JPH0453231B2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Field of Use This invention is useful in the field of concrete pouring work for construction, particularly in the field of pouring horizontal floor concrete, etc. This invention relates to a concrete leveling machine for leveling concrete.

BACKGROUND TECHNOLOGY For example, the concrete leveling machine described in Japanese Patent Application No. 60-276509, as shown schematically in FIGS. A generally triangular swing arm c is supported at its apex by a spherical bearing d, and the remaining two points are supported by horizontality adjustment mechanisms e and e, and is provided in a shape that projects forward in a cantilever style. ing. A single traversing rail g is provided at the tip of the swing arm c via a height adjustment mechanism f, and a leveling screw h is attached to a traversing table j that traverses along this traversing rail g. has been done.

More specifically, a large beam m is attached to the tip of the swing arm c, and a
A rail g for traversing books is provided, and a traversing table j traverses the front side of the beam m via a slide that grips the rail g for traversing books. In addition, the yokodai j
The base of the leveling mechanism n is suspended below the height adjustment mechanism f provided in the height adjustment mechanism f, and the base of the leveling mechanism n is cantilevered by the height adjustment mechanism f and the leveling mechanism n is protruded forward. It has a configuration in which a screw h is installed.

Problems to be Solved by the Invention () In the case of the concrete leveling machine having the above configuration, no matter how accurately the swing arm c is leveled with the horizontal adjustment mechanism e, the inclination of the height adjustment mechanism f is (deviation in vertical accuracy) and leveling mechanism n
Due to the inclination of the screw h (discrepancy in the horizontal level), it cannot be guaranteed whether the leveling level of the leveling screw h is accurate or not, resulting in a problem that the concrete leveling accuracy lacks reliability.

() Furthermore, the conventional caterpillar running section a greatly tramples and disturbs the concrete that has been leveled with the leveling screw h. In other words, since the soft concrete is pushed to both sides by the caterpillar running section a, ruts remain in the form of grooves, which requires the labor of manually backfilling and finishing the ruts. There was also the problem that it was not possible.

() Moreover, the caterpillar running section a inevitably becomes a heavy structure, which poses a problem in that it becomes a hindrance to reducing the weight of the concrete leveling machine.

Means for Solving the Problems As a means for solving the problems of the above-mentioned prior art, a concrete leveling machine according to the present invention is provided, as preferred embodiments are shown in FIGS. 1 to 7 of the drawings. A support arm 7 projecting approximately horizontally in front of a vehicle chassis 1 equipped with wheels 2 and 3 that runs on poured fresh concrete was installed via a height adjustment mechanism 8. A traversing rail 11 is provided on the support arm 7, and a leveling element 13 is provided on the traversing rail 11.
was set up freely. Further, the pedestal 1 is provided with horizontality adjustment mechanisms 4, 5, and 6.

In addition, as a specific embodiment, the wheels 2 and 3 supporting the chassis 1 are made of thin rods and formed into a cage shape, and either one or both of the front wheels 2 and the rear wheels 3 is directly connected to the axle 28 with the drive motor 22. It is configured as a driven wheel.

Furthermore, the horizontality adjustment mechanisms 4, 5, and 6 are arranged at respective vertices of a substantially equilateral triangle when the chassis 1 is viewed from above.
The support arm 7 is installed at the front part of the vehicle chassis 1 so that its height can be adjusted by moving vertically in parallel using a height adjustment mechanism 8 and a guide pin 10.

At least two traversing rails 11 are provided below the support arm 7 in parallel with an interval in the horizontal direction, and a traversing table 12 is suspended below the traversing rail 11 so as to be able to freely traverse. 12 is provided with a leveling element 13 such as a screw and its driving part 14.

In addition, the wheels 2 and 3 have two rings 16 and 16 arranged concentrically at a predetermined interval and joined in the axle direction by connecting rods 17 arranged at a constant pitch in the circumferential direction, and each ring 16 , 16 and central hub 1
8 are connected by spokes 19 to form a cage shape.

Function The wheels 2 and 3 of this concrete leveling machine are made of thin rods and are formed into a basket shape, so that they are sufficiently lightweight, and also run without displacing concrete and do not form ruts. That is, wheels 2, 3
The components of the concrete are smoothly embedded in the poured concrete, and are less likely to be trampled or disturbed on the leveled surface. Therefore, the wheels 2 and 3
There is no particular need to retouch the traces that have passed.

Furthermore, when the horizontality of the support arm 7 is adjusted through the chassis 1 by the horizontality adjustment mechanisms 4 to 6, the support arm 7 is supported at two points via at least two traversing rails 11, 11 under the support arm 7. The suspended horizontal table 12 can be properly leveled. Therefore, the leveling level of the leveling element 13 such as a screw provided on the traversing table 12 is properly adjusted, and the leveling accuracy of the leveling element 13 is highly guaranteed. Therefore, concrete leveling work can be performed with high horizontal level accuracy.

Example Next, the illustrated embodiment will be explained.

In the concrete leveling machine shown in Figures 1 to 3, 1 in the figure is a chassis, which is supported by two front wheels 2, 2 and two rear wheels 3, 3. There is.

The chassis 1 is constructed of a square pipe material or the like as a lightweight frame structure having the necessary strength and rigidity.

The wheels 2 and 3 are mounted on vertical supports 25 (Fig. 4) at the four corners of the chassis 1, which is approximately rectangular when viewed from above.
It is installed by The front wheels 2, 2 are configured as drive wheels, and a drive motor 22 is attached to each.

As shown in Fig. 4, the details of the structure of the wheel 2 or 3 are as follows: Two rings 16, 16 made of slightly thicker round pipes are arranged concentrically at a constant interval, and are arranged parallel to the axle direction. The rings 16, 16 and the hub 18 in the center are joined together by welding by a large number of thin connecting rods 17 arranged at equal pitches in the circumferential direction, and each ring 16, 16 and the hub 18 in the center are connected by thin rod-shaped spokes 19...
are integrally joined, and the entire structure is shaped like a cage. Therefore, it is extremely lightweight.

Furthermore, the connecting rods and spokes 19 and the ring 16 do not displace the concrete that has been smoothly buried in the poured concrete.

Therefore, the tracks of the wheels 2 and 3 are naturally backfilled by the fluidity of the concrete, so no ruts occur, and no special artificial modification is required.

In the case of the drive wheel 2 shown in FIG. 4, the hollow cylindrical axle 28, which is fixed to both lower ends of the yoke 21 and is integral with the hub 18, is connected to the motor case 26 and the reducer case 27 through ball bearings. It is rotatably supported. A drive motor 22 is fixed and provided in the motor case 26 with bolts 29,
The drive shaft 22a of the drive motor 22 is connected to a reducer 31 installed in the reducer case 27 on the opposite side,
connecting the output shaft of the reducer 31 to the axle 28;
It is configured to transmit rotation to the axle 28.

Further, a rotary encoder 30 is installed in the reducer case 27, and the rotation speed and rotation angle of the drive shaft 22a are automatically measured by the encoder 30. Note that a motor with an electromagnetic brake is used as the drive motor 22.

Therefore, when each drive motor 22 is synchronously controlled for the two front wheels (drive wheels) 2, 2,
The concrete leveling machine moves straight.

At this time, the rotary encoder 30 measures the rotation speed and rotation angle of the wheel 2 and calculates the traveling distance.
This makes it possible to set the mileage during automatic driving.

A column 25 provided vertically at the center of the upper surface of the wheel yoke 21 is supported by the chassis 1 (see FIG. 6A,
B). In particular, the struts 25 of the front wheels 2, 2 are configured to also serve as horizontality adjustment mechanisms 5, 6. Also,
When the chassis 1 is viewed in plan as shown in FIG. 1, one horizontality adjustment mechanism 4 is installed at one remaining apex of a substantially equilateral triangle together with the front wheels 2, 2, and a total of three
A number of leveling adjustment mechanisms 4, 5, and 6 (but not limited to this number) are installed.

The structural details of the front horizontality adjustment mechanisms 5 and 6 are as shown in Figure 6B, and as shown in Figure 6A.
A speed reducer and a servo motor 41 are attached to the upper side of the main frame 40, which is joined and supported by the main frame 40, and a ball screw type feed screw shaft 42 is connected downward to the output shaft thereof. On the other hand, the inner surface of the main frame 40 is used as a guide cylinder, and within this guide cylinder, a linear shaft 45 having a slider 44 that is slidable in the axial direction on its inner circumferential surface is provided concentrically. The feed screw shaft 42 is screwed into a parent nut 46 that is integrally formed with the linear motion shaft 45 via a ball.

Therefore, when the servo motor 41 is rotated by a predetermined number of rotations or rotation angle in the forward or reverse direction through the servo driver, the linear motion shaft 45 is rotated by the screw movement between the feed screw shaft 42 and the main nut 46. It is extended downward or contracted upward by a predetermined distance. Therefore, the chassis 1 is adjusted up and down using the grounding point of the wheels 2 as a fulcrum.

Further, the details of the structure of the horizontality adjustment mechanism 4 at the rear of the chassis are as shown in FIG. connected downwards. On the other hand, a guide cylinder 53 is attached to the lower side of the main frame 50, and within this guide cylinder 53, a linear motion shaft 54 of a hollow structure that can freely slide in the axial direction on its inner circumferential surface is provided in a concentric arrangement. There is. The feed screw shaft 52 is screwed into a parent nut 55 that is integrally formed with the linear motion shaft 54 via a ball. A ground plate 56 is horizontally attached to the lower end of the direct-acting shaft 54.

Therefore, when the servo motor 51 is rotated by a predetermined number of rotations or rotation angle in the forward or reverse direction through the servo driver, the linear motion shaft 54 is rotated to a predetermined position due to the screw movement between the feed screw shaft 52 and the parent nut 55. is extended downward or contracted upward by a distance of . Therefore, the chassis 1 is adjusted up and down using the grounding point of the ground plate 56 as a fulcrum.

In this way, the servo motors 41 and 51 of the three horizontality adjustment mechanisms 4, 5, and 6 operate based on the measured values of a triaxial inclinometer, etc. (not shown) installed on the chassis 1 (or support arm 7). If the vehicle chassis 1 and the support arm 7 are automatically controlled, the horizontality of the vehicle chassis 1 and the support arm 7 can be automatically, accurately and quickly obtained.

Note that since the rear wheel 3 does not require a drive motor or a rotary encoder, the vertical support 25 of the yoke 21 is simply supported by the chassis 1, although detailed illustration is omitted.

Next, the two support arms 7, 7 horizontally protruding from the front part of the chassis 1 have slide bearings 7a at the base ends of the two support arms 7, 7, which are attached to guide pins 10 provided perpendicularly to the front part of the chassis 1. , 10 so as to be vertically movable (FIG. 6B), and project horizontally toward the front of the chassis 1.

In addition, a height adjustment mechanism 8 is provided at the center of the front part of the chassis 1.
is installed, and the slide bearing 7 of the support arm 7
The height of the support arm 7 can be adjusted via a connecting beam 7b that connects the support arms 7a and 7a from side to side. This height adjustment mechanism 8 is driven by a servo motor that is also driven through a servo driver, and adjusts the height position of the support arm 7.

In this way, the support arm 7 is adjusted to a proper horizontal level by the horizontal adjustment mechanisms 4, 5, and 6, and then the height position is determined by the height adjustment mechanism 8, so that the adjustment accuracy is extremely high. .

The height of the support arm 7 is adjusted by receiving a reference level laser beam at the target and automatically measuring the height error (not shown).
Then input the measured value to the servo driver,
This is usually done by automatically controlling a servo motor.

As shown in detail in FIG. 5, on the lower surface of the support arm 7, in a direction perpendicular to the longitudinal direction of the chassis 1, two traverse rails 11, 11 are integrally constructed with the reinforcing beam 11a. They are arranged parallel to each other at appropriate intervals in the horizontal direction.

The transverse rail 11 has a substantially drum-shaped cross section. On the other hand, the traversing platform 12 is suspended so as to be able to freely traverse along the rails 11 via slides 12a, 12a which have grooves that have substantially the same cross-sectional shape as the cross-sectional shape of the traverse rails 11 and bite into the rails. ing.

The traversing table 12 is arranged horizontally directly in front of the vehicle platform 1, and a leveling screw 13, which is a leveling element and whose both ends are supported by bearings 60, 60, is installed horizontally and rotatably below it. .

The leveling screw 13 is connected to a drive motor 14 installed on the traversing table 12 by a chain 61.
The drive motor 14 is a geared motor with a speed reducer, and the leveling screw 13 is driven at a rotational speed matched to the concrete properties. For example, in order to improve the finish of concrete surface leveling work, the rotation rate of the leveling screw 13 is increased.

Next, this is attached to the traversing rail 1 on the traversing table 12.
A drive motor 62 (FIG. 3) is mounted for movement along the line 1. A pinion 62a rotationally driven by the motor 62 is connected to the reinforcing beam 11a.
It is engaged with a rack 63 attached to the front side of the rail parallel to the traversing rail 11 (Fig. 5). The drive motor 62 is a geared motor with an electromagnetic brake and a speed reducer, and the traversing table 12 and leveling screw 13 are moved in parallel in the lateral direction at an appropriate speed.

The leveling screw 13 is traversed to the limit of the length of the traverse rail 11 (see FIG. 1). The limit position of the movement stroke of the traverse table 12 is detected by a limit switch, and the stop and reverse operation of the drive motor 62 are automatically controlled. By moving the leveling screw 13, the poured concrete is efficiently leveled over a wide area.

The concrete leveling machine having the above structure is equipped with an automatic control panel 64 at the position indicated by the dotted line in FIG. 2, and is configured to be capable of performing either automatic operation or manual operation by switching the mode.

Regardless of the mode of operation, concrete leveling work on site is usually carried out by moving the chassis 1 straight ahead by a distance equivalent to the length of the leveling screw 13, stopping once at that position, and then moving the leveling screw 13 straight ahead.
This is done by repeating the procedure of rotating the robot and moving it back and forth once.

Preferably, the height of the leveling screw 13 is automatically set to the position of the laser beam at the reference level, and the leveling level is automatically controlled based on the measured value of an inclinometer or the like.

Note that depending on the leveling finish, a construction method may be adopted in which the traveling of the chassis 1 and the horizontal movement of the leveling screw 13 are performed continuously.

Effects of the present invention As described above in detail in conjunction with the embodiments, the concrete leveling machine according to the present invention can perform surface leveling work and leveling of poured floor concrete etc. at a high level. It can be mechanized and automated construction is possible. Therefore, it is possible to save manpower, labor, and skills in earthwork and plastering.

Moreover, this concrete leveling machine can be sufficiently lightweight to the extent that no special reinforcement such as floor formwork is required, so that it can be applied universally.

Furthermore, since the leveling screw 13 has a high degree of accuracy in adjusting its height and level, it is possible to level the concrete surface with high precision and to level it efficiently and at low cost.

[Brief explanation of the drawing]

1 to 3 are a plan view, a front view, and a side view of a concrete leveling machine according to the present invention, and FIG.
The figure is a detailed structural view of the drive wheel, Figure 5 is a side view showing the support arm, traverse table and leveling screw part in detail, and Figures 6A and B are a side view and sectional view showing details of the front wheel part. FIG. 7 is a cross-sectional view showing a leveling adjustment mechanism at the rear of the chassis, and FIGS. 8 and 9 are a plan view and a front view of a conventional concrete leveling machine.

Claims (1)

[Scope of Claims] 1. A support arm 7 that projects approximately horizontally forward is installed via a height adjustment mechanism 8 on a vehicle platform 1 equipped with wheels 2 and 3 that runs on poured ready-mixed concrete. , the support arm 7 is provided with a traversing rail 11, the traversing rail 11 is provided with a leveling element 13 so as to be able to traverse freely, and the chassis 1 is provided with leveling adjustment mechanisms 4, 5,
A concrete leveling machine characterized by being equipped with 6. 2. The wheels 2 and 3 that support the chassis 1 described in claim 1 are made of thin rods and are formed into a cage shape, and one or both of the front wheels 2 and the rear wheels 3 are driven by an axle 28. A concrete leveling machine characterized by being configured as a drive wheel directly connected to a motor 22. 3. The horizontality adjustment mechanisms 4, 5, and 6 described in claim 1 are provided one at each vertex of a substantially equilateral triangle when the chassis 1 is viewed in plan, and the support arm 7 is A concrete leveling machine characterized in that the concrete leveling machine is installed at the front part of the chassis 1 so that the height can be adjusted by moving vertically in parallel using a height adjustment mechanism 8 and a guide pin 10. 4. At least two traversing rails 11 described in claim 1 are provided below the support arm 7 in parallel with an interval in the horizontal direction. A concrete leveling machine characterized in that a transverse table 12 protruding from the concrete is suspended so as to be freely traverseable, and the transverse table 12 is provided with a leveling element 13 such as a screw and its driving part 14. 5 The wheels 2, 3 described in claim 1 or 2 are a connecting rod in which two rings 16, 16 are arranged concentrically at a predetermined interval and arranged at a constant pitch in the circumferential direction. The concrete leveling machine is characterized in that the rings 16, 16 and the hub 18 at the center are connected to each other in the axle direction by spokes 19 to form a cage shape.