EP4332303A1 - Machine for treatment of a concrete surface, method for treatment of a sequence of concrete surfaces and method for manufacturing a concrete surface - Google Patents

Abstract

Machine (1) for treating a concrete surface comprising a treatment tool (2) mechanically coupled to one end of a telescopic arm (3), a frame (5) in which a compartment for the arm (3) is formed ), and two axles (61, 62) fixed at two respective end portions (51, 52) of the chassis (5) each supporting at least one wheel (41, 42) whose wheels (41, 42) are steerable and their arrangement via the aforementioned axles (61, 62) and chassis (5) is such that they allow the machine (1) to be supported whatever the position of the tool (2) and the arm (3); a method of treating a succession of concrete surfaces and a method of manufacturing a concrete surface.

Description

Technical area

The present invention relates to a machine for treating a concrete surface.

Prior art

To treat a concrete surface, it is known to use a machine equipped with a tool dedicated for this purpose. In some cases, the tool is fixed against the frame of the machine, the latter moving as the surface is treated. This type of machine is typically small in size and low in power. It is used for small surfaces. In other cases, the tool is mechanically coupled to the end of a telescopic arm, called a "boom", so as to be movable above the surface in a direction of extension of the arm, from 'a basic unit. The arm extending over distances generally of 4 to 9 meters, or even more, it is thus possible to quickly treat a surface in the form of a strip of concrete from a single position and orientation of the machine. It is precisely this type of machine with boom which is the subject of the present invention.

An example of treatment of a known concrete surface is the leveling of unset (or uncured) concrete, this operation also being known as “screed”. For example, the document EP3728739A1 discloses an embodiment of a machine for leveling a concrete surface provided with a boom as known from the state of the art.

Such a machine generally comprises a hollow compartment for the arm arranged in an upper part of the base unit. The latter also includes a lower part which is coupled to the upper part and around which the upper part can rotate to adequately orient the arm and the tool in a given position of the machine. The movement of the machine can be obtained via two axles, each supporting two wheels and fixed to the lower part. As shown for example on the figure 1 of the cited document, each of the two axles extends in the direction of extension, the axles being aligned in a direction orthogonal to that of arm extension. The wheels thus make it possible to move the machine in this orthogonal direction between the treatment of two surfaces. Thus, it is possible to successively move via the wheels and orient the arm and the tool via the rotation of the upper part between each concrete surface treatment.

If the wheels make it possible to support the machine when the arm is retracted into the hollow compartment, they are however generally not sufficient to stabilize and support the machine in all circumstances, and in particular when the arm is deployed, taking into account the weight of the machine. tool and arm. This is why this type of machine with boom includes stabilizing feet attached to the lower part, removable and/or adjustable, to support the machine in position when processing the concrete surface. These stabilizing feet also allow you to give the desired angle of attack to the arm. However, the stabilizing feet must be removed and/or adjusted both before and after treating each concrete surface. The positioning and stabilization of the machine, as well as the orientation of the arm, before treating a concrete surface therefore takes considerable time on site.

Presentation of the invention

An object of the present invention is to provide such a boom machine which makes it possible to efficiently treat concrete surfaces.

• un outil de traitement d'une surface de béton couplé mécaniquement à une extrémité d'un bras mécanique télescopique (i.e. le « boom »), de façon à ce que l'outil soit déplaçable au-dessus de la surface de béton selon une direction d'extension du bras ;
• un compartiment creux pour le bras formé dans un châssis de la machine s'étendant principalement le long de la direction d'extension ;
• des roues couplées au compartiment et agencées pour déplacer la machine ; et dans laquelle le châssis susdit comprend deux portions extrémales au niveau de chacune desquelles est fixé au moins un essieu s'étendant transversalement à la direction d'extension et supportant au moins une des roues, et de préférence deux des roues de part et d'autre du châssis, les roues étant à la fois orientables et adaptées pour supporter la machine.

For this purpose, the present invention proposes a machine for treating a concrete surface comprising:

• a tool for treating a concrete surface mechanically coupled to one end of a telescopic mechanical arm (ie the "boom"), so that the tool is movable above the concrete surface in one direction arm extension;
• a hollow compartment for the arm formed in a machine frame extending mainly along the extension direction;
• wheels coupled to the compartment and arranged to move the machine; and in which the aforementioned chassis comprises two end portions at each of which is fixed at least one axle extending transversely to the direction of extension and supporting at least one of the wheels, and preferably two of the wheels on either side other part of the chassis, the wheels being both steerable and adapted to support the machine.

• d'enlever ou d'ajuster de tels pieds stabilisateurs avant le traitement de chaque surface - ce qui induit un gain de temps considérable ;
• de manipuler à la fois une orientation entre deux parties d'une unité de base et un avancement des roues selon une seule direction orthogonale à la direction d'extension afin de positionner et orienter convenablement la machine et l'outil.

The machine according to the present invention makes it possible to treat concrete surfaces more efficiently than similar machines of the prior art. Indeed, as the wheels of the machine are steerable, the machine is more maneuverable. In particular, it is not necessary to provide a base unit composed of two movable parts rotating relative to each other to orient the arm and the tool because this orientation can be provided by the wheels. Furthermore, the wheels being adapted to support the machine, typically for any position of the tool along the direction of extension, it is then not necessary to provide stabilizing feet. The wheels can, by themselves (i.e., without any other necessary contact with the ground) directly and completely support and stabilize the machine in position. The treatment of concrete surfaces with the machine is thus made more efficient, because it is not necessary:

• to remove or adjust such stabilizing feet before treating each surface - which saves considerable time;
• to manipulate both an orientation between two parts of a base unit and an advancement of the wheels in a single direction orthogonal to the direction of extension in order to properly position and orient the machine and the tool.

These characteristics relating to the wheels, particularly their adaptation to supporting the machine, fully produce their effects given the way in which they are arranged on the machine, and mechanically coupled to the compartment. Indeed, in order to support, and in particular to stabilize, the machine, it is advantageously provided that the center of gravity of the machine overcomes or is in a space between the wheels, whatever the position of the tool along the extension direction. This is a major difficulty which cannot be easily overcome on the basis of an arrangement of the wheels as known from the prior art since the axles of the wheels are then aligned orthogonally to the arm at the level from the end of the arm opposite to that to which the tool is mechanically coupled. To overcome this, the machine is provided with a frame extending mainly along the direction of extension and in which the compartment is formed. The axles are then fixed at the level of two end portions of the chassis, according to the direction of extension, the axles extending transversely, and preferably perpendicularly, thereto. In particular, unlike the machines of the prior art, the axles are necessarily aligned according to the direction of extension, and arranged at the levels of extremal portions of the chassis sufficiently distant from each other along the direction of extension. so that the center of gravity of the machine overcomes or is in a space between the wheels, regardless of the configuration of the machine.

These characteristics, the aim of which is to allow the wheels to support the machine, could penalize the maneuverability of the machine because they induce the need for a chassis, typically central, extending sufficiently along the direction of extension, in order to to be able to fix the axles sufficiently far from each other at the end sections of the chassis. Fortunately, this is not the case because the wheels are adjustable and therefore allow the machine to be moved easily to any position, despite its chassis. The orientation characteristic of the wheels is therefore closely linked to the technical means in terms of chassis and axle making it possible to achieve the characteristic of supporting the machine by the wheels within the technical framework of the present invention.

The chassis is preferably described as central and/or main. It is preferably the only chassis of the machine. In particular, as the wheels are steerable, it is not necessary to provide two separate parts of a base unit as described according to the prior art, the entire machine can be arranged on the basis of a single chassis elongated along the extension direction and steerable via the wheels. As the compartment is formed in the chassis, an orientation of the chassis induces an orientation of the arm and therefore of the tool. The chassis is in particular directly linked to the steerable running gear of the machine as described above. The compartment is also preferably capable of containing at least least 85% of the arm measured in the direction of extension, and preferably the entire arm, in a retracted configuration.

Advantageously, the chassis also makes it possible to distribute the masses of the machine even more adequately to ensure positioning of the center of gravity of the machine overcoming or being in a space between the wheels. For example, the heavy elements of the machine such as batteries or motors can be arranged at the end portion of the chassis opposite the tool to counterbalance the weight of the tool. In particular, a mass of a part of the machine extending in front (in the direction of deployment of the arm along the direction of extension) the axle fixed at the level of the extremal portion of the chassis closest to the The tool is typically less than a mass of a part of the machine extending behind this axle.

The possible pitching of the chassis is also limited thanks to the arrangement of the wheels via the axles, the running gear being preferably rigid. For example, the wheels may include solid tires filled with silicone foam, which ensures good rigidity to the wheels. This prevents the tires from being crushed by arm movements when processing a concrete surface.

In the context of this document, the term "concrete" generally refers, in an unset (or unhardened) state, to a flexible paste of variable homogeneity, preferably comprising a mixture of sand and cement. , intended to be poured in a dedicated space prior to hardening. This occurs after a setting time. The dedicated space is, for example, a support, a mold or a cavity. Concrete is a very widely known construction material which makes it possible to form very strong coverings and construction elements.

In the context of the present invention, the concrete is preferably poured so as to form a concrete surface. The term “treatment” is likely to concern different stages of the formation of this surface. For example, the tool may be a tool for leveling the surface of unset concrete (an operation known as "screed") or a finishing tool for applying a finishing powder to the surface (an operation known as screed). “spread”).

The term “surface” is not to be understood in this document as referring to a strictly two-dimensional (mathematical) object. In particular, as a person skilled in the art would understand, a concrete surface necessarily has a certain thickness of concrete. The term "surface" is used taking into account the fact that in general, the exterior surface of concrete once set and treated is that which is visible externally, typically when designing a covering, floor or a concrete slab. Thus, for example, before leveling a concrete surface, the concrete not set and poured in the space dedicated to the formation of the surface generally includes irregularities and variations in thickness forming a relief, hence the need to level this surface with a machine intended for this purpose. This concrete therefore does not only extend two-dimensionally. Generally, for the purposes of this document, the term “area” is interchangeable with the term “extent”.

In the context of this document, the telescopic mechanical arm corresponds to a “boom” as introduced in the prior art. It will be understood by a person skilled in the art that such an arm is distinguished from attachment means holding the tool against the chassis or from a direct extension of less than 1 meter of these attachment means. The arm is preferably capable of extending along the direction of extension by at least 4 meters, and preferably of a maximum extension length of between 4 and 9 meters, for example approximately 5, 5 or 6.0 meters, typically when deployed, or alternatively carry the tool this distance from the chassis.

For the purposes of this document, the term "primarily" in reference to a direction in which a part of the machine extends corresponds to the fact that that part of the machine extends (significantly and/or visibly) more according to this direction than in other basic directions of space. In particular, the frame of the machine extends primarily in the direction of extension of the arm, but of course also in the two other directions of space which are perpendicular to it and are perpendicular to each other. For example, the chassis extends in these two directions over a variable distance along the extension direction and between 0.5 and 1.0 meters.

Preferably, at least two of the wheels, and more preferably, all of the wheels are individually and/or independently steerable. Each wheel can thus be oriented in a chosen manner independently of the other wheels, and in particular of a possible wheel coupled to the same axle. A wide range of machine movements is thus made possible as illustrated in figure 2 hereinafter introduced.

Preferably, the axles are directly attached to the chassis. The chassis thus directly follows the movement induced by the axle and the wheels, simplifying the maneuverability of the machine. The term “directly” is currently used to refer to fixing preferably without an intermediary. The axles are therefore preferably fixed against the chassis and/or extend the chassis.

In the context of this document, the term "extremal" portion at which an axle is fixed does not necessarily correspond to an end of the chassis considered according to the direction of extension, but rather to a portion of the chassis located close to 'such an extremity. Following the discussion above, two portions of the chassis completely located near each of the ends of the chassis, preferably on either side of the middle of the chassis considered in the direction of extension, can be considered "extremal" if, the axles being fixed at these portions, the center of gravity of the machine overcomes or is in a space between the wheels.

In other words, just because the chassis extends, strictly speaking, beyond one of the axles along the direction of extension does not mean that the axle in question is not attached at an end portion of the chassis.

• un outil de traitement d'une surface de béton couplé mécaniquement à une extrémité d'un bras mécanique télescopique, de façon à ce que l'outil soit déplaçable au-dessus de la surface de béton selon une direction d'extension du bras ;
• un compartiment creux pour le bras formé dans un châssis de la machine s'étendant principalement le long de la direction d'extension ;
• des roues supportées par des essieux fixés sur le châssis pour déplacer la machine ;

dans laquelle les roues sont orientables et agencées de façon à ce que le centre de gravité de la machine surmonte ou soit dans un espace entre les roues pour toute position de l'outil le long de la direction d'extension. Ledit espace correspond de préférence à l'intérieur d'un polygone (simple) ayant les roues pour sommets. Typiquement, le polygone est un rectangle non carré, par exemple défini par deux essieux parallèles supportant deux roues en leurs extrémités, mais l'invention n'est pas limitée à cette forme géométrique. Les différents modes de réalisation et avantages de l'invention mentionnés ci-dessus ou ci-après s'appliquent de façon équivalente à cette introduction alternative de l'invention.In this sense, the invention can alternatively be introduced as being a machine for treating a concrete surface comprising:

• a tool for treating a concrete surface mechanically coupled to one end of a telescopic mechanical arm, so that the tool can be moved above the concrete surface in a direction of extension of the arm;
• a hollow compartment for the arm formed in a machine frame extending mainly along the extension direction;
• wheels supported by axles fixed on the chassis to move the machine;

in which the wheels are steerable and arranged so that the center of gravity of the machine overcomes or is within a space between the wheels for any position of the implement along the direction of extension. Said space preferably corresponds to the interior of a (simple) polygon having the wheels as vertices. Typically, the polygon is a non-square rectangle, for example defined by two parallel axles supporting two wheels at their ends, but the invention is not limited to this geometric shape. The different embodiments and advantages of the invention mentioned above or below apply equivalently to this alternative introduction of the invention.

The use, in this document, of the verb “understand”, or its variants, as well as their conjugations, in no way excludes the presence of elements other than those mentioned. Similarly, the use, in this document, of the indefinite article "un", "une", or the definite article "le", "la" or "l'", to introduce an element does not does not exclude the presence of a plurality of these elements.

According to one embodiment of the invention, a wheelbase of the machine measured in the direction of extension is between 35 and 65%, preferably between 40 and 55%, for example approximately 45%, of a length of maximum extension of the arm measured according to the direction of extension. As known to a person skilled in the art, the wheelbase corresponds to the distance separating the axes of the axles furthest from each other in the direction of extension. As explained above, the maximum extension length is generally between 4 and 9 meters, for example approximately 5.5 or 6.0 meters, when the arm is fully extended. So the wheelbase of the machine is, for example, around 2.5 to 3.0 meters for a boom with a maximum extension length of around 5.5 to 6.5 meters. This is a larger wheelbase than on prior art machines for which it is approximately 1.6 to 1.9 meters for similar booms.

As discussed above, this particular wheelbase ensures that the center of gravity of the machine remains in a space between the wheels or overcomes this space at all times, even when the boom is in motion. or deployed to the maximum. This axle arrangement improves the stability of the machine.

Preferably, the wheels are arranged at the vertices of a non-square (planar) rectangle whose largest side extends parallel to the direction of extension. The length of the latter then corresponds to the aforementioned wheelbase. The length of the axle (measured perpendicular to the direction of extension) then corresponds to the length of the smallest side of the rectangle. Preferably the longer side is at least twice as long, preferably at least three times as long as the short side.

• une partie axiale (ou axe) s'étendant principalement transversalement, de préférence perpendiculairement, à la direction d'extension, à partir du châssis ;
• deux jambes dont chacune comprend :
  • une extrémité supérieure couplée mécaniquement à une extrémité de la partie axiale par l'intermédiaire de moyens, de préférence mécaniques, de giration agencés pour permettre une rotation relative entre la partie axiale et la jambe,
  • une extrémité inférieure fixée au niveau d'un moyeu d'une des roues.
  En particulier, chaque essieu selon cette réalisation est couplé mécaniquement et supporte deux roues par l'intermédiaire des deux jambes.

According to one embodiment of the invention, each axle comprises:

• an axial part (or axis) extending mainly transversely, preferably perpendicularly, to the direction of extension, from the chassis;
• two legs, each of which includes:
  • an upper end mechanically coupled to one end of the axial part via means, preferably mechanical, of gyration arranged to allow relative rotation between the axial part and the leg,
  • a lower end fixed at a hub of one of the wheels.
  In particular, each axle according to this embodiment is mechanically coupled and supports two wheels via the two legs.

Advantageously, each pair formed by a wheel and a leg is thus able to rotate relative to the rest of the axle, and therefore in particular relative to the chassis, via the gyration means, preferably independently of the other such pairs. The wheels are thus completely steerable thanks to the simple and practical mechanical coupling of the legs with the axial part. As the wheels turn with the legs, the machine is more stable and sturdy. The forces within the machine are particularly better absorbed at the level of the axles and wheels. The two legs also allow the wheels to be offset under the plane of the chassis, and preferably lateral offset with the chassis, which makes it even more effective to support and stabilize the machine. Preferably, the axle is symmetrical on either side of the direction of extension and/or the chassis, this which induces a generally symmetrical recovery of the forces within the machine, and therefore the stability of the latter.

Preferably, the gyration means comprise a gyration motor mechanically coupled to a slewing ring. Preferably, the motor is a hydraulic motor. The slewing ring preferably provides a rotational amplitude of at least 180°, preferably 360°. It is thus possible to steer the machine in all directions. These means of gyration thus form in particular a bearing. The slewing ring allows the power from the hydraulic motor to be adequately transmitted for the purpose of rotating the leg. The slewing ring is preferably a ball ring. The gyration means can be incorporated in a dedicated and sheltered space between the upper end of the leg and the associated end (opposite) of the axial part, which preferably have a shape mainly extended parallel to the defined plane by the direction of extension (of the arm) and a transverse direction in which the axial part extends.

Preferably, each leg is arched. This shape allows the wheel to be partially surrounded to better support it and therefore to better stabilize the machine as a whole. Preferably, the upper and lower ends of the leg are aligned in a direction orthogonal to the direction of extension. The wheels thus extend under the chassis, at least partially lateral offset with it, this helping to effectively support the entire machine.

Preferably, the wheels of the machine according to the invention are motorized, more particularly individually motorized. More preferably, each wheel comprises a hub within which a motor, preferably an electric motor, is arranged for advancing the wheel.

The advancement of the wheels via the respective motors thus makes it possible to move the machine quickly and efficiently in any direction defined by the orientation of the wheels. The lower end of each axle leg being fixed at the level, and preferably directly on, the hub of a wheel, for the embodiments concerned, it is possible to use the legs and/or the axial part of the axle, as well as the chassis to bring connecting elements and/or powering the electric motor of the wheel to a possible energy source (for example, batteries) present elsewhere in the machine, preferably in the rear part of the chassis to balance the masses according to the direction of extension.

In general, the axles (and in particular the legs and/or the axial parts of the axles for the embodiments concerned), and/or the chassis can serve as a desert conduit for the electrical, hydraulic and/or mechanical functions of the machine. The space required to implement these functions is thus reduced, as well as the corresponding power supplies, pipes and other wiring are protected within the machine. The energy chain of the machine can in particular be housed in the chassis.

Furthermore, in energy terms, the machine differs from concrete surface treatment machines known from the prior art in that it is preferably completely electric. More precisely, the machine preferably comprises an electrical power supply, for example, one or more batteries, coupled to one or more electric motors and to a hydraulic system to power functionalities of the machine, these functionalities including any movement of the wheels, of the arm and the tool. More preferably, all the functionalities of the machine are thus powered. An orientation of a wheel is considered as a movement since the wheel then turns on itself. As mentioned above, the electric motors can be arranged at the level of the wheel hubs for the advancement of the machine, but also at the level of the arm for its deployment according to the direction of extension. The hydraulic system preferably comprises hydraulic motors and/or actuators for orienting the wheels as described above, and/or orienting the arm (or more precisely, its incidence), for example by modifying a elevation of the wheels, as described below, and/or modify an elevation of the tool at the end of the arm as described below also.

The fact that the machine is totally electric, in the sense explained above, makes it possible to avoid the solution of supplying energy to the machine by one or more thermal engines coupled to a hydraulic system such as known from the prior art. Indeed, this solution, in addition to being obviously very polluting and not very ecological, is less energy efficient. It was thus possible to demonstrate that the energy efficiency of the machine illustrated in figure 1 introduced below is increased by 30 to 85% compared to machines known from the prior art. In addition, as these machines are regularly used in workshops or semi-enclosed sites, it goes without saying that the absence of gas emissions from the combustion of diesel by the thermal engine(s) is beneficial for the health of the operators. these machines and any other workers nearby.

According to a preferred embodiment of the machine of the invention, at least one of the axles comprises elevation means arranged to allow a variation of a distance between the chassis and the at least one wheel, and preferably the two wheels , supported by the axle.

This embodiment is very advantageous because it allows the operator of the machine the possibility of adjusting the elevation of the wheels via control over the distance between the chassis and the wheels supported by the axle. It is thus possible to tilt the arm by varying the height of the axle, and therefore of the chassis at which it is fixed. This makes it possible to compensate for the curvature of the arm, at the level of its extremal portion carrying the tool, due to the weight of the tool when the arm is deployed. It is entirely sufficient to incorporate the lifting means into a single axle to obtain this technical effect. The axle chosen can be both the front axle (i.e. closest to the tool) and the rear axle (i.e. furthest from the tool) for example.

Advantageously, the elevation means make it possible to dispense with an articulation between the arm and the compartment or with an elevation adjustment of stabilizing feet to adjust the inclination of the arm, as used within known machines of the prior art. This therefore contributes to the efficiency of use and the simplicity of the machine for treating concrete surfaces.

In the context of this document, the term "distance" between two objects refers to the shortest distance between two points each belonging to one of these objects.

Preferably, according to the aforementioned embodiments for which the axle comprises an axial part and two legs, each leg of said axle provided with elevation means comprises a pivot connection around which two parts of the leg are articulated. The elevation means preferably comprise a hydraulic cylinder arranged or coupled at this pivot connection. In this way, the variation in height of the axle induces a movement at the level of the pivot connection, like a knee in flexion for each leg. The hydraulic cylinder is, for example, coupled to a hydraulic motor forming part of the elevation means which can be arranged at the upper end of the leg.

According to a preferred embodiment of the invention, an electric motor is arranged in the chassis to move the arm via a belt, preferably notched, engaged at the level of the electric motor. It is thus possible to move (and therefore to deploy from the compartment and to retract into the compartment) the arm only via this electric motor and this belt, without using a hydraulic cylinder as in known machines. The machine according to the invention is all the more efficient because the drive power of the arm is no longer limited by the hydraulic cylinder: it is possible to use the electric motor as much as possible. This is particularly useful when the arm must be extended or retracted into the compartment without contact between the tool and the concrete (which is, for example, typically the case for a leveling tool when repositioning the tool at the beginning of a concrete surface). In this case, although the power deployed by the hydraulic cylinder is low, its speed is limited by the maximum available flow, the arm then moving slowly. The use of an electric motor overcomes this defect and makes it possible to increase the speed of the motor while remaining at its nominal power in such a case, hence the arm is moved more quickly and the tool repositioning time is reduced. reduced, which makes the use of the machine according to the invention more efficient for treating concrete surfaces.

Those skilled in the art will understand that the considerations relating to the aforementioned electric motor in this document go beyond the scope of the present invention as claimed in claim 1 and could be the subject of of an invention in its own right, including for a machine comprising stabilizing feet.

The belt typically mechanically couples the electric motor and the arm, through engagement on both sides. The belt is notched to prevent possible slippage and transmit more torque between the arm and the electric motor. A toothed belt also has the advantage of being adapted to the arrangement of a revolution sensor (or encoder or encoder) thereof at the level of the latter or at the level of its drive by the electric motor. Specifically, this sensor is for example arranged on a belt drive pulley. This sensor can then be used to determine the position of the arm and/or the tool according to the number of revolutions made by the belt, for example, determined at the level of the pulley. This data can then be used to regulate the speed of movement of the arm along the direction of extension, in particular during its deployment, to prevent it from stopping at the end of its stroke given its limited maximum extension length, which could damage the belt and/or the electric motor. This regulation is in particular the subject of a method (A) explained below.

According to one embodiment of the invention, the treatment tool is mechanically coupled to the end of the arm via a tool-carrying structure which is fixed to the end of the arm, and on either side of which are arranged two elevation cylinders carrying the tool to modify an elevation of the latter. It is thus made possible to adapt the height of the tool according to the quality and fluidity of the concrete, the desired leveling tolerance and/or other parameters. The two elevation cylinders are preferably hydraulic cylinders. However, other types of cylinders such as electric actuators would not depart from the scope of the invention.

Determining the elevation (or height) of the tool generally relies on a laser system as is known to those skilled in the art. More precisely, a reference plane is generated, in the operating zone of the machine, by means of a source of one or more laser beams. This reference plane can then be captured by receivers provided for this purpose and mounted on the tool which ensures that the tool remains at a desired elevation relative to this reference plane. In the event of deviation from this desired elevation, the aforementioned elevation cylinders allow the elevation of the tool to be adjusted.

The machine, in particular the tool, and the operating area of the machine are preferably equipped with this technology. In the case of a concrete surface leveling tool, this is very advantageous for leveling the surface sufficiently flat and at the correct height. This operation is often referred to as “laser screed”.

However, the exploitation of this technology can be hampered in the case where a physical obstacle is present between the source of the laser beam(s) and the receivers mounted on the tool, because then the receivers cannot sense the reference plane. To overcome this difficulty, each of the elevation cylinders is preferably equipped with a position sensor. Thus, when one or more of the receivers no longer sense the reference plane, the elevation of the tool via the corresponding elevation cylinder(s) can be modeled on its last known position value(s) using the position sensor(s). position. The corresponding regulation of the elevation of the tool is in particular the subject of a method (B) explained below.

The above-mentioned regulations of the movement speed (or position) of the arm and/or the elevation of the tool, and/or the position control of the machine according to the invention can be done entirely manually by an operator. by means of manual controls placed on the machine, for example via position data or the aforementioned sensor data received on an interface.

Preferably, the machine comprises a central computer module capable of assisting the operator in all or part of these regulations and/or this control, for example by automatically controlling all or part of the regulations and/or certain stages of control of the machine. In this case, the operator remains able to control the machine manually at any time, but components of the operation of the machine can also be controlled automatically by this central computer module. In this case, it is of course necessary that the machine is equipped with sensors corresponding to the components in question, or any other equivalent element, and that these are coupled (electrically and/or electronically) to the central information module so that the latter is able to base its control on the data received from the sensors. A coupling (electronic and/or electromechanical) is then also provided between the central computer module and the parts of the machine to be actuated and/or on which to act to achieve control of the components of the desired machine operation. So, for example, to regulate the elevation of the tool, it is necessary for the central computer module to be able to receive data from the receivers and/or position sensors, and actuate the two corresponding elevation cylinders.

Those skilled in the art will understand that the considerations relating to the central computer module in this document, and the various methods associated with it, go beyond the strict scope of the present invention as claimed in claim 1 and could make the subject of an invention in its own right, including for a machine comprising stabilizing feet for cases to which this applies.

Preferably, the central computer module is electronic in nature and is coupled electrically, electronically and/or electromechanically, as appropriate, to the wheels and/or electric motor(s) and/or actuator(s) and/or or hydraulic system and/or sensor(s) of the machine, depending on the mechanical elements and the embodiment considered, so as to implement one or more of the aforementioned regulation methods and/or control the movement of the machine at least according to certain mode and/or in certain circumstances, for example, in the case of method (C) of treatment explained below.

Preferably, when an axle comprises elevation means as mentioned above, a sensor, for example a magnetic sensor, is provided in the hydraulic cylinder arranged or coupled at the level of the pivot connection of each leg of the axle, to sense a position of the hydraulic cylinder and therefore the distance between the chassis and the wheels supported by the axle. These magnetic sensors and the corresponding hydraulic cylinders can be coupled to the central computer module, which will, for example, be configured to regulate an inclination of the arm according to the positions of the hydraulic cylinders. These couplings can for example be used to regulate the elevation of the tool in combination with the couplings of the electronic data module with the position sensors and the hydraulic elevation cylinders introduced above.

In the case of this document, the terms “based on” referring to a determination, regulation or calculation based on parameters or data should not be interpreted as the fact that the latter are restrictive and/or that their list is exhaustive.

Below are introduced some methods mentioned above which can be implemented with the machine according to the invention. The embodiments and advantages of the machine according to the invention are transposed mutatis mutandis to these methods.

The invention proposes in particular a method (A) for regulating a speed of movement of the arm of the machine in the context of the embodiments described above with reference to method (A). This method therefore applies to a machine equipped with an electric motor arranged in the chassis in order to move the arm (by extending or retracting it) via a belt at which a revolution sensor is arranged. The method includes regulation of the speed of movement of the arm in a closed loop, typically implemented by a computer coupled to said revolution sensor and said electric motor, for example by means of a central computer module as introduced above, based on data measured by the tower sensor. The deployment speed of the arm can thus be reduced when it is almost fully deployed to prevent it from damaging the belt or the electric motor by coming up against a limit of its extension.

Preferably, method (A) applies to a machine also checking the context of the embodiments described above with reference to method (B). The tool is then carried by elevation cylinders to modify its elevation, each of which is equipped with a position sensor. In this case, the regulation of the speed of movement of the arm, typically implemented by computer also coupled to the position sensors, for example by means of the module central computing, is preferably done in a closed loop based on data measured by both the tower and position sensors.

This embodiment of method (A) allows better regulation of the speed of the arm when it retracts. Indeed, taking into account the elevation of the tool makes it possible to take into account the force exerted by the concrete on the tool, and therefore on the arm, and to better adapt the retraction speed of the arm to this elevation. depending on the nature of the treatment. For example, in the case of a leveling tool, it is possible to determine this speed depending on the leveling quality (fine or standard, for example) desired and the elevation of the tool. For example, this quality can be pre-programmed at the central computer module in the form of options that the machine operator only has to select via an interface, so that the speed of movement of the arm is automatically regulated, specifically for quality, in a closed loop based on data measured by the revolution and position sensors.

The invention also provides a method (B) for regulating an elevation of the tool in the context of the embodiments described above with reference to method (B). The method applies to a machine whose tool is carried by elevation cylinders to modify its elevation and each of which is equipped with a position sensor as described above. In this case, the method includes regulation of the elevation of the tool, typically implemented by computer coupled to position sensors and elevation cylinders, for example by means of a central computer module as introduced below. -above, in a closed loop based on fluidity (and/or quality) data of the concrete and data measured by the position sensors. The method ensures that the elevation of the tool matches a desired elevation during machine operation. In particular, the method is entirely advantageous when this elevation is controlled on the basis of laser reception of a reference plane as explained above, because it then makes it possible to supplement and/or supplement this temporarily. .

• tant qu'au moins un faisceau laser peut être reçu par chacun des récepteurs :
  • déterminer les données de position issues des capteurs de position comme étant celles correspondant au plan de référence étant donné l'ajustement instantané en position des vérins d'élévation qui est rendue possible via les récepteurs ;
  • mémoriser (par exemple au moyen d'un support de données dudit module informatique central) la différence entre les données de positions issus des deux capteurs de position ;
• lorsqu'un des récepteurs ne reçoit plus de faisceau laser, estimer l'élévation de l'outil de ce côté, c'est-à-dire, au niveau de ce récepteur, par rapport au plan de référence, comme la différence entre la donnée de position issue du capteur de position de ce même côté et la donnée de position issue de l'autre capteur de position corrigée par ladite différence mémorisée.

More precisely, method (B) can be completed as follows:

• as long as at least one laser beam can be received by each of the receivers:
  • determine the position data from the position sensors as those corresponding to the reference plane given the instantaneous adjustment in position of the elevation cylinders which is made possible via the receivers;
  • memorize (for example by means of a data carrier of said central computer module) the difference between the position data from the two position sensors;
• when one of the receivers no longer receives a laser beam, estimate the elevation of the tool on this side, that is to say, at this receiver, relative to the reference plane, as the difference between the position data from the position sensor on this same side and the position data from the other position sensor corrected by said stored difference.

These steps provide an example of practical implementation of method (B) in the case of issuing a reference plane in the environment in which the machine operates. When the receivers receive the laser beam(s) which correspond to the reference plane, the closed-loop regulation based on the position data from the position sensors is due in particular to the fact that the position data corresponds in any case to the adjustment in position of the cylinders obtained via the receivers. Such regulation is of course always possible independently of this context, in particular when the target position data is known at the concrete surface.

Another advantage of using position sensors via method (B) is to avoid the use of an inclinometer measuring a roll angle at the tool as additional data to that obtained via the receivers. Indeed, the signal from such an inclinometer could be disturbed by the vibrations of the tool, which would reduce its reliability.

As for method (A), the fluidity (or quality) data of the concrete can be a variable corresponding to a desired elevation of the tool and which can be pre-programmed at the level of the central computer module in the form of options that the machine operator only has to select via an interface, so that the elevation of the tool is automatically regulated, so that specific to fluidity, closed loop based on data measured by position sensors. This is particularly advantageous because the machine operator does not need to specifically adjust the elevation of the tool, the central computer module being configured for this purpose based on the fluidity data. A saving of time is made possible, in particular because this fluidity is likely to change during a day of operation with the machine. It is therefore not necessary to plan installation times to re-configure the elevation of the tool according to the variation in the fluidity of the concrete, the communication of the variation in question by simple option on the interface being sufficient to this regard. This embodiment is advantageous in the case of a leveling tool for which the fluidity of the concrete generally significantly influences the result obtained by the machine. The concrete fluidity data must, for example, be chosen or considered from “slump ranges” (for example S1, S2, S3, S4 or S5).

• (0) positionner la machine face à la première surface de béton à traiter de la succession, de sorte que la direction d'extension surmonte la surface de béton, les roues de la machine étant orientées selon la direction de guidage ;
• (i) traiter la surface de béton au moyen de la machine ;
• (ii) déplacer la machine d'une distance prédéterminée de sorte que la direction d'extension surmonte la surface de béton à traiter suivante dans la succession, laquelle comprend une bande de recouvrement extrémale avec la surface de béton traitée à l'étape (i) s'étendant parallèlement à la direction d'extension ;
• (iii) itérer les étapes (i) et (ii) ;
  l'étape (ii) étant régulée au moyen d'un module informatique central de la machine couplé de façon électronique et/ou électromécanique aux roues et sur base de données reçues du au moins un capteur rotatif.

The invention also proposes a method (C) for treating a succession of similar concrete surfaces aligned along a guiding direction, by means of the machine according to the invention, the latter further comprising at least one rotary sensor (or encoder) arranged at at least one of the wheels in order to measure a distance traveled by this wheel. Method (C) then includes the following steps:

• (0) position the machine facing the first concrete surface to be treated in the succession, so that the direction of extension overcomes the concrete surface, the wheels of the machine being oriented in the guide direction;
• (i) treat the concrete surface using the machine;
• (ii) moving the machine a predetermined distance so that the direction of extension overcomes the next concrete surface to be treated in succession, which includes an end overlap strip with the concrete surface treated in step (i ) extending parallel to the direction of extension;
• (iii) iterate steps (i) and (ii);
  step (ii) being regulated by means of a central computer module of the machine coupled electronically and/or electromechanically to the wheels and on the basis of data received from at least one rotary sensor.

This method (C) is made possible given the steerable nature of the wheels and their ability to support the machine whatever the position of the tool. In particular, method (C) makes it possible to quickly treat a large number of concrete surfaces in succession without the need to place and remove stabilizing feet from the machine. In particular, the machine thus moves “crab-like”.

Orienting the wheels according to the guiding direction and moving the machine a predetermined distance also avoids any loss of time to manually adjust "by eye" the position of the machine when the concrete surfaces are similar and aligned. Method (C) can be adapted and/or supplemented by step (ii)' consisting of an adjustment in the position of the machine for concrete surfaces which are not similar along the direction of extension, but remain aligned . The wheels are then, preferably, reoriented according to the guiding direction, if necessary, before or after the treatment.

Preferably, the predetermined distance corresponds to the difference between the width of the tool and that of the end covering strip, these widths being measured according to the guiding direction.

The end cover strip aims to make a clean junction between the treatment of a concrete surface and the adjacent concrete surface. It is particularly useful when the tool flattens these concrete surfaces because the edge of such a surface tends to sag after leveling when it is not maintained (and therefore when it adjoins a surface without concrete, or on which the concrete has not yet been leveled).

The electronic and/or electromechanical coupling of the wheels with the central computer module is similar to that discussed previously. It preferably concerns the electric motors for advancing in the wheel hubs and the means for rotating the wheels according to the related embodiments. Thus, the central computer module can control the advancement and orientation of the wheels based on the data received from the rotary sensor(s). This is possible because they provide information on the distance traveled by the wheel(s), therefore the distance to travel to move the machine the predetermined distance.

Preferably, step (ii), although being regulated by the central computer module, is started on the basis of an instruction received from the operator of the machine, for example via an interface, when step (i ) is completed.

The invention finally proposes a method of manufacturing a concrete surface comprising use of a machine according to the invention to treat the concrete surface. The case where the treatment is leveling (and therefore where the tool is dedicated to this treatment) is preferred but the invention is not limited to it.

Brief description of the figures

• la figure 1 représente une vue tridimensionnelle globale d'une machine selon un mode de réalisation préféré de l'invention lorsque son bras est rétracté dans le compartiment ;
• les figures 2A, 2B et 2C illustrent schématiquement du dessus des orientations des roues de la machine représentée en figure 1 ;
• la figure 3 illustre schématiquement du dessus le positionnement du centre de gravité de la machine représentée en figure 1 par rapport à ses roues ; et
• la figure 4 illustre schématiquement du dessus une réalisation de la méthode de traitement de surfaces de béton successives selon l'invention et au moyen de la machine représentée en figure 1.

Other characteristics and advantages of the present invention will appear on reading the detailed description which follows, for the understanding of which reference will be made to the appended figures among which:

• there figure 1 represents an overall three-dimensional view of a machine according to a preferred embodiment of the invention when its arm is retracted into the compartment;
• THE Figures 2A, 2B and 2C schematically illustrate from above the orientations of the wheels of the machine represented in figure 1 ;
• there Figure 3 schematically illustrates from above the positioning of the center of gravity of the machine represented in figure 1 in relation to its wheels; And
• there Figure 4 schematically illustrates from above an embodiment of the method of treating successive concrete surfaces according to the invention and by means of the machine represented in figure 1 .

Figure drawings are generally not to scale. Similar elements may be denoted by like references in the figures. In particular, identical or similar elements may bear the same references. Furthermore, the presence of numbers or letters of reference to the drawings is not limiting, in particular when these numbers or letters are indicated in the claims.

Description of embodiments of the invention

A detailed description of preferred embodiments of the invention is presented. This is described with particular embodiments and references to figures but the invention is not limited by these. The drawings or figures described below are only schematic and are not limiting.

In particular, the embodiments described below concern the case where the treatment is leveling. In particular, the machine is a leveler of unset (or unhardened) concrete surfaces and the tool is a leveling tool dedicated to this use. The invention is, however, not limited there.

The tool in question is represented in figure 1 and referenced by 2. It comprises a head formed of a leveling rule arranged to move on a concrete surface using the machine 1. This head makes it possible to establish a desired slope on the concrete surface. This tool 2 is widely known to those skilled in the art.

The tool 2 is mechanically coupled to the end of a telescopic arm 3, which allows the aforementioned movement in an extension direction d. The mechanical coupling is done via a tool holder structure 21 fixed to the end of the arm 3 supporting the tool 2. Two hydraulic elevation cylinders 22 are arranged on either side of the tool holder structure 21 and allow to support the tool 2 at its ends. These cylinders make it possible to modify the elevation of the tool 2 at its ends. Each is surmounted by a laser receiver 24 to detect a laser reference plane generated in the operating environment of the machine 1 as described in the description of the invention. The hydraulic elevation cylinders 22 are in a known manner controlled on the basis of signals emitted by these receivers 24, so as to control the elevation of the tool 2 relative to the reference plane and to guarantee that the leveling is done according to the slope and/or the desired plane.

In the case of the embodiment of the figure 1 , the hydraulic elevation cylinders 22 are each equipped with a position sensor 23 which also makes it possible to regulate the elevation of the tool 2 as detailed in the presentation of the invention, in particular when laser reception is compromised .

The machine 1 comprises a main and central chassis 5 extending mainly in the direction of extension d, in which a compartment is formed hollow for the arm 3 when the latter is retracted. The chassis supports a manual control zone of the machine 1 comprising a seat 91 for an operator, control commands 92 (presenting for example a form of joysticks potentially including buttons) and a screen 93, preferably interactive. The operator can manually control all operations of machine 1 by means of control commands 92 and optionally via screen 93. Screen 93 further allows the operator to supervise the operation of machine 1. For example , a two-axis joystick of a control command 92 makes it possible to control the direction and acceleration of the machine 1.

The control data which follows the operator's interactions with the control commands 92 and the screen 93 pass through a central computer module 8 (or "central electronic module") arranged at the end of the chassis 5 opposite the arm 3 for reasons for balancing the center of gravity of the machine 1. This central computer module 8 is coupled electrically, electronically and/or electromechanically as appropriate to the control commands 92, but to the components of the machine which make it possible to control the functionalities of the machine, and in particular to implement the operator's instructions. Preferably, the machine 1 comprises sensors at the level of these components (for example, the position sensors 23) coupled to the central computer module 8, so that the latter can automatically control at least part of the operations of the machine 1 , and/or regulate parameters of the operation of the machine 1 as explained in detail in the presentation of the invention.

The machine 1 comprises two axles 61, 62 fixed directly (or even extending if necessary) at the level of two extremal portions 51, 52 resp. of the chassis 5. Each axle 61, 62 comprises an axial part 611, 621 resp. extending perpendicular to the direction of extension d, from the chassis 5, and two legs 612, 622 resp. arched wheel support legs, on either side of the axial part 611, 621. Each of the legs 612, 622 comprises an upper end 613, 623 resp. mechanically coupled to one end of the axial part 611, 621 via gyration means 7. These allow relative rotation between the axial part 611, 621 and the leg 612, 622 resp. Of such turning means 7 can be implemented as a hydraulic turning motor mechanically coupled to a slewing ring.

A lower end 614, 624 of each leg 612, 622 is intended to be fixed at a hub 43 of a wheel 41, 42 resp.

The machine 1 comprises at least two pairs of wheels 41, 42 supported by the axles 61, 62 resp. and mechanically coupled to them. The hub 43 of each wheel 41, 42 is fixed to a lower end 614, 624 of one of the legs 612, 622, and an electric motor for advancing the wheel 41, 42 is arranged there. Thus, the wheels are independently steerable, preferably 360°. The machine can thus move on its wheels 41, 42 via the aforementioned electric motors in any direction by combining translation and rotation.

THE figures 2A-C illustrate the freedom of movement possible by means of these wheel-axle couplings on chassis 5. On the Figure 2A , the wheels 41, 42 are oriented so as to move the machine 1 longitudinally with a turning radius (counter-steering wheel mode). On the Figure 2B , the wheels 41, 42 are oriented so as to move the machine 1 laterally “crab-like” (parallel wheel mode). On the Figure 2C , the wheels 41, 42 are oriented to cause the machine 1 to rotate on site, the latter being useful for orienting the arm 3.

Since the axles 61, 62 supporting the wheels 41, 42 are fixed at the level of the end portions 51, 52 resp. of the chassis 5, the wheelbase E of the machine 1 is 30 to 50% larger than on the machines known from the state of the art as described in the presentation of the invention. It is made possible that the center of gravity of the machine 1 is and remains in a space P between (or which overcomes) the wheels 41, 42 as illustrated in Figure 3 where the center of gravity is indicated by a cross, regardless of the position of the tool 2 along the direction of extension d. This position, like other parameters (for example, the inclination of the arm 3), is in fact likely to unbalance the machine 1 given the weight of the tool 2 and the arm 3. Thanks to the arrangement of the wheels 41 , 42 and axles 61, 62 directly on the end portions 51, 52 resp. of the chassis 5, the center of gravity of the machine 1 remains in a zone V included in the space P. It follows that the machine 1 is supported and stabilized on its four wheels 41, 42 whatever the position of tool 2, without requiring stabilizing feet. Machine 1 does not include any.

In the case shown in figure 1 , the rear axle 62 is provided with elevation means arranged to allow a variation in a distance between the chassis 5 and the wheels 42 supported by the axle 62. In other words, they allow a variation in height of the axle 62, therefore from the rear of the machine 1, making it possible to modify the inclination of the arm 3. In particular, when the arm 3 is deployed, it is useful to lower the rear of the machine 1 because the arm 3 tends to bend due to its weight. The elevation means comprise a pivot connection 625 in each leg 622 of the axle 62, the two parts of the legs 622 articulating on either side of the pivot connection 625. A hydraulic cylinder is arranged or coupled to the level of the pivot connection 625 to allow variation of the aforementioned distance.

There Figure 4 illustrates part of an execution of a method of treating concrete surfaces S that are similar and aligned successively in a guiding direction g. In this case, a rotary sensor is arranged at the level of the wheels 41, 42 and coupled to the central computer module 8 to measure a distance traveled by the wheels 41, 42, and therefore the machine 1.

The machine 1 is first positioned facing the first concrete surface S to be treated, so that the direction of extension d of the arm 3 overcomes the concrete surface S. The wheels 41, 42 of the machine are then oriented according to the guiding direction g.

The concrete surface S is then leveled. To do this, the arm 3 extends above the concrete surface S then is retracted towards the machine 1 as illustrated in Figure 4 . The central computer module 8 makes it possible to automatically regulate different aspects of this step, and in particular the inclination of the arm 3 via the hydraulic cylinders coupled at the level of the pivot links 625, the retraction speed of the arm 3, the elevation of the tool 2, etc. as detailed in the presentation of the invention, and this potentially on the basis of data introduced by the operator by means of the control commands 92 or the screen 93 such as the fluidity data of the concrete and/or the quality desired leveling.

The central computer module 8 makes it possible, on the basis of the data received from the rotary sensors, to control a movement of the machine 1 (whose wheels 41, 42 are already oriented "crab-like" towards the next concrete surface S) of a distance predetermined (and/or preprogrammed) equal to the width L of the tool 2 from which the desired width L' of a possible extremal covering strip R is removed, this width L' being able to be zero in the case where no such strip would not be necessary. This width L' is however preferably non-zero, particularly in the case of a grader machine.

The leveling of concrete surfaces S is thus made simple and efficient for the operator, thanks to the orientability of the wheels 41, 42, their capacity to support and stabilize the machine 1 in all circumstances, the presence of the central computer module 8 which makes it possible to control the movement of the machine 1 and to regulate various parameters of its operation.

In brief, the present invention relates to a machine 1 for treating a concrete surface comprising a treatment tool 2 mechanically coupled to one end of a telescopic arm, a frame 5 in which a compartment is formed for the arm 3, as well as that two axles 61, 62 fixed at two respective end portions 51, 52 of the chassis 5 each supporting at least one wheel 41, 42. The wheels 41, 42 are steerable and their arrangement via the axles 61, 62 and the chassis 5 above is such that they make it possible to support the machine 1 whatever the position of the tool 2 and the arm 3.

The invention has been exposed and described in this document in relation to specific embodiments having purely illustrative value. These should not be considered limiting. More generally, it will appear obvious to a person skilled in the art that the present invention is not limited to the examples illustrated and/or described above.

Claims (15)

Machine (1) for treating a concrete surface comprising: - a tool (2) for treating a concrete surface mechanically coupled to one end of a telescopic mechanical arm (3), so that the tool (2) is movable above the concrete surface in a direction of extension (d) of the arm (3); - a hollow compartment for the arm (3); - wheels (41, 42) coupled to the compartment and arranged to move the machine (1); characterized in that : - the compartment is formed in a frame (5) of the machine (1) extending mainly along the extension direction (d); - the chassis (5) comprises two end portions (51, 52) at each of which is fixed at least one axle (61, 62) extending transversely to the direction of extension (d) and supporting at least one of the wheels (41, 42); - the wheels (41, 42) are orientable and adapted to support the machine (1) for any position of the tool (2) along the extension direction (d). Machine (1) according to claim 1, having a wheelbase (E) measured in the direction of extension (d) between 35% and 65% of a maximum extension length of the arm measured in the direction of extension ( d). Machine (1) according to claim 1 or 2, in which each axle (61, 62) comprises: - an axial part (611, 621) extending mainly transversely to the direction of extension (d), from the chassis (5); - two legs (612, 622) each of which comprises: • an upper end (613, 623) mechanically coupled to one end of the axial part (611, 621) by means of gyration (7) arranged to allow relative rotation between the axial part (611, 621) and the leg (612, 622), • a lower end (614, 624) fixed to a hub (43) of one of the wheels (41, 42). Machine (1) according to claim 3, in which the gyration means (7) comprise a gyration motor mechanically coupled to a slewing ring. Machine (1) according to claim 3 or 4, in which each leg (612, 622) is arcuate, the upper (613, 623) and lower (614, 624) ends being aligned in a direction orthogonal to the direction of extension (d). Machine (1) according to any one of the preceding claims, in which at least one of the axles (62) comprises elevation means arranged to allow a variation of a distance between the chassis (5) and the at least one wheel (42) supported by the axle (62). Machine (1) according to claim 6 when dependent on any one of claims 3 to 5, in which each leg (622) of the axle (62) comprises a pivot connection (625) around which two parts of the leg (622) articulates, the elevation means comprising a hydraulic cylinder arranged or coupled at the level of the pivot connection (625). Machine (1) according to any one of the preceding claims, in which each wheel (41, 42) comprises a hub (43) within which an electric motor for advancing the wheel (41, 42) is arranged. Machine (1) according to any one of the preceding claims, comprising an electrical power supply coupled to at least one electric motor and to a hydraulic system to power functionalities of the machine (1), which include any movement of the wheels (41, 42), the arm (3) and the tool (2). Machine (1) according to any one of the preceding claims, comprising an electric motor arranged in the chassis (5) to move the arm (3) via a belt, preferably notched, engaged at the level of the electric motor . Machine (1) according to any one of the preceding claims, in which the tool (2) is mechanically coupled to the end of the arm (3) via a tool-carrying structure (21) fixed to the end of the arm ( 3) on either side of which are arranged two elevation cylinders (22) carrying the tool (2) to modify an elevation of the latter, each elevation cylinder (22) being equipped with a sensor of position (23). Method for regulating a speed of movement of the arm (3) of a machine (1) according to claim 11 when it depends on claim 10, the machine (1) further comprising a toothed belt revolution sensor arranged at the latter, the method comprising regulation of the speed of movement of the arm (3) in a closed loop based on data measured by the position (23) and revolution sensors. Method of regulating an elevation of the tool (2) of a machine (1) according to claim 11, the method comprising regulating the elevation of the tool (2) in a closed loop on the basis of a concrete fluidity data and data measured by the position sensors (23). Method for treating a succession of similar concrete surfaces (S) aligned along a guiding direction (g), by means of a machine (1) according to any one of claims 1 to 11, the machine (1) further comprising at least one rotary sensor arranged at the level of at least one minus one of the wheels (41, 42) to measure a distance traveled by this wheel (41, 42), the method comprising the following steps: (0) position the machine (1) facing the first concrete surface (S) to be treated in the succession, so that the direction of extension (d) overcomes the concrete surface (S), the wheels (41, 42) of the machine being oriented in the guide direction (g); (i) treating the concrete surface (S) using the machine (1); (ii) moving the machine (1) a predetermined distance (L-L') so that the direction of extension (d) overcomes the next concrete surface (S) to be treated in succession, which comprises a strip of extremal covering (R) with the concrete surface (S) treated in step (i) extending parallel to the direction of extension (d); (iii) iterate steps (i) and (ii); step (ii) being regulated by means of a central computer module of the machine (1) coupled electronically and/or electromechanically to the wheels (41, 42) and on the basis of data received from at least one rotary sensor. Method of manufacturing a concrete surface comprising using a machine (1) according to any one of claims 1 to 11 to treat the concrete surface.

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