JP2018087446A - Concrete floor surface finishing device and concrete floor surface finishing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide concrete floor surface finishing device and concrete floor surface finishing method which can move without receiving reaction to a concrete floor surface and which can uniformly level the concrete floor surface.SOLUTION: A concrete floor surface finishing device 1 comprises a rotary trowel 3 arranged in a propeller shape on the undersurface side of a device body 2, a lower frame 4 arranged around the rotary trowel 3, flying and moving means 7 for moving the device body 2 by lift force of rotary wings 5 and 6, a plurality of ground contact pressure sensors 22a-22d fixed in the lower end of the lower frame 4, and level detection means for detecting a level and a position of the rotary trowel 3, and the concrete floor surface finishing device moves by the flying and moving means 7 and can level a concrete floor surface A of a position on which the finishing device lands, by the rotary trowel 3.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a concrete floor surface finishing apparatus and a concrete floor surface finishing method used for finishing a concrete placing floor surface in a concrete structure.

  Traditionally, finishing work on concrete floors in concrete structures has been done manually by workers using scissors, but the leveling work by these workers is carried out over a long period of time in the middle waist. In recent years, there has been a problem that it is difficult to secure skilled workers.

  Thus, in recent years, work saving and efficiency have been achieved by using a concrete floor finishing device (hereinafter referred to as a floor finishing device) such as Trowell.

  The Trowell type floor finishing apparatus includes a plurality of rotating rods arranged in a propeller shape on the lower surface side of the apparatus main body, and a rod driving means such as a motor or a motor for rotating the rotating rod, and moves the apparatus main body appropriately. On the other hand, by rotating and driving the rotary rod in contact with the surface to be finished, the surface to be finished is leveled while being pressurized.

  This Trowell type floor finishing apparatus includes a hand-operated type in which a worker operates a handle attached to the rear of the apparatus (see, for example, Patent Document 1), and a riding on which an operator rides and operates on the apparatus. There is a type (see, for example, Patent Document 2), etc., and the ground pressure of the rotary rod is changed by tilting the device body by operating the handle or moving the body weight, and the propulsion generated thereby is used for movement. It has become.

  In addition, a robot type that can be moved by remote operation or automatic control has been developed as a floor finishing device (see, for example, Patent Document 3).

JP 2004-225523 A JP-A-2015-196994 JP 02-204570 A

  However, in the conventional Trowell type floor finishing apparatus as described above, when moving on the floor surface to be finished, the ground pressure of the rotary rod is changed by tilting the apparatus body, and the thrust generated thereby is used. The ground contact pressure acting on the surface to be finished could not be applied uniformly, and there was a risk that defects such as cracks, unevenness, and formation of fragile layers would occur on the concrete floor.

  Also, in the technique shown in Patent Document 3, since the reaction force is applied to the floor surface as a propulsive force, the propulsive force affects the ground contact pressure of the kite and hinders the formation of a smooth floor surface. There was a fear.

  Therefore, in view of such a conventional problem, the present invention is a concrete floor surface finishing apparatus and a concrete floor surface finishing method that can move without taking a reaction force on the concrete floor surface and can level the concrete floor surface uniformly. It was made for the purpose of providing.

  The feature of the invention according to claim 1 for solving the conventional problem as described above is that a rotary rod arranged in a propeller shape on the lower surface side of the apparatus main body, and a lower frame arranged around the rotary rod A concrete floor surface finishing device that is driven to rotate in a state where the rotary rod is in contact with the concrete floor surface, and a flight moving means for moving the device body by a lifting force of a rotary blade, and a lower end of the lower frame A concrete floor finishing apparatus comprising a plurality of ground pressure sensors fixed to a section and a level detection means for detecting the level of the rotary rod.

  According to a second aspect of the present invention, in addition to the configuration of the first aspect, the flight moving means includes an upper rotary support shaft and a lower rotary support shaft that are coaxially disposed on an upper portion of the apparatus main body, and the upper portion. An upper rotor blade and a lower rotor blade supported by a rotary head and a lower rotary shaft via a rotor head, respectively, so that the upper rotor blade and the lower rotor blade rotate in opposite directions. It is in.

  According to a third aspect of the present invention, in addition to the configuration of the first or second aspect, the wireless control unit further includes a wireless control unit capable of remotely operating the rotary rod and the flight moving means, and the wireless control unit includes the ground pressure sensor. Display means for displaying the measurement data and the detection signal of the level detection means.

  According to a fourth aspect of the present invention, there is provided a rotating rod disposed in a propeller shape on the lower surface side of the apparatus main body, a rod driving means for rotating the rotating rod, and a lower frame disposed around the rotating rod. In the concrete floor surface finishing method in which the concrete floor surface finishing device is rotated by using the concrete floor surface finishing device comprising: Flight moving means comprising rotary wings, flight movement control means for controlling the flight movement means, a plurality of ground pressure sensors fixed at the lower end of the lower frame, and level detection for detecting the level of the rotary rod Means for moving in a state of being lifted from the concrete floor by the lift of the rotor blades, and the contact pressure sensors and the level detecting means after landing. In finishing method of the concrete floor repeating the leveling step for rotating the rotary trowel while controlling on the basis of the data.

  According to a fifth aspect of the present invention, in addition to the configuration of the fourth aspect, in the moving step, the grounding pressure sensor disposed at the rear in the moving direction is aligned and landed on the inner edge of the already leveled range. There is.

  As described above, the concrete floor finishing apparatus according to the present invention includes a rotating rod disposed in a propeller shape on the lower surface side of the apparatus main body, and a lower frame disposed around the rotating rod, and the rotating rod. In a concrete floor surface finishing device that is driven to rotate in a state where it is grounded to the concrete floor surface, a flight moving means for moving the device body by a lifting force by a rotary blade, and a plurality of fixed to the lower end portion of the lower frame And a level detecting means for detecting the level of the rotary rod, it is possible to move without using a propulsive force due to a change in the ground pressure of the rotary rod, and a ground pressure sensor and The concrete floor can be leveled uniformly based on the information from the level detection means.

  Further, in the present invention, the flight movement means includes an upper rotary spindle and a lower rotary spindle arranged coaxially on the upper part of the apparatus main body, and a rotor head on each of the upper rotary spindle and the lower rotary spindle. And the upper rotor blade and the lower rotor blade supported by each of the rotor blades, and the upper rotor blade and the lower rotor blade are rotated in opposite directions to each other. It is possible to cancel out and move in a stable state. In addition, the rotor blade can be made compact.

  Furthermore, in the present invention, a wireless control unit capable of remotely operating the rotary rod and the flight moving means is provided, and the wireless control unit displays the measurement data of the ground pressure sensor and the detection signal of the level detection means. With this, the posture of the apparatus can be grasped based on displayed information and can be suitably controlled by remote operation.

  In the method of the present invention, a concrete floor comprising: a rotating rod disposed in a propeller shape on the lower surface side of the apparatus main body; a rod driving means for rotating the rotating rod; and a lower frame disposed around the rotating rod. In a finishing method of a concrete floor surface that uses a surface finishing device and rotates the rotary rod in contact with the concrete floor surface every time it moves, the concrete floor surface finishing device has a flying movement composed of rotor blades. Means, flight movement control means for controlling the flight movement means, a plurality of ground pressure sensors fixed at the lower end of the lower frame, and level detection means for detecting the level of the rotary rod, Based on the movement process of moving in a state of floating from the concrete floor by the lift of the rotor blades, and the data of the respective ground pressure sensors and level detection means after landing By repeating the leveling step of rotating the rotary rod while controlling, it is possible to move without using the propulsive force due to the change in ground pressure of the rotary rod, and the information from the ground pressure sensor and the level detection means The floor of the concrete can be leveled uniformly.

  Further, in the method of the present invention, the moving step eliminates a level difference between adjacent ranges by aligning and landing the position of the ground pressure sensor arranged rearward in the moving direction on the inner edge of the already uniformed range. Evenly, the concrete floor can be leveled.

It is a front view which shows the outline of the concrete floor surface finishing apparatus which concerns on this invention. It is a top view same as the above. It is a bottom view same as the above. (a) is a front view for demonstrating the state at the time of the movement of a concrete floor finishing apparatus, (b) is a front view for demonstrating the state at the time of equalization work. (a)-(c) is a top view for demonstrating the positional relationship at the time of the movement process of a concrete floor surface finishing apparatus.

  Next, an embodiment of the concrete floor finishing apparatus according to the present invention will be described based on the examples shown in FIGS.

  A concrete floor surface finishing device (hereinafter referred to as a floor surface finishing device) 1 includes a propeller-shaped rotating rod 3 disposed on the lower surface side of the device body 2 and a lower frame 4 disposed around the rotating rod 3. The concrete floor surface A is pressed and leveled by rotating the rotary rod 3 while being in contact with the concrete floor surface A.

  Further, the floor finishing apparatus 1 includes a flight moving means 7 for moving the apparatus main body 2 with lift by the rotor blades 5 and 6 so that it floats from the concrete floor A and can move horizontally.

  Furthermore, the floor finishing apparatus 1 includes a wireless control unit that controls the rotary rod 3 and the flight moving means 7, and can be remotely operated.

  The rotary rod 3 includes a rod support shaft 10 that protrudes from the lower surface of the apparatus body 2, square bar-shaped handle portions 11, 11... That project radially from the lower end portion of the rod support shaft 10, and the handle portions 11. , 11..., 11... Are fixed to the lower surface of the apparatus body 2, and are rotationally driven by the heel drive means 13 held in the lower half of the apparatus body 2. ing.

  The eaves driving means 13 includes a power source composed of a servo motor capable of rotation control, and the eaves support shaft 10 is connected to the rotation shaft via a gear box.

  The lower frame 4 includes an annular grounding ring 20 and a plurality of support arms 21, 21... Supported by the grounding ring 20, and the apparatus main body 2 is supported on the upper ends of the support arms 21, 21. Then, the rotary rod 3 is disposed inside the ground ring 20.

  A plurality of ground pressure sensors 22a to 22d are fixed to the outer periphery of the ground ring 20, and measurement data measured by the ground pressure sensors 22a to 22d is transmitted to the operation unit 41, which will be described later, by radio at any time and displayed on the display means. It is displayed. The ground pressure sensors 22a to 22d are not particularly limited. For example, diaphragm pressure sensors are used.

  A plurality of laser receivers 23a to 23d are provided on the outer periphery of the grounding ring 20, and the laser receivers 23a to 23d detect the level of the rotary rod 3 together with the laser projector 24 installed on the floor surface. It constitutes a detection means.

  That is, the level detection means adjusts the laser projector 24 to a reference height, and rotates and scans the laser light, thereby forming a reference surface by a laser beam at a desired height from the concrete floor A, and the grounding ring 20. When the laser receivers 23a to 23d fixed to the laser beam receive the laser beam, a detection signal is transmitted.

  The flight moving means 7 is a coaxial reversal type double rotor, that is, a coaxial upper rotating shaft 30 and a lower rotating shaft 31 protruding from the upper surface of the apparatus body 2, and an upper rotating shaft 30 and a lower rotating shaft 31. The upper rotor blade 5 and the lower rotor blade 6 are supported by supporting the blades 5a and 6a via the heads 32 and 33, and the upper rotor blade 5 and the lower rotor blade 6 are connected by the rotor drive means 34 including a servo motor. Are rotated in opposite directions.

  Further, the upper rotor blade 5 and the lower rotor blade 6 include rotor head driving means (not shown) for operating the rotor heads 32 and 33 so that the rotor blade angle and the pitch angle of the blades 5a and 6a can be adjusted. It has become.

  The rotary blade drive means 34 and the rotor head drive means are controlled by the wireless control unit for the rotational speed, rotary blade angle and blade pitch angle of the rotary blades 5 and 6, and can adjust speed, moving direction and altitude by remote control. It is like that.

  The wireless control unit includes a main body side control unit 40 installed in the apparatus main body 2, an operation unit 41 that operates the main body side control unit 40, and a communication unit that wirelessly communicates the main body side control unit 40 and the operation unit 41. The flight moving means 7 and the rotary rod 3 can be remotely operated by the operation unit 41. Reference numeral 42 in the figure denotes a power supply unit that supplies electric power to the rotary kite and the flight moving means 7.

  Further, the operation unit 41 includes display means 41a for displaying the measurement data of the ground pressure sensors 22a to 22d and the detection signal of the level detection means, and operates based on the ground pressure data and level information displayed on the display means 41a. It can be done.

  Next, a concrete floor finishing method using the floor finishing apparatus 1 as described above will be described. In addition, the code | symbol 4 is a concrete floor surface in which concrete was laid.

  First, as shown in FIG. 4A, the floor finishing device 1 is levitated by the flight moving means 7, and in that state, the floor finishing device 1 is horizontally moved to a predetermined position on the concrete floor A to be finished and landed.

  At that time, since the flight moving means 7 is provided with a coaxial reversing type double rotor, the reaction torque acting on the apparatus main body 2 by the rotation of the upper rotor blade 5 and the lower rotor blade 6 is offset, and the apparatus main body 2 is The ground pressure sensors 22a to 22d and the laser receivers 23a to 23d can be moved in a stable state while being held in a desired direction.

  Next, the laser projector 24 is adjusted, the height of the reference surface by the laser scanning light is set to a position slightly higher than the designed finishing height (for example, +5 mm from the finishing surface), and scanning of the laser light is started.

  In this state, rotation of the rotary rod 3 is started and data is transmitted from the ground pressure sensors 22a to 22d as needed and displayed on the display means 41a of the operation unit 41.

  Then, while confirming the light reception signals of the ground pressure sensors 22a to 22d and the level detecting means displayed on the display means 41a, the rotary rod 3 is rotated while adjusting the rotational speed of the rotary rod 3 by the rod driving means 13. The concrete floor A is pressed by the frames 12, 12 ... (leveling process).

  When the level of the rotary rod 3 reaches the reference plane and the laser receivers 23a to 23d constituting the level detection means receive the laser, the level detection signal is displayed on the display means 41a, so the rotary rod 3 is stopped. Let

  Next, the rotary blade driving means 34 is operated to float the floor finishing device 1 and move horizontally in that state (moving step). At that time, the floor finishing device 1 floats and moves horizontally by using the lifting force associated with the rotation of the rotary blades 5 and 6, so that the ground pressure change of the rotary rod 3 is not used as a driving force, and the concrete floor A Can move without reaction force.

  As shown in FIGS. 5 (a) to 5 (b), the movement is confirmed by visual observation, and the ground pressure sensor 22d arranged at the rear in the movement direction is moved horizontally until reaching the inner peripheral edge of the already uniformed range 60a. , Land at that position.

  At that position, the rotary rod 3 is rotationally driven while being controlled based on the data of the respective ground pressure sensors 22a to 22d, and the concrete floor A is pressed until the reference level is reached (a leveling step).

  At this time, the measured values of the other ground pressure sensors 22a to 22c are leveled so as to be the same as the ground pressure of the ground pressure sensor 22d located on the range 60a that has already been leveled, thereby equalizing between adjacent ranges. The level can be kept uniform.

  And the leveling process and movement process which were mentioned above are repeated continuously in one direction.

  When the floor finishing device 1 reaches the end of the concrete floor surface A and the leveling operation at that position is completed, as shown in FIGS. 5 (b) to 5 (c), the floor finishing device 1 is lifted, moved in a direction perpendicular to the repeating direction of the leveling operation on the basis of the already leveled position 60b, and the leveling and moving steps are repeated in the direction opposite to the leveling repetition direction.

  Then, the above series of operations is repeated on the entire concrete floor surface A, and the roughening of the entire concrete floor surface A is completed.

  Next, the laser projector 24 is adjusted, the height of the reference surface by the laser scanning light is set to the same position as the designed finishing height (position of ± 0 mm with respect to the finished surface), and scanning of the laser light is started.

  Then, similarly to the above roughening operation, the leveling step and the moving step are repeated for the entire concrete floor surface A, and the concrete floor surface A is finished to a substantially designed finish height (first finishing step).

  Finally, after the first finishing step, the floor surface finishing device 1 is moved to a position where unevenness or unevenness is generated, and the rotary rod 3 is rotated at that position to perform the finishing (second finishing step). Complete.

  In the above-described embodiment, the example in which the flight moving means 7 is the coaxial reversing type double rotors 5 and 6 has been described. However, the aspect of the flight moving means 7 is not limited to this, and for example, a tandem rotor system or the like In addition, a multi-rotor system or the like recently adopted for drones or the like may be used.

  In the above-described embodiment, an example in which an electric motor such as a servo motor is used as the power source for the rod driving means and the rotor blade driving means has been described. However, a prime mover may be used instead of the electric motor, An electric motor may be used as the power source of the motor, and a prime mover may be used as the other power source.

DESCRIPTION OF SYMBOLS 1 Concrete floor surface finishing apparatus 2 Apparatus main body 3 Rotating rod 4 Lower frame 5 Upper rotating blade 6 Lower rotating blade 10 鏝 Support shaft 11 Handle portion 12 Housing 13 鏝 Driving means 20 Grounding ring 21 Support arms 22a-22d Grounding pressure sensor 23a ˜23d Laser receiver 24 Laser projector 30 Upper rotary shaft 31 Lower rotary shafts 32, 33 Rotor head 40 Main body side control unit 41 Operation unit 42 Power supply unit

Claims (5)

A rotary rod arranged in a propeller shape on the lower surface side of the apparatus main body and a lower frame arranged around the rotary rod, and the rotary rod is driven to rotate in a state of being grounded on the concrete floor surface. In concrete floor finishing equipment,
Flight movement means for moving the apparatus main body with lift by a rotary wing, a plurality of ground pressure sensors fixed to a lower end portion of the lower frame, and level detection means for detecting the level of the rotary rod. Concrete floor surface finishing equipment characterized by.   The flight moving means includes an upper rotary support shaft and a lower rotary support shaft that are coaxially disposed on an upper portion of the apparatus main body, and an upper portion supported by the upper rotary support shaft and the lower rotary support shaft via a rotor head, respectively. The concrete floor finishing apparatus according to claim 1, further comprising a rotary blade and a lower rotary blade, wherein the upper rotary blade and the lower rotary blade rotate in opposite directions. A wireless control unit capable of remotely operating the rotary rod and the flight movement means;
The concrete floor finishing apparatus according to claim 1 or 2, wherein the wireless control unit includes display means for displaying measurement data of the ground pressure sensor and a detection signal of the level detection means. Uses a concrete floor finishing device comprising a rotary rod arranged in a propeller shape on the lower surface side of the apparatus main body, a rod driving means for rotating the rotary rod, and a lower frame arranged around the rotary rod. And in the finishing method of the concrete floor surface that is driven to rotate in a state where the rotary rod is in contact with the concrete floor surface every time it moves,
The concrete floor surface finishing device includes a flight movement unit composed of rotor blades, a flight movement control unit for controlling the flight movement unit, a plurality of ground pressure sensors fixed at a lower end portion of the lower frame, Level detecting means for detecting the level of the rotating rod,
A moving step of moving in a state of floating from the concrete floor by the lift of the rotor blades, and a leveling step of rotating the rotary rod while controlling based on the data of the ground pressure sensors and level detecting means after landing A method for finishing a concrete floor, characterized by repeating the above.   5. The method for finishing a concrete floor according to claim 4, wherein in the moving step, the grounding pressure sensor disposed at the rear in the moving direction is aligned with the inner edge of the already leveled area.

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