JPH07180357A - Device for compacting concrete - Google Patents

Abstract

PURPOSE:To mechanically perform a concrete compaction work properly in a short period of time without the need for a worker to get into a form. CONSTITUTION:A first expansion actuator 24 is vertically supported and a rotary actuator 27 for rotating the actuator 24 about a drive rod 26 is mounted to the forward end of a pivoting arm 22. A second expansion actuator 29 is mounted to the end of rod 26 of the actuator 24 so as to be inclined in a vertical plane about the end of the rod 26. A first inclining actuator 30 for inclining the actuator 29 is provided between the end of the rod 26 and the actuator 29. A second inclining actuator 34 is secured to the end of a drive rod 29c of the actuator 29 to incline a vibrator 19 in a vertical plane.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used for manufacturing an irregular wave-dissipating block such as a tetrapod used for a seawall in a harbor or the like. The present invention relates to a concrete compaction device for pouring concrete into a concrete and subjecting the poured concrete to vibration for compaction.

[0002]

2. Description of the Related Art FIG. 8 is an explanatory view showing a conventional method for manufacturing a large-sized tetrapod. As for the tetrapod used for the breakwater, a mold 1 having an outer shape of the tetrapod is prepared, and concrete is poured into the mold 1 for molding. Further, if the concrete C is simply poured into the mold 1, bubbles will be generated inside the concrete C and the strength will be reduced. Therefore, a vibrator (not shown) is inserted into the poured concrete C to prevent vibration. I give it and try to erase the generated bubbles.

For this reason, a large mold 1 as shown in FIG.
In order to give vibration to the poured concrete C, an opening 1b for allowing a worker to enter inside is formed on the end surface of the leg 1a. A handrail 2 is provided around the leg portion 1a to ensure the safety of the worker.

In the compacting work in the mold 1 as described above, a predetermined amount of concrete C is poured into the mold 1, and then the working plate 4 is placed on the poured concrete C. Then, one or a plurality of workers M ride on the work plate 4, and the vibrating rod 3 having a vibrator (not shown) attached to the tip thereof is inserted into the concrete C to give a required vibration. It is necessary to insert such a vibrator into the poured concrete C at predetermined intervals and at predetermined times.

[0005]

However, the compaction work by the human power by the worker M entering the mold 1 is performed not only in a poor working environment in which ventilation is also insufficient, but also There is also a risk of vibration disturbance due to vibration of the vibrator. Further, due to the correlation between the excluded amount of bubbles and the compaction time, compaction work needs to be performed in a short time, resulting in heavy labor. Moreover, since the insertion interval and insertion time of the vibrator into the cast concrete C are different depending on the mix of concrete and the aggregate, it is difficult to perform the compaction work manually while maintaining this condition. It is necessary to repeat such work every time a predetermined amount of concrete is poured. In addition, vibrating rod 3 for each tetrapod
Since it is necessary to repeatedly carry in and out the equipment such as the work board 4 and the like, the work is complicated and heavy labor.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a concrete compaction device which can automatically perform concrete compaction work in a short time without an operator entering the formwork.

[0007]

This concrete compacting device is a concrete compacting vibrator 1 for vibrating concrete C cast in a mold 1 to perform compaction.
9 is supported, and an actuator unit 12 for moving the vibrator 19 by remote control is provided. The actuator section 12 is configured as follows. That is, the rotation actuator 27 that supports the first expansion / contraction actuator 24 that expands / contracts the drive rod 26 in the vertical direction and that rotates the first expansion / contraction actuator 24 about the drive rod 26 is rotated in the horizontal plane. It is attached to the tip of the swivel arm 22. Further, the second telescopic actuator 29 that telescopes the drive rod 29c is attached so as to be tiltable in a vertical plane centered on the tip portion of the drive rod 26 of the first telescopic actuator 24. Furthermore, the first tilting second telescopic actuator 29
The tilting actuator 30 is provided between the tip of the drive rod 26 of the first telescopic actuator 24 and the second telescopic actuator 29. Then, a second tilting actuator 34 that tilts the vibrator 19 in the vertical plane is fixed to the tip portion of the drive rod 29c of the second telescopic actuator 29. In this case, it is preferable that the base end portion of the revolving arm 22 be fixed to the work carriage 11 that is movable on the mounting surface G of the formwork 1.

Further, a storage section 40 storing drive data of the actuator section 12 corresponding to the insertion points (a) to (p) of the vibrator 19 into the concrete C poured into the mold 1, and the storage section 40 of the storage section 40. A drive control unit 45 that drives the actuator unit 12 based on the drive data.
The control unit 33 including and may be arranged outside the formwork 1.

[0009]

The operation of the concrete compaction device having this structure will be described. First, after moving the tip of the swivel arm to the upper part of the form, drive the actuator to insert the vibrator into the form, and then insert the vibrator into the concrete placed in the form. do it,
Vibrate the vibrator. Then, while appropriately driving the actuator portion, the vibrator is sequentially inserted into a required portion of the concrete to apply vibration to compact the concrete. Such operation is performed by remote control.

Further, the drive control section automatically drives the actuator section based on the drive data stored in the storage section in the control section provided away from the mold.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to the drawings. FIG. 1 shows an embodiment of the concrete compacting device of the present invention, and is a front view showing its mechanical structure. FIG. 2 is an enlarged explanatory view of an actuator portion of the concrete compacting device shown in FIG. FIG. 3 is a block diagram showing an electrical configuration.
The formwork shown in this embodiment has the same structure as the formwork described in FIG. 8 except that the handrail is not provided, and therefore, the same reference numerals are given and description thereof is omitted.

As shown in FIG. 1, the concrete compaction device includes a work carriage 11 movable on a mounting surface G on which the formwork 1 is mounted, and an actuator section 12 supported by the work carriage 11. , And a control unit 33 arranged near the formwork 1. The work carriage 11 has a support base 13 to which a holding frame 18 for supporting the actuator unit 12 is attached on the upper surface, and legs 14 provided at four corners of the support base 13.

A handrail 15 is provided along the edge of the support base 13 so that it is safe for an operator to climb.
Further, traveling wheels 16 are attached to the lower end portions of all the leg portions 14, and some or all of the traveling wheels 16 are pushed manually by the work carriage 11 or by a motor (not shown).
By rotating, it can be moved in any direction.

As shown in detail in FIG.
Includes a mounting seat 17 fixed on the support base 13, a support column 21 standing on the mounting seat 17, and a revolving arm 22 pivotably mounted on the upper end of the support column 21. . The swivel arm 22 is rotatably attached to the support column 21 via a bearing portion 22a provided at the base end thereof. A swivel drive unit 23 such as a servomotor is provided at the upper end of the column 21, and a proximal end of the swivel arm 22 is attached to the swivel drive unit 23. As a result, the revolving arm 22 is revolvingly driven in a horizontal plane centered on the column 21. A mounting member 25 to which the actuator unit 12 is attached is provided at the tip of the revolving arm 22.

The mounting member 25 has a standing portion 25b whose lower end is fixed to the tip of the swivel arm 22, and a substantially triangular reinforcing rib provided between the upper surface of the swivel arm 22 and the back surface of the standing portion 25b. And 38. Standing part 25b
An upper end portion of the mounting portion 25a is bent in the horizontal direction to form a mounting portion 25a. On the lower surface of the mounting portion 25a, a rotary actuator 27 such as a servomotor or a rotary cylinder that forms a part of the actuator portion 12 is formed. It is fixed.

The actuator section 12 shown in this embodiment is
The rotary actuator 27, the first and second expansion / contraction actuators 24 and 29, and the first and second tilting actuators 30 and 34 are configured. The main body portion 24a of the first expansion / contraction actuator 24, which is composed of, for example, an air cylinder, a hydraulic cylinder, or the like, is vertically attached to a rotary rod (not shown) of the rotary actuator 27. The rotary actuator 27 has a rotary encoder 46 for detecting the rotary angle of the rotary rod of the rotary actuator 27, that is, the rotary angle of the first telescopic actuator 24 attached to the rotary rod.
Is installed. The main body portion 24a of the first telescopic actuator 24 and the drive rod 26 are prevented from rotating relative to each other by a known structure, and the main body portion 24a and the drive rod 26 move the drive rod 26 by the rotation actuator 27. It is rotated as a center integrally in a horizontal plane. The main body portion 24a of the first extension actuator 24 is also rotatably supported by the bearing portion 25c provided at the lower end portion of the standing portion 25b.

The drive rod 26 of the first extension / contraction actuator 24 has a structure in which a drive rod 26a having a large diameter and a drive rod 26b having a diameter smaller than the drive rod 26a are extended / contracted in two stages. A bracket 28 is fixed to the tip of 26b. Further, the drive rod 26 and the main body 24a are

A linear encoder 37 is attached to the drive rod 26 as a length measuring device for measuring the expansion / contraction length thereof. The linear encoder 37 includes a drive rod 26
And a main scale 37a arranged in parallel to the side of the main scale 24b, and an index scale 37b provided on the side of the main body portion 24a of the first telescopic actuator 24.
The lower end of the main scale 37a is fixed on the bracket 28. As the length measuring device for measuring the expansion / contraction length of the drive rod 26, for example, a magnet scale or a silicon rod encoder may be used.

The bracket 28 has a second expansion / contraction actuator 29 such as an air cylinder or hydraulic cylinder.
And a first tilting actuator 30 such as a similar air cylinder or hydraulic cylinder are attached.

The second expansion / contraction actuator 29 has a main body portion 29a via the shaft 31 in the vertical plane and the bracket 28.
Is tiltably supported by the tilt actuator 30.
The main body portion 30a of the above is also swingably supported by the bracket 28 in the vertical plane via the pin 39. Further, the drive rod 30b (shown in FIG. 1) of the first tilting actuator 30 is the main body portion 29a of the second telescopic actuator 29.
It is attached via a pin 32 to an attachment portion 29b protrudingly provided on the side wall.

In this structure, the second telescopic actuator 29 is the drive rod 3 of the first tilt actuator 30.
By the expansion and contraction of 0b, it is tilted within the vertical plane centering on the shaft 31. In addition, the shaft 31 has a second telescopic actuator 29.
A rotary encoder 47 for detecting the tilting angle of is attached.

A second tilt actuator 34 for tilting the vibrator 19 in the vertical plane is fixed to the tip of the drive rod 29c of the second telescopic actuator 29. A linear encoder 35 is attached to the drive rod 29c as a length measuring device for measuring the expansion / contraction length. The linear encoder 35 includes a main scale 35a arranged parallel to the side of the drive rod 29c and a second scale.
And an index scale 35b provided on the side of the main body 29a of the expansion / contraction actuator 29, and the lower end of the main scale 35a is fixed on the second tilt actuator 34. The drive rod 29c and the main body 29a are prevented from rotating relative to each other by a known structure.

The second tilt actuator 34 includes a vibrator 19, a rotary encoder 36 for detecting a tilt angle of the vibrator 19, and a vibrator 19.
And a television camera 10 for taking a picture of the surroundings in which is inserted. The vibrator 19 has a structure for vibrating an eccentric pendulum (not shown) arranged in a vibrating cylinder having an outer diameter of approximately 5 cm, and can vibrate at an optimum frequency according to the fine aggregate contained in the concrete C or the like. It is like this.

Next, the electric system will be described mainly with reference to FIG. The electric system is composed of a control unit 33 arranged outside the mold 1 and sensors and drivers attached to the actuator unit 12 arranged inside the mold 1.

The control unit 33 is a ROM (read onl
y memory) and the like, and a television monitor 4 connected via an interface circuit 43a.
3, the keyboard 44 connected via the keyboard interface circuit 44a, the CP that is the control center of this device
It has a U (central processing unit) 45 and the like.

On the other hand, the rotary encoders 36, 46, 47 attached to the actuator section 12 have interface circuits 36a, 46a, 47a, the linear encoders 35, 37, and the television camera 10 have interface circuits 35a, 37a, 10a. It is connected. Then, the rotation angle data and the like detected by the rotary encoder 36 and the like are sent to the CPU 45 via each interface circuit 36a and the like.

First and second tilt actuators 30, 3
4, driver circuits 30a, 34a, 24b, 29c, 37a are respectively provided in the first and second expansion / contraction actuators 24, 29, the rotation actuator 27, and the rotation drive unit 23.
23a is connected. Then, it is appropriately driven through the driver circuits 30a and the like by a drive signal sent from the CPU 45. A drive circuit 19a is also connected to the vibrator 19 so that the vibrator 19 vibrates at an arbitrary frequency according to a drive signal sent from the CPU 45.

The storage unit 40 stores drive data of the rotary actuator 27 and the like corresponding to the insertion position of the vibrator 19 into the concrete poured into the mold 1 and a predetermined program. The driving data is the vibrator 1
When 9 is inserted into a predetermined portion of concrete, the rotation angle of the main body portion 24a of the first telescopic actuator 24 and the extension / contraction length of the drive rod 26, the tilt angle of the main body portion 29a of the second telescopic actuator 29, and the drive rod. The expansion / contraction length of 29c, the tilting angle of the vibrator 19, the moving order of the vibrator 19 to each insertion position, and the like.

Further, as the driving data, it is possible to include the insertion time of the vibrator, the frequency or the insertion interval corresponding to the difference in the concrete composition and the aggregate, and the respective driving data according to the difference in the concrete composition. You may make it selectable. Further, the storage unit itself is composed of a random access memory (RAM) that can be written and read, and data such as the insertion time, frequency or insertion interval of the vibrator corresponding to the concrete mix and aggregate is stored as necessary. You may do it.

Next, setting of the insertion portion of the vibrator 19 will be described mainly with reference to FIGS. 4 and 5. First, what is indicated by L1 to L7 in FIG. 4 and FIG.
It is the depth of concrete C when a predetermined amount of concrete is poured into the interior, and between the adjacent depths (for example, L
1 and L2) are 50 cm. Further, (a) to (p) show the insertion points at a depth of 100 cm shown by L2 in FIG. 5 where the surface area of the concrete C is maximum.

As shown in FIG. 4, for example, the insertion points (a) to (p) are set on both sides of the center axis Oc of the leg portion 1c of the mold 1, and the insertion points (a) to (p) are set. (P) The mutual distance is approximately 1 of the diameter of the vibrator 19.
It is preferably set to about 0 times, and in this embodiment, it is set to about 50 cm. Further, since the surface area of the concrete changes depending on the depth of the poured concrete, the arrangement pattern of the insertion points is appropriately set according to the change of the surface area. Further, in this embodiment, the drive data is set for each constant thickness of the concrete poured into the form 1, and is set for each 50 cm indicated by L1 to L7. In this embodiment, as shown in FIG. 4, the vibrator 19 is sequentially moved from the insertion point shown at (a) on the most distal side of the leg 1c toward the insertion point shown at (p) near the center.

By the way, the mold 1 shown in FIG. 4 and the like is formed radially so that the central axes Oc to Oe of the leg portions 1c to 1e are 120 degrees with respect to each other around the center O.
That is, the legs 1c to 1e have a perpendicular line P passing through the center O.
The axis of symmetry is. Therefore, the insertion points (a) to (p) of the vibrator 19 are set only for any one of the legs 1c to 1e (in the present embodiment, the legs 1c to 1e are set).
c) Then, the coordinate data of the insertion points (a) to (p) are converted into coordinate data which is moved around the perpendicular P by 120 degrees. Then, the vibrator 19 is moved based on the coordinate data after the conversion, so that the drive data for the other legs 1d and 1e is also used. The insertion points (a) to (p) of the vibrator 19 may be set in advance for all of the leg portions 1c to 1e.

The CPU 45 has a function as a drive control section for driving the actuator section 12 based on the drive data stored in the storage section 40, and the keyboard 44.
A drive signal for driving the actuator unit 12 is also output according to the operation data manually input from. On the television monitor 43, in addition to the input data from the keyboard 44, the image taken by the television camera 10 and the drive data of the actuator unit 12 can be displayed by, for example, numbers.

The compacting operation of concrete poured into the mold 1 by the concrete compacting device having the above structure will be described mainly with reference to FIGS. 6 and 7.
First, before inserting the vibrator 19 into the mold, as shown in FIG.
As shown in (1), the drive rod 26 of the first extension / contraction actuator 24 is contracted, the second extension / contraction actuator 29 is also in the vertical posture, and the drive rod 29c is also contracted. That is, when the swivel arm 22 is moved onto the leg 1a of the mold 1, the vibrator 19 is prevented from hitting the edge of the leg 1a of the mold 1. In this case, the support column 21 may be connected in a different stage so that the revolving arm 22 itself is supported high as shown in FIG.

When the above preparation is completed, the work carriage 11 is moved to the side of the mold 1 to rotate the revolving arm 22 so that the first telescopic actuator 24 or the like in the vertical posture is moved to the form 1. Match the perpendicular line P passing through the center O. At this time,
The rotation actuator 27 rotates the first expansion / contraction actuator 24 so that the second expansion / contraction actuator 29 can be tilted toward the leg 1a.

The rotation angle of the first extension / contraction actuator 24 is detected by the rotary encoder 46, and the CP
It is output to U45. Then, the rotation angle stored in the storage unit 40 is compared by the CPU 45, and the rotation actuator 27 is driven until the rotation angle reaches a predetermined angle. Then, a predetermined amount of concrete C is poured into the mold 1, and the first depth level L1 set by the drive data is set.
To

Next, the drive rod 26 of the first telescopic actuator 24 is extended so as to have a predetermined length, and the drive rod 30a of the first tilting actuator 30 is provided.
Is retracted, and the second expansion / contraction actuator 29 is tilted at a predetermined angle. The expansion / contraction of the drive rod 26 and the tilting angle of the second expansion / contraction actuator 29 are detected by the linear encoder 37 and the rotary encoder 47, respectively, and compared with the same expansion / contraction length and angle stored in the storage unit 40 by the CPU 45. It When the extension length and the angle match, the driving of the first extension actuator 24 and the first tilt actuator 30 is stopped.

The drive rod 29c is extended by a predetermined length, the second tilting actuator 34 holds the vibrator 19 in a substantially vertical posture, and the vibrator 19 is inserted into the first insertion position. The expansion / contraction of the drive rod 29c and the tilt angle of the vibrator 19 are detected by the linear encoder 35 and the rotary encoder 36, respectively, and compared with the expansion / contraction length and angle stored in the storage unit 40 by the CPU 45. Then, when the extension / contraction length and the angle coincide with each other, the driving of the second extension / contraction actuator 29 and the second tilt actuator 34 is stopped.

At this time, it is preferable to insert the vibrator 19 into the concrete C in a vertical posture. However, the vibrator 1 is provided between the surface of the concrete C and the inner wall surface of the leg portion.
If there is no space to hold 9 in a vertical posture, insert it in a slightly tilted posture.

Then, the vibrator 19 is vibrated for the required time. After this, the vibrator 19 is sequentially inserted into other insertion points.
When the insertion is completed and the operation is completed up to the final insertion position, each actuator is returned to the initial posture shown in FIG.
The second telescopic actuator 2
Allow 9 to move to leg 1d. Then, the same compaction operation as described above is sequentially executed for each leg 1d, 1e. After the above compaction operation is performed on the legs 1c to 1e, a predetermined amount of concrete is poured again into the mold 1 and the concrete compaction operation is performed in the same manner as above.

By the way, when the above compaction operation is performed by remote control by manual operation, the following procedure is performed. On the TV monitor 43 installed in the control unit 33, the video taken by the TV camera 10 is displayed and the drive data is displayed. The operator discriminates each insertion point from the displayed video and drive data, and inputs movement information of the vibrator 19 in the front, rear, left, and right directions from the keyboard 44, for example. In this case, if the actuator unit 12 is driven so that the vibrator 19 is stopped at the closest insertion position in the designated movement direction among the preset insertion positions of the vibrator 19, the operation time can be shortened. it can. The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the invention.

For example, in the above-mentioned embodiment, the structure in which the actuator section is mounted on the work cart has been described as an example, but the actuator section may be installed on a construction machine such as a crane truck. Further, in the above embodiment, the tetrapod has been described as an example, but the present invention can be applied to deformed wave-dissipating blocks having other shapes such as a four-sided pyramid block, a shake block, and a tribar. Furthermore, if it is applied to a secondary lining concrete placing device in the construction of underground cavities such as tunnels, it becomes possible to easily insert the vibrator from the inspection window etc. punched in the formwork, which makes the worker a painful task. It is possible to reduce the work time as well as to be released.

[0043]

According to the concrete compacting device of the first or second aspect, the vibrator is attached to the actuator portion constituted by the rotary actuator, the first and second expansion / contraction actuators, and the first and second tilting actuators. Then, it is moved to an arbitrary position by remote control. Therefore, it is not necessary to manually perform the compaction work in the form,
It is possible to relieve the troublesome work in the formwork, and further, it is possible to prevent the vibration trouble due to the vibrator from occurring. Moreover, the concrete compaction work can be automatically performed in a short time.

Further, if the base end of the revolving arm is fixed to the work carriage movable on the mounting surface of the mold, the work of moving and positioning the actuator can be easily performed. Moreover, the movement between the plurality of molds is performed only by moving the work carriage, and the equipment can be moved extremely easily.

In the concrete compaction device according to the third aspect, the drive data of each actuator corresponding to the insertion position of the vibrator into the concrete poured into the mold is stored in the storage unit, and based on the stored drive data. The drive control section drives each actuator.

Therefore, the compaction work of concrete can be automatically carried out in a short time, and the interval of inserting the vibrator into the placed concrete and the inserting time can be varied depending on the concrete mixture and the aggregate. ,
Since it is only necessary to change the drive data stored in the storage unit, it is possible to cope with the situation easily and in a short time.

[Brief description of drawings]

FIG. 1 is a front view showing a mechanical structure of an embodiment of the concrete compacting apparatus of the present invention.

FIG. 2 is an enlarged view of an actuator section of the concrete compaction device.

FIG. 3 is a block diagram showing an electrical configuration of the concrete compaction device.

FIG. 4 is an explanatory view showing a method of setting the concrete placed in the mold and the insertion portion of the vibrator.

FIG. 5 is an explanatory view of pouring concrete into a mold so that the concrete increases by a constant depth.

FIG. 6 is an explanatory diagram showing a process of moving the actuator unit into the mold.

FIG. 7 is an explanatory diagram showing a state in which the actuator section has been moved to an insertion location in the mold.

FIG. 8 is an explanatory view showing a conventional method for manufacturing a large-sized tetrapod.

[Explanation of symbols]

 10 TV Camera 11 Work Cart 12 Actuator Part 19 Vibrator 22 Swivel Arm 24 First Telescopic Actuator 26 Drive Rod 27 Rotating Actuator 29 Second Telescopic Actuator 29c Drive Rod 30 First Tilt Actuator 33 Control Part 34 Second Tilt Actuator 40 Storage unit 45 CPU as drive control unit C Concrete G mounting surface

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Masahiro Endo, 3-3 12, Saiwaicho, Takigawa City, Hokkaido Stock Company Circle Iron Works (72) Inventor, Kuniyoshi Kawai, 3-3 12, Saiwaicho, Takigawa City Company Circle Ironworks

Claims (3)

[Claims] 1. A concrete compaction device, comprising a concrete compaction vibrator, and an actuator part for moving the vibrator by remote control, comprising:
A first telescopic actuator that extends and contracts the drive rod is supported in the vertical direction, and a rotary actuator that pivots the first telescopic actuator around the drive rod is attached to the tip of a rotary arm that pivots in a horizontal plane. A second telescopic actuator for extending and retracting the drive rod is attached so as to be tiltable in a vertical plane centered on the tip of the drive rod of the first telescopic actuator; The tilting actuator is provided between the tip of the drive rod of the first telescopic actuator and the second telescopic actuator, and the tip of the drive rod of the second telescopic actuator tilts the vibrator in the vertical plane. The actuator part is configured by fixing the tilting actuator of No. 2 above. Cleat compaction equipment. 2. The concrete compaction device according to claim 1, wherein a base end portion of a revolving arm is fixed to a work carriage movable on a mounting surface of the formwork. 3. A storage unit that stores drive data of an actuator unit corresponding to a location where a vibrator is inserted into concrete placed in a formwork, and the actuator unit is driven based on the drive data of the storage unit. The concrete compaction device according to claim 1 or 2, wherein the control unit including a drive control unit for performing the operation is arranged apart from the formwork.