control circuit 201, the ultrasonic irons 71 and 72 have different structures, dimensions, shapes, materials, vibration frequencies, vibration intensities, longitudinal waves and transverse waves, and the like. Is also good.
[0072]
For example, when a finish leveling iron is supported, the thickness of the edge portion of the iron pedestal 101 is made extremely thin so that the edge portion bends with respect to a pressing load. Thereby, it is possible to prevent a gap from being generated between the iron pedestal 101 and the floor surface, and to even out the floor surface. Conversely, the thickness of the edge portion may be increased so as not to bend.
[0073]
In each of the iron units 12, two ultrasonic irons 71 and 72 can be mounted, so that various types can be mounted according to the purpose, and various constructions can be performed on the floor surface. It can be carried out.
[0074]
Next, the operation of the pantograph mechanism 82 and the iron attitude holding mechanism 83 will be described.
16 to 18 are diagrams for explaining the operation of the pantograph mechanism 82 and the trowel attitude holding mechanism 83.
[0075]
FIG. 16 is a diagram showing a state corresponding to the state shown in FIG. In FIG. 16, the lower surfaces of the iron pedestals 101A and 101B of the ultrasonic irons 71 and 72 are in a state parallel to the floor surface FL and in contact with the floor surface FL. At this time, the ultrasonic irons 71 and 72 are at the operating position PE.
[0076]
When the motor 161 of the trowel attitude holding mechanism 83 is driven to rotate and the link arm 162 rotates in the direction of the arrow AR3 in the figure, the arm member 141 moves in the direction of the arrow AR4 in the figure. Thus, the iron attitude holding mechanism 83 rotates at each of the vertices HM1 to HM4, and the attitude of the ultrasonic irons 71 and 72 changes, and the state shown in FIG. 17 is obtained.
[0077]
In FIG. 17, the lower surfaces of the iron pedestals 101A and 101B have angles α1 and α2 with respect to the floor surface FL, respectively. The angles α1 and α2 can be controlled by the amount of rotation of the motor 161. As described above, the angles α1 and α2 are adjusted in accordance with the state of the floor surface FL, and the entire trowel unit 12 is towed by the traveling drive vehicle 11 for use.
[0078]
When the traveling drive vehicle 11 travels on the floor FL made of ready-mixed concrete, the tire 22 sinks from the floor FL by gravity. Since the amount of sinking varies, the traveling drive vehicle 11 moves up and down. Even when the traveling drive vehicle 11 or the trowel unit 12 moves up and down during use of the trowel unit 12, the displacement of the height position due to the up and down movement is absorbed by the pantograph mechanism 82. Therefore, the ultrasonic trowels 71 and 72 are always maintained at the operating position PE and at a constant posture with respect to the floor surface FL.
[0079]
When the iron posture holding mechanism 83 is lifted by the iron elevating mechanism 85 from the state of FIG. 17, the pantograph mechanism 82 is deformed, and the iron posture holding mechanism 83 rises while maintaining its posture to reach the ascending position PU. The state shown in FIG.
[0080]
In FIG. 18, the ultrasonic irons 71 and 72 are separated from the floor surface FL while maintaining the angles α1 and α2. In this state, the other iron unit 12 is used, and the traveling direction of the traveling drive vehicle 11 is reversed. Alternatively, the traveling drive vehicle 11 is driven to move to another place without using the iron unit 12.
[0081]
In addition, since the rotating plate 126 is rotatably connected to the substrate 121 by the shaft pin 125, even when the traveling drive vehicle 11 or the ultrasonic trowels 71 and 72 swing left and right, The mutual displacement of the torsional angle positions due to the shaking is absorbed by the rotation, and the ultrasonic irons 71 and 72 maintain the state along the floor surface FL.
[0082]
A control device 13 is attached to an upper portion of the traveling drive vehicle 11, and a power supply device 14 is detachably attached to an upper portion of the control device 13.
The control device 13 controls the motors 23a and 23b for traveling, the motor 161 for adjusting the iron angle, the motors 181a and 181b for raising and lowering the iron, the ultrasonic irons 71 and 72, the vibrating plate 73, and various safety devices. I do. In addition, a receiving circuit and an automatic control circuit for remote control by radio are built in. The control device 13 includes the drive control circuit 201 described above, a microcomputer, a memory, an interface, other peripheral elements, operation devices, a display element, a switching power supply, and the like.
[0083]
The power supply device 14 includes a gasoline engine and an AC generator that is driven to rotate by the gasoline engine.
The overall weight of the finishing device 1 is about 60 kg, which is almost the same as the weight of one plasterer. Therefore, even when the finishing device 1 travels on the ready-mixed concrete, it does not have an adverse effect on the ready-mixed concrete when the plasterer performs plastering work on the ready-mixed concrete.
[0084]
In addition, the finishing device 1 can be easily disassembled into the driving vehicle 11, the iron unit 12A, the iron unit 12B, the control device 13, and the power supply device 14. Each part after disassembly, except for the traveling drive vehicle 11, weighs about 10 kg or less and can be transported by hand.
[0085]
According to the above-described embodiment, the traveling drive vehicle 11 travels, and the floor FL of the ready-mixed concrete can be easily and beautifully finished by the ultrasonic irons 71 and 72, and the strength of the concrete surface can be improved. it can. It can replace the manual work by the plasterer, and can improve the efficiency of the plastering operation, shorten the construction period required for the plastering operation, and reduce the cost required for the plastering operation.
[0086]
Since the iron units 12 are connected to the front and rear of the traveling drive vehicle 11, respectively, and the ultrasonic irons 71 and 72 are moved up and down by the iron elevating mechanism 85, the traveling drive vehicle 11 moves in both forward and backward directions. Finishing work of the floor surface FL can be performed during traveling, and work efficiency is good.
[0087]
In the above-described embodiment, the motors 23a and 23b are the rotation driving sources of the present invention, and the ultrasonic irons 71 and 72, the iron posture holding mechanism 83, and the iron angle adjusting mechanism 84 are the irons of the present invention. The connection support mechanism 81 and the pantograph mechanism 82 correspond to the connection apparatus of the present invention, and the finishing apparatus 1 corresponds to the construction apparatus of the present invention.
In the above embodiment, it is also possible to drive the traveling drive vehicle 11 with a single motor. The iron unit 12 may have a single ultrasonic iron. It is also possible to omit the pantograph mechanism 82, the iron attitude holding mechanism 83, the iron angle adjusting mechanism 84, the iron lifting mechanism 85, and the like, or to use another mechanism instead of these. Although four tires 22 are provided, five, six, eight, or the like may be used. For example, in the case of five, a roller-type one may be provided at the center of the plane of the traveling drive vehicle 11.
[0088]
In the above embodiment, various types of ultrasonic transducers 103 such as a Langevin type ultrasonic transducer can be used. The ultrasonic transducer 103 may be directly fixed to the surface of the iron pedestal 101 without using the keel member 102. In this case, a hole larger than the ultrasonic transducer 103 may be formed in the keel member 102. Various circuits other than those described above can be used as the drive control circuit 201. The structures, shapes, dimensions, materials, and the like of the ultrasonic irons 71 and 72 can be variously changed.
[0089]
In the above-described embodiment, the ultrasonic irons 71 and 72 and the iron attitude holding mechanism 83 are lowered by their own weight and press the floor surface FL, but adjust the force for pressing the floor surface FL. For this purpose, a weight may be placed. Further, when the elevating mechanism 85 operates in the descending direction, a load may be applied so that the iron attitude holding mechanism 83 is pressed downward by the iron elevating mechanism 85. In that case, a compression spring or the like may be interposed between the iron lifting mechanism 85 and the iron attitude holding mechanism 83 so that the magnitude of the load is adjusted according to the position of the iron lifting mechanism 85. Good.
[0090]
In the above-described embodiment, the angles α1 and α2 between the iron pedestals 101A and 101B of the two ultrasonic irons 71 and 72 and the floor surface FL may be individually adjusted. For example, instead of the arm member 141 having a fixed length, an arm member whose length can be adjusted by a motor or a cylinder device may be used. Further, the arm member 141 is removed, the arm member 142 and the arm member 144 are individually rotatable, and a motor or a cylinder device is attached to each of the arm members 142 and 144, and their angular positions are adjusted. It may be configured as follows.
[0091]
By individually adjusting the angles α1 and α2 between the two iron pedestals 101A and 101B and the floor surface FL, it is possible to perform two equalizing operations with different contents in one run, thereby improving the working efficiency. improves. For example, by setting the angle α2 of the iron pedestal 101B to be larger than the angle α1 of the iron pedestal 101A, rough finishing can be performed first, followed by precise finishing.
[0092]
Further, the two ultrasonic trowels 71 and 72 may be configured to be independently supported. For example, one ultrasonic iron 72 is connected to the other ultrasonic iron 71 via a pantograph mechanism. In this way, even when one of the ultrasonic irons 71 and 72 comes up against pebbles or the like and floats, the other is not lifted up by it, and the plastering work by the ultrasonic irons 71 and 72 is performed stably.
[0093]
Further, in the above-described embodiment, each of the ultrasonic irons 71 and 72 is fixedly connected to the plurality of arm members 142 or 144, respectively. Good. In this way, even when one end of the iron pedestal 101A or 101B comes up against the pebbles, the other iron pedestal 101A or 101B is not lifted up by it, and the plastering by the ultrasonic irons 71 and 72 is performed. Work is performed more stably.
[0094]
In the above-described embodiment, the motors 161 and 181 are used for the iron angle adjusting mechanism 84 and the iron elevating mechanism 85, but a cylinder device that operates by air pressure or hydraulic pressure may be used. The structure, shape, dimensions, material, running method of the traveling drive vehicle 11, the traveling drive vehicle 11, the iron unit 12, and other parts or the whole of the finishing device 1 can be appropriately changed according to the gist of the present invention. .
[0095]
The present invention can be used for finishing a floor surface of various time-curable fluids other than ready-mixed concrete, finishing a floor surface composed of other fluids, and various other constructions.
[0096]
【The invention's effect】
BookADVANTAGE OF THE INVENTION According to this invention, finishing work of the floor surface which consists of fluids, such as concrete, can be performed automatically instead of the manual work of plasterers.
[Brief description of the drawings]
FIG. 1 is a front view showing a finishing device according to the present invention.
FIG. 2 is a plan view of the finishing device.
FIG. 3 is an enlarged view showing the vicinity of a trowel unit of the finishing apparatus shown in FIG. 2;
FIG. 4 is an enlarged view showing the vicinity of a traveling drive vehicle of the finishing device shown in FIG. 2;
FIG. 5 is an enlarged sectional view showing the vicinity of a connecting portion of the traveling drive vehicle.
FIG. 6 is a right side view of the finishing device shown in FIG. 1;
FIG. 7 is an enlarged front view showing a trowel unit.
FIG. 8 is an enlarged plan view showing a part of the iron unit.
FIG. 9 is a right side view showing a part of the iron unit in an enlarged manner.
FIG. 10 is a diagram showing an example of an uneven pattern provided on the surface of a tire.
FIG. 11 is a diagram showing a cross-sectional shape of the unevenness of the tire.
FIG. 12 is an exploded perspective view showing the structure of the ultrasonic iron.
FIG. 13 is a diagram showing an ultrasonic transducer.
FIG. 14 is a diagram illustrating a drive control circuit of the ultrasonic transducer.
FIG. 15 is a diagram showing another example of a method of connecting an ultrasonic transducer.
FIG. 16 is a view for explaining the operation of a pantograph mechanism and a trowel attitude holding mechanism.
FIG. 17 is a view for explaining the operation of a pantograph mechanism and a trowel attitude holding mechanism.
FIG. 18 is a view for explaining the operation of a pantograph mechanism and a trowel attitude holding mechanism.
[Explanation of symbols]
1 Finishing equipment (construction equipment)
11 Traveling drive vehicle
12 Iron unit
22 tires
23 motor (rotation drive source)
71,72 Ultrasonic iron (trowel device)
82 Pantograph mechanism (connecting device)
83 Iron posture holding mechanism (iron device)
84 Iron angle adjustment mechanism (iron device)
101 Iron base
103 ultrasonic transducer

Claims (1)

A traveling drive vehicle that includes a rotational drive source and a traveling tire that is rotationally driven by the rotational drive source, and that travels on a floor made of a fluid,
An ultrasonic iron having a flat iron pedestal and an ultrasonic vibrator directly or indirectly attached to the upper surface of the iron pedestal, rotatably supporting the ultrasonic iron. And a trowel angle adjusting mechanism for adjusting the angle between the lower surface of the iron pedestal and the floor by acting on the trowel posture maintaining mechanism, and maintaining the posture of the ultrasonic iron. A trowel unit comprising a pantograph mechanism that allows the ultrasonic trowel to move up and down in a state where
Composed of have a,
A floor finishing device made of a time-curable fluid.

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