JP6709659B2 - Automatic finishing device for concrete surface - Google Patents

Description

The present invention relates to an apparatus for automatically finishing a concrete surface, and more particularly to an apparatus capable of efficiently performing a surface pressing work (so-called soil pressing work) after concrete is poured.

In various civil engineering and construction works, there is a process of driving concrete, and the finishing work of the driven concrete surface is done manually by plasterers. If the construction area is small, the efficiency will not deteriorate even by hand work by plastering, and the finishing work may be possible only by hand work. However, when the construction area is large, the manual work by the plasterer is inefficient, which not only increases the construction cost but also may not improve the construction quality.

Therefore, a device for automatically performing the finishing work on the concrete surface in place of the manual work of the plasterer has been proposed (see Patent Document 1). The technique described in Patent Document 1 causes a traveling drive vehicle, which is self-propelled by wheels, to travel once or a plurality of times on the surface of the ready-mixed concrete when constructing the surface of the ready-mixed concrete that has been driven. Then, the weight of the traveling drive vehicle is applied to the surface of the green concrete through the wheels, so that the surface of the green concrete is pressurized to increase the density. Further, a water absorbing device connected to the traveling drive vehicle absorbs the water floating on the surface of the fresh concrete.

JP, 10-88804, A

By the way, the finishing work of the concrete surface must be done after a predetermined time has passed from the concrete driving work, and the work start time is decided by the site worker, but the concrete composition, weather, temperature, concrete driving The start time of work varies depending on the shape and dimensions of the main member. For this reason, the work start time must be determined based on the experience and intuition of the site worker, and it may not be possible to finish the concrete surface at an appropriate time.

The technique described in Patent Document 1 is a technique for finishing a concrete surface by an automatically traveling vehicle. However, nothing is described about determination of the start time and traveling control of the vehicle at the work place. No, there is no suggestion.

The present invention has been proposed in view of the above circumstances, and when performing the finishing work of the concrete surface, it is possible to start the finishing work at an appropriate time and efficiently perform the finishing work within the work area. An object of the present invention is to provide an automatic finishing device for a concrete surface.

The automatic concrete surface finishing device according to the present invention has the following features in order to achieve the above-mentioned object. That is, the concrete surface automatic finishing device according to the present invention is a device for performing a concrete surface finishing work after concrete is poured, and includes work start timing determining means, finishing means, and traveling management means. It is characterized by that.

The finishing means has a pressing device for the concrete surface and a traveling device, and is a means capable of self-propelled on the concrete after driving. The traveling management means is means for managing the traveling of the finishing means in the area where the finishing work is performed. Further, the work start time determination means determines a work start time when a measuring instrument for measuring the degree of hardening of concrete after driving on the concrete surface and a measurement value by the measuring instrument exceeds a predetermined threshold value. It consists of departments.

Furthermore, the measuring device has a pressing portion that presses against the concrete surface and a measuring portion that measures the resistance value when the pressing portion presses against the concrete surface.

In addition, the above-mentioned automatic finishing device for concrete surface can be configured to include a traveling control data acquiring unit that acquires traveling control data of the finishing unit in the area where the finishing work is performed. In this case, the travel management means functions to manage the travel of the finishing means based on the travel control data acquired by the travel control data acquisition means .

Further, in the above-mentioned automatic finishing apparatus for concrete surface, the work area data acquiring means for acquiring the work area data on the area to be the finishing work and the current position data acquiring means for acquiring the current position data of the finishing means are provided. It can be configured. In this case, the travel management means functions to manage the travel of the finishing means by comparing the work area data acquired by the work area data acquisition means with the current position data acquired by the current position data acquisition means .

According to the automatic finisher for concrete surface according to the present invention, the state (for example, the degree of hardening) of concrete after driving is measured, the start time of the finishing work is determined, and in the area where the finishing work is performed, the pressing device and the running machine are used. A finishing means having a device can be automatically run to automatically finish the concrete surface.

Therefore, when finishing the concrete surface, it is possible to start the finishing work at an appropriate time without depending on the experience and intuition of the operator. Further, it becomes possible to efficiently perform the work in the area where the finishing work of the concrete surface is performed.

1 is a schematic external view of an automatic concrete surface finishing device according to an embodiment of the present invention. The block diagram of the automatic finishing device of the concrete surface which concerns on embodiment of this invention. Explanatory drawing of the finishing operation|movement by the automatic finishing apparatus of the concrete surface which concerns on embodiment of this invention.

Hereinafter, an automatic concrete surface finishing device according to an embodiment of the present invention will be described with reference to the drawings. 1 to 3 are diagrams for explaining an automatic finishing device for concrete surface according to an embodiment of the present invention, FIG. 1 is a schematic external view, FIG. 2 is a block diagram showing a device configuration, and FIG. 3 is an explanatory diagram of finishing operation. Is.

<Outline of automatic finishing device for concrete surface>
As shown in FIG. 2, the concrete surface automatic finishing device 10 according to the embodiment of the present invention includes work start timing determination means 20, finishing means 30, and travel management means 40 as main components. Further, as additional means for performing travel management, the travel control data acquisition means 50 may be provided, or the work area data acquisition means 60 and the current position data acquisition means 70 may be provided.

As the additional means for performing the traveling management, only the traveling control data acquisition means 50 may be provided, or instead of the traveling control data acquisition means 50, the work area data acquisition means 60 and the current position data acquisition means 70. May be provided, or all means may be provided. In FIG. 1, the work start time determination means 20, the travel management means 40, the travel control data acquisition means 50, the work area data acquisition means 60, and the current position data acquisition means 70 are components of the control device 140. Each means may be configured as a separate device.

The concrete surface automatic finishing device 10 according to the embodiment of the present invention is a device for performing a so-called soil pressing work, and the leveling work and the ruler work immediately after placing the concrete are performed manually. Further, although the work target area of the automatic finishing device 10 is a flat surface such as a slab, it does not necessarily have to be a horizontal surface, and a slight inclination is allowed.

<Work start time determination means>
The work start time determination means 20 is a means for measuring the state of the concrete after driving and determining the start time of the finishing work. Although not shown, the work start time determination means 20 determines a work start time when a measuring instrument for measuring the degree of hardening of concrete on the concrete surface and a measurement value measured by the measuring instrument exceeds a predetermined threshold value. And a determination unit. The determination unit is composed of a computer and an application program installed in the computer. Note that the determination unit may be configured not by a computer and an application program but by a logic circuit having a function equivalent to this.

Although not shown, the measuring device can be configured by, for example, a pressing unit that presses the concrete surface and a measuring unit that measures a resistance value when the pressing unit presses the concrete surface. In this case, the optimum resistance value may be measured in advance as the start time of the finishing work, and the optimum resistance value may be used as the threshold value.

<Finishing means>
As shown in FIGS. 1 and 2, the finishing means 30 is a main device for finishing the concrete surface, and includes a pressing device 31 and a traveling device 32. These devices are attached to the base 100. There is. As shown in FIG. 1, the holding device 31 is configured by rotatably mounting three or four wing-shaped members 120 (for example, scrapers) around the rotation shaft 110 as a rotation center. A rotary drive device 130 (for example, an electric motor) is connected to the rotary shaft 110 of the pressing device 31. The drive of the rotary drive device 130 is controlled by a rotary drive control means (not shown), but the rotary drive control means may be a component of the travel management means 40 instead of being provided separately. Further, the holding device 31 is not limited to the configuration including the wing-shaped member 120 that rotates about the rotation axis, and may be any device that can hold the concrete surface, for example, the base 100. It may be a scraper fixed to the base or a roller rotatably attached to the base 100.

The traveling device 32 is a device for self-propelling the automatic finishing device 10, and includes a plurality of wheels 150 mounted on the base 100 and a traveling drive device 160 (which drives any one or more of the wheels 150 as driving wheels). For example, an electric motor). The drive of the traveling drive device 160 is controlled by the traveling management means 40. The constituent elements of the traveling device 32 are not limited to the wheels 150, and may be endless belts or the like.

<Driving management means>
The running management means 40 is means for managing the running of the finishing means 30 in the area where the finishing work is performed, and is composed of a computer and an application program installed therein. It should be noted that the running management means 40 may be configured not by a computer and an application program but by a logic circuit having a function equivalent to this. Various methods can be used for the traveling management of the finishing means 30 by the traveling management means 40.

<Control by traveling control data>
As a first method, control based on traveling control data can be mentioned. That is, by including the traveling control data acquisition unit 50 that acquires the traveling control data of the finishing unit 30 in the area where the finishing work is performed, the traveling control data can be acquired and the traveling of the finishing unit 30 can be controlled. The traveling control data is, for example, data input by input means (keyboard, mouse, etc.) incidental to the personal computer or data stored in the storage means, and is created in advance based on the work area for finishing work. Keep it. Alternatively, the work area may be photographed, and the traveling control data may be automatically created based on the photographed data and the traveling performance data of the finishing means 30.

As a second method, control based on work area data and current position data can be mentioned. That is, the work area data and the current area are acquired by providing the work area data acquisition means 60 for acquiring the work area data on the area to be the finishing work and the current position data acquisition means 70 for acquiring the current position data of the finishing means 30. The travel of the finishing means 30 can be controlled by comparing with the position data.

The work area data may be created by the input means (keyboard, mouse, etc.) attached to the personal computer, similarly to the creation of the traveling control data, or the work area may be photographed and automatically created based on the photographed data. You may. The current position data may be obtained using a GPS receiver, or the current position may be calculated by receiving a signal from a reference position signal generator installed in the work area.

Note that the traveling management means 40 is not placed on the base 100, but the traveling management means 40 is installed in a place distant from the automatic finishing device 10, and wireless communication is provided between the automatic finishing device 10 and the traveling management means 40. The traveling of the finishing means 30 may be controlled by transmitting and receiving control data by communication.

<Automatic driving>
In the automatic concrete surface finishing apparatus 10 according to the embodiment of the present invention, as described above, the function of the work start timing determination unit 20 measures the state (for example, the degree of hardening) of concrete after driving to determine the degree of hardening. The start time of the finishing work is determined by comparing with a predetermined threshold value. Then, when it is determined that the start time of the finishing work has come, the finishing means 30 is controlled by the function of the running management means 40, and the automatic finishing device 10 is automatically run in the area where the finishing work is performed, The function of the finishing means 30 is to finish the concrete surface.

The traveling route of the automatic finishing device 10 is controlled by the function of the traveling management means 40. For example, as shown in FIG. 3A, the automatic finishing device 10 travels back and forth while sequentially shifting the traveling route from the work start position. You can do it. Further, as shown in FIG. 3( b ), it may be made to travel in a substantially spiral shape from the outer edge of the work area toward the center or from the center of the work area toward the outer edge. In the area where the finishing work cannot be performed by the automatic finishing device 10, the finishing work is manually performed.

DESCRIPTION OF SYMBOLS 10 Automatic finishing device 20 Work start timing determination means 30 Finishing means 31 Holding device 32 Traveling device 40 Travel management means 50 Travel control data acquisition means 60 Work area data acquisition means 70 Current position data acquisition means 100 Base 110 Rotation shaft 120 Winged member 130 Rotational drive device 140 Control device 150 Wheel 160 Traveling drive device

Claims (3)

A device for finishing the concrete surface after the concrete is poured,
By measuring the state of the concrete after driving, work start time determination means for determining the start time of the finishing work,
Having a pressing device for a concrete surface and a traveling device, a finishing means capable of self-propelled on the concrete after driving,
Travel management means for managing the travel of the finishing means in the area for performing the finishing work;
Equipped with
The work start time determination means is a measuring device for measuring the degree of hardening of concrete after driving on the concrete surface, and a determination unit for determining the work start time when the measured value by the measuring device exceeds a predetermined threshold value. Consists of
The measuring device has a pressing portion that presses against the concrete surface, and a measuring portion that measures the resistance value when pressing the pressing portion against the concrete surface,
An automatic finishing device for concrete surfaces. A travel control data acquisition means for acquiring travel control data of the finishing means in the area for performing the finishing work;
The travel management means manages travel of the finishing means based on the travel control data acquired by the travel control data acquisition means ,
Automatic finishing apparatus for concrete surface as claimed in claim 1, characterized in that. Work area data acquisition means for acquiring work area data related to the area to be finished,
Current position data acquisition means for acquiring the current position data of the finishing means,
Equipped with
The travel management means manages travel of the finishing means by comparing the work area data acquired by the work area data acquisition means with the current position data acquired by the current position data acquisition means .
Automatic finishing apparatus for concrete surface as claimed in claim 1, characterized in that.

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