JPH0319341B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is a concrete floor finishing work for smoothing a semi-solidified concrete floor surface after concrete has been compacted after pouring and water that has seeped out from the top surface has been removed. In particular, the present invention relates to a vehicle in which a finishing device for smoothing a semi-solidified concrete floor surface is attached to a traveling vehicle body equipped with a drive traveling device.

In this type of concrete floor finishing work,
In order to maintain good quality, it is important to improve the finish accuracy of the concrete floor surface as much as possible, that is, to minimize irregularities as much as possible.

To this end, it is important to accurately grasp the finishing accuracy of the concrete floor surface and, if there are any areas with poor finishing accuracy, to refinish.

However, in the past, finishing accuracy was determined by visual inspection by the operator, which resulted in variations in the understanding of finishing accuracy, and as a result, it was not possible to perform finishing with high precision.

An object of the present invention is to make it possible to improve finishing accuracy.

A characteristic configuration of the concrete floor finishing work vehicle according to the present invention is that a non-contact type sensor that detects the accuracy of the concrete floor surface after finishing by the finishing device is driven and reciprocated over the entire width of the finishing device in the left and right direction of the vehicle body. It is located at the point set in
The effects and effects thereof are as follows.

Since the finishing accuracy of the concrete floor surface finished by the finishing device can be quantitatively detected by the sensor, it is possible to accurately judge whether the finishing accuracy is good or bad. Furthermore, since the sensor is a non-contact type such as an optical sensor or an ultrasonic sensor, the soft concrete floor surface is not disturbed when detecting finishing accuracy, and the sensor can accurately and accurately detect finishing accuracy. can. In addition, we focused on the fact that non-contact sensors do not damage the concrete floor surface even when moved against it, so we have developed a system that allows the sensor to be driven and reciprocated across the entire width of the finisher's vehicle body in the left and right direction. Since the sensor is provided, the finishing accuracy of the concrete floor surface portion can be detected over the entire width of the concrete floor surface portion finished by the finishing device, without roughening the concrete floor surface, using one sensor. In other words, 1 sensor
As a first step, while making the detection by the sensor stable by eliminating any variation in detection accuracy due to individual differences in the sensor, it is also possible to detect the detection point on the finished concrete floor surface not as a point but as a line spanning the entire width. High reliability can be achieved.

Therefore, according to the present invention, due to the combination of stable detection and high detection reliability, finishing accuracy can be accurately grasped without variation, and finishing accuracy of concrete floor surfaces can be improved. In addition, since only one sensor is required, it can be implemented at low cost.

Hereinafter, embodiments of the present invention will be described in detail based on illustrative drawings.

Crawler-type traveling devices 2, 2 are installed at the front and rear of the machine frame 1, respectively.
A driving traveling vehicle body 3 equipped with a front and rear traveling device 2, 2
A finishing device 4 for smoothing the semi-solidified concrete floor surface is installed between the two to form a concrete floor finishing work vehicle.

Each of the crawler type traveling devices 2, 2 is constructed by winding a wide rubber crawler belt 6 with a smooth outer surface around a pair of front and rear rollers 5, 5, and one of the front and rear rollers 5, 5, 5, 5, respectively. An electric motor 8, which can be rotated in forward and reverse directions, is interlocked and connected via a belt type transmission mechanism 7.

The crawler type traveling device 2, the belt type transmission mechanism 7, and the motor 8 are integrally attached to a support frame 9, and a column 10 protrudes from the support frame 9 and is located approximately at the center in the left-right direction of the vehicle body.
is attached to the machine frame 1 so that only the support bracket 1a connected thereto can rotate freely, and a fan-shaped gear 11 is attached to the column 10.
are connected in series, and a small-diameter gear 12a interlocked with the steering electric motor 12 is engaged with the fan-shaped gear 11, and by driving the driving motors 8, 8 and the steering motors 12, 12, respectively, in pairs at the front and rear, It is configured to move forward and backward in a desired direction.

A support arm 13, which is located on the outer side of each of the crawler type traveling devices 2, 2 in the longitudinal direction and connected to the machine frame 1, is capable of swinging up and down about an axis facing left and right of the vehicle body, and spans the entire width of the left and right width of the vehicle body. The sled-like body 14 is pivotally connected, and a compression coil spring 15 is attached to the back of the sled-like body 14 across the machine frame 1. , the operation traces of the finishing device 4 and the running traces of the traveling devices 2, 2 are configured to be erased.

Further, a pair of left and right support rods 16, 16 are connected to the sled-like bodies 14, 14, respectively, and each of the support rods 16, 16 is provided on the machine frame 1 so as to be movable up and down. A screw shaft 18 is provided on the support arm 17 that connects the upper ends of the support arm 17 to lift it by abutting it from below, and an electric motor 18a is interlocked with the support arm 18, and one of the two screw shafts 18, 18 is connected to the support arm 17. The structure is such that only the sled-like bodies 14, 14 located on the rear side in the running direction are pressed to the ground.

The finishing device 4 has three finishing blades 20 arranged at different phases in the circumferential direction at the lower end portions of the left and right pair of driving rotation shafts 19, 19 facing in the vertical direction.
It is configured by attaching. Both rotating shafts 19,
19, gears 21, 21 are connected to each other so as to be freely rotatable as one unit, and both gears 21, 21 are engaged with each other, and a small diameter gear 23 is interlocked with an electric motor 22.
and a gear 19a integrally rotatably connected to one of the two rotating shafts 19, 19 are engaged, and the two rotating shafts 19, 19 are rotated in opposite directions to each other, while minimizing adverse effects on running. It is configured to perform finishing work.

Each of the drive rotation shafts 19, 19 is connected to the gear 2.
1 and 21 are spline-fitted so that they can only slide freely, and the drive rotation shafts 19 and 19 are held in the holder 24 so that they can only rotate freely, and a pair of screw shafts are connected between the holder 24 and the machine frame 1. 25,2
5 are interlocked and connected so as to be able to rise and fall freely, and an electric motor 25a is interlocked and connected to each of the screw shafts 25, 25, and by the lifting and lowering operation of the screw shafts 25, 25, the blade bodies 20, 20 are moved up and down with respect to the traveling vehicle body 3. The ground pressure adjustment mechanism 26 is configured to change the position and adjust the ground contact pressure of the blade bodies 20, 20 against the concrete floor surface. Each of the blade bodies 20 is made of a plate spring material.

The blade bodies 20 are attached to the rotating shafts 19, 19 in the same phase in a plan view, and
As shown in FIG. 1, the rotational trajectories of the tips of the vanes 20 intersect with each other on the left and right sides, so that a good surface finish can be achieved over the entire left and right width of the vehicle body.

The machine frame 1 is made of lightweight material such as aluminum or FRP, and reduces the overall weight of the traveling vehicle body 3 as much as possible, reduces the surface pressure applied to the concrete floor surface from each of the crawler belts 6, 6, and reduces the weight of the vehicle as it travels. It is designed to effectively prevent damage to the surface of the concrete floor, such as peeling off the concrete floor.

In the figure, 27 is a loop-shaped rod for collision prevention provided around the entire circumference of the machine frame 1, and
A pressure-sensitive sensor 2 is provided at a predetermined location on the attachment portion to the machine frame 1 to detect when the rod 27 collides with another object.
8, 28 are attached, and the detection result by this pressure sensor 28 is inputted to a drive control section 29, which will be described later, so that the driving motors 8, 8 are automatically stopped when a collision with another object is detected. It is composed of

A finish detection sensor 3 is located on the outer side of each of the sled-shaped bodies 14, 14 in the front and rear direction, and detects the finished state of the concrete floor after surface finishing work.
0 is added to detect a case where the surface finish is poor, and the surface finish is re-performed based on the detected case, so that the surface finish can be reliably performed on the entire concrete floor.

Reference numeral 31 in the figure is a magnetic sensor, which effectively utilizes each of the vertical and horizontal reinforcements arranged in the concrete floor, counts the number of vertical and horizontal reinforcements passed through as the vehicle travels, and calculates the total number of horizontal reinforcements for the entire concrete floor based on that. It is configured so that the position of the traveling vehicle body 3 can be detected.

The drive control unit 29 controls the driving motors 8, 8 and the steering motor 1 by inputting a signal from the outside.
2, 12, a motor 22 for driving the finishing device 4, and a motor 18 for raising the sled-like body 14;
a, 18a are controlled and operated so that the vehicle automatically travels along a predetermined route. 32 indicates an input antenna to the drive control section 29.

Next, an example of a working style using the above-mentioned finishing machine will be explained (see FIG. 6).

Separated work areas A, B, with concrete floor
For C and D, a water absorption work vehicle W ₁ equipped with a water absorption device 33 is driven by remote control operation,
Suction and collect water on the surface of the concrete floor.

Hardness sensor 3 installed on water absorption work vehicle W ₁
4 and the detection results from the position sensors 35 that detect the positions in each of the work areas A, B, C, and D are input to the arithmetic processing unit 36,
In each of B, C, and D, a continuous running route from the hard side to the soft side of the concrete floor surface is calculated.

Based on the calculation of the travel route, a corresponding electric signal is input to the drive control unit 29, and the finishing vehicle _W2 automatically travels along the travel route while confirming the position using the magnetic sensor 31. and finish the surface of the concrete floor.

As shown in FIG. 7, the finish detection sensor 30 can only slide freely over almost the entire width in the left and right direction of the vehicle body on downward U-shaped guide members 37 connected to the front and rear ends of the machine frame 1, respectively. An electric motor 38 is integrally attached to the sensor case 30a, and a gear 39 is interlockingly connected to the motor 38.
A rack member 40 is engaged with the gear 39, and the sensor 30 is driven by the motor 38 to move the sensor 30 over the entire finishing width finished by the sled-like body 14 to detect the finishing accuracy. ing.

The sensor 30 reflects the light from the light projecting section 41 on the surface of the concrete floor and then causes the light receiving section 42 to receive the reflected light. It is configured to detect surface irregularities, that is, finish accuracy. Note that this detection is performed when the vehicle is stopped.

The signal from the sensor 30 is inputted to the arithmetic unit 44 via the amplifier 43, and the amount of change in the unevenness of the surface of the concrete floor with respect to the unit movement amount (for example, 1 cm) of the sensor 30 is processed, and the arithmetic unit 44 and the signal from the setting device 45 are input to the comparator 46, and when the unevenness variation exceeds the set value (for example, 0.3 mm), the switch 48 for the buzzer 47 is closed, and the buzzer 47 sounds to check the finishing accuracy. The system is configured to notify the worker that the temperature is low.

Next, the results of an experiment conducted as a reference for determining whether the finishing accuracy is good or bad will be explained.
However, for both graphs, the results from the calculator 44 were printed by a recorder.

If the finishing accuracy is good, the variation in unevenness is within 0.2 mm, as shown in Figure 8 A, and
When the finishing accuracy was rather good, as shown in FIG. 8B, although there were sudden changes in some parts, the changes were smooth overall. On the other hand, when the finishing accuracy was poor, as shown in FIG. 8C and D, sudden large changes frequently occurred, and the buzzer 48 kept ringing.

As the sensor 30, for example, an ultrasonic sensor may be used.

If the sensor 30 is applied to automatic driving, the signal from the comparator 46 is input to the drive control unit 29, and the vehicle body 3 is moved backward by a predetermined distance.
After that, the finishing device 4 may be moved while being driven.

As the traveling device 3, various structural modifications are possible, such as using low-pressure tire wheels, or mounting a large number of rollers on parallel shafts in the front-rear direction.

The present invention can be applied to the surface finishing of various concrete floors such as buildings, gas stations, and parking lots.

Further, the present invention may be configured to be a riding type vehicle by providing a driver's seat in the traveling vehicle body 3.

The crawler belt 6 is not limited to rubber; for example, a large number of narrow iron pieces or FRP coated with Teflon on the outer surface may be used.
Various structural modifications are possible, such as forming an endless band by pivotably connecting them to each other in the width direction.

[Brief explanation of the drawing]

The drawings show an embodiment of the concrete floor finishing work vehicle of the present invention, in which Fig. 1 is a partially omitted overall perspective view, Fig. 2 is a partially omitted side view, and Fig. 3 is a crawler type traveling device and its steering. A side view of the structure, Fig. 4 is a partially cutaway rear view of the sled-like body, Fig. 5 is a partially cutaway front view showing the finishing device and ground pressure adjustment mechanism, and Fig. 6 is a schematic plan view for explaining the working form. Figures 7 and 7 are partially cutaway side views of the main parts shown together with the block diagram, and Figures 8 to 8 are graphs showing changes in the unevenness of the concrete floor surface, respectively. 2... Drive traveling device, 3... Traveling vehicle body, 4...
Finishing device, 30...sensor.

Claims (1)

[Scope of Claims] 1. A concrete floor finishing work vehicle in which a finishing device 4 for smoothing a semi-solidified concrete floor surface is attached to a traveling vehicle body 3 equipped with a drive traveling device 2, the finishing device 4 This concrete floor finishing work vehicle is provided with a non-contact type sensor 30 for detecting the accuracy of the concrete floor surface after finishing by driving and reciprocatingly installed across the entire width of the finishing device 4 in the left and right direction of the vehicle body. 2. The concrete floor finishing vehicle according to claim 1, wherein the sensor 30 is an optical sensor. 3. The concrete floor finishing vehicle according to claim 1, wherein the sensor 30 is an ultrasonic sensor.