JPH07233640A - Travel working vehicle for concrete compacting device - Google Patents

Abstract

PURPOSE:To keep a vehicle body horizontal even when the travel portions of a working vehicle have unevenness in height by operating the devices adjusting the heights of individual wheels relative to a vehicle body respectively based on the information from the horizontal sensor of the vehicle body and a height measuring instrument. CONSTITUTION:A working vehicle 1 is stopped along the working line L and at a fixed interval from the working line L, the vehicle body 1A is kept horizontal at a fixed height, and a vibrator inserting/removing device 9 supported by a manipulator 3 compacts concrete at each of compacting work points P1, P2...Pn on the working line L. The manipulator 3 is automatically moved by a controller so that a rod-like vibrator 10 matches with each of the compacting work points P1, P2...Pn on the working line L, and the vibrator inserting/ removing device 9 is moved in sequence. The height information by a height measuring instrument 27 and the insertion length information by a rotary encoder are fed back for each of the work points P1, P2...-Pn. The required compacting length is controlled, and constant compaction is conducted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling work vehicle for a vibrator operating device, which is mainly used for compacting concrete that has been driven in for building floors, beams, columns, walls, etc. at a construction site.

[0002]

2. Description of the Related Art Conventionally, a bar-shaped vibrator has been used for compacting concrete cast at a construction site. In this rod-shaped vibrator, a rod-shaped vibrator is fixed to the tip of a vibrator cylinder, and the vibrator is compacted by vibration by inserting the vibrator into the cast concrete to a required depth.

When the rod-shaped vibrator is used, it has hitherto been carried out by an operator's hand to insert it into concrete, pull it out, and move it to a desired position.

[0004] Such conventional compaction work requires a large amount of manpower since a rod-shaped vibrator to which a power air pipe and a power cable are connected is manually moved to a required position. There has been a problem that the work of inserting and removing from the work is done manually, and moreover, it is necessary to work at a site where the scaffolding is poor, which compels heavy labor.

Furthermore, the insertion depth of the rod-shaped vibrator and the vibration time are often dependent on the intuition of the operator, and it takes skill to perform an appropriate compaction work, and the fluidity of the poured concrete is There is a problem that it tends to be distracted, sufficient deaeration is not performed, and the strength of concrete after solidification tends to vary.

In order to solve such a problem, the inventors of the present invention have a traveling work vehicle support a vibrator insertion / extraction device through a manipulator, and allow the traveling work vehicle and the manipulator to move the rod-shaped vibrator in the horizontal direction. We have developed a vibrator operation device that allows the vibrator insertion / extraction device to be operated by the vibrator insertion / extraction device.

[0007]

However, the site where work is carried out by the vibrator operating device using the traveling work vehicle as described above has unevenness, and particularly when compacting concrete driven into the wall construction part. Since a beam portion under the wall is provided on the floor surface, there are many cases where the reinforcing bar projects upward or there is a projecting object such as a scrap frame having a relatively low height. For this reason, it is necessary to place the wheels on one side of the traveling work vehicle on these protrusions and run them in parallel with them, or to carry out the compaction work while riding over these protrusions from a right angle direction.

On the other hand, when the rod-shaped vibrator is inserted, it is necessary to keep its depth substantially accurately. However, when the traveling work vehicle supporting the vibrator insertion / removal device tilts back and forth and left and right,
There is a problem that it is difficult to accurately control the vibrator insertion / removal direction and the insertion depth.

In view of such conventional problems, the present invention keeps the traveling work vehicle horizontal and operates the vibrator even when the traveling portion of the traveling work vehicle for the concrete compacting device has high and low protrusions. It is an object of the present invention to provide a traveling work vehicle for a concrete compaction device, which can be accurately and easily performed.

[0010]

The features of the present invention for solving the above-mentioned problems and achieving the intended purpose are as follows.
In the traveling work vehicle for a concrete compaction device, which is provided with a traveling wheel under the vehicle body and supports a vibrator inserting / extracting device for inserting / extracting a rod-shaped vibrator downward to the vehicle body, the traveling wheel with respect to the vehicle body A traveling work vehicle for a concrete compaction device (claim 1) having a vertically adjustable height, and secondly, in the work vehicle, a horizontal sensor for detecting a horizontal angle on a vehicle body,
With a height measuring instrument that measures the height of the car body,
According to another aspect of the present invention, there is provided a controller using a computer device that adjusts the wheel height to control the vehicle body horizontally and at a predetermined height based on the information from the horizontal sensor and the height measuring device (claim 2).

[0011]

The traveling work vehicle for a concrete compaction device of the present invention is such that, when one of the wheels rides on a protrusion and is tilted when stopped at a desired compaction work position, the running wheel The vehicle can be kept horizontal by moving it upwards relative to the vehicle body, and the vibrator insertion / extraction device adopts a structure and control method that assumes that the part where it is supported is horizontal. It is possible (Claim 1).

Further, the vehicle body is provided with a horizontal sensor and a height measuring device, and by operating the controller based on the information from this, the inclination of the vehicle body is automatically maintained at a predetermined height with the vehicle body being horizontal. (Claim 2).

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows a schematic structure of an example of a device according to the present invention. In FIG. 1, reference numeral 1 denotes a vehicle body 1A which is supported by front and rear wheels 2A, 2A, 2B and 2B which are four rubber wheels. It is a work vehicle. A manipulator 3 is mounted on the vehicle body 1. This manipulator 3 is also commonly called a balancer, and the first joint fitting 5 and the first joint fitting 5 are rotatably supported horizontally on the upper ends of the struts 4 and the struts 4 standing on the vehicle body 1A. For 5,
It is composed of a first arm 6 rotatably supported up and down, and a second arm 8 rotatably supported at the tip of the first arm 6 via a second joint metal fitting 7. A vibrator insertion / extraction device 9 is supported at the tip of the arm 8.

The vibrator insertion / extraction device 9 is configured to vertically move the rod-shaped vibrator 10 in the vertical direction. The rod-shaped vibrator 10 is an electric vibrator 12 having a rod-like shape at the lower end of a vibrator tube 11 made of a rod-shaped metal tube.
Is fixed, and the power cable 1 to this vibrator 12
3 is from the take-up reel 14 on the vehicle body 1A to the joint fittings 5, 7
The vibrator cylinder 1 is passed through the upper guide rollers 15 and 16.
It is introduced at the top of 1. The take-up reel 14 is configured such that the power cable 13 is wound and unwound according to the vertical movement of the rod-shaped vibrator 10.

The rod-shaped vibrator 10 may be one in which a rod-shaped vibrator operated by air pressure is fixed to the vibrator cylinder 11. In this case, a power cable containing a hose for supplying power air is used. To be done.

As shown in FIG. 3, the vibrator insertion / extraction device 9 has a box-shaped support frame 20 whose upper and lower sides are open, and this is supported by the lower end of the second arm 8. A pair of vibrator feed rollers 21 and 21 are provided in the support frame 20.
Is rotatably supported. This feed roller 21,2
1, the outer periphery is formed with concave grooves 22 and 22 for holding a vibrator having a substantially semicircular cross section. Both concave grooves 22 and 22 are formed.
By inserting and rotating the rod-shaped vibrator 10 inside, the rod-shaped vibrator 10 is inserted and pulled out in the vertical direction.

Both feed rollers 21, 21 are driven by an electric motor 23 fixed to the outside of the support frame 20, and are rotationally driven in opposite directions by gears 24, 24. A rotary encoder 26 is attached to one of the feed roller shafts 25,
The insertion length of the vibrator 10 is measured by detecting the rotation speed. Further, a height measuring device 27 composed of an ultrasonic distance meter is fixed downward to the support frame 20, and the height of the support frame 20 is measured by this.

In this way, the vibrator insertion / extraction device supported by the manipulator 3 extends along the work line L as shown in FIG. 2 and stops the work vehicle 1 at a constant distance from the work line L, and the vehicle body 1A thereof. Is maintained horizontally at a constant height, the compaction is performed at each compaction work point P ₁ , P ₂ ... P _n on each compaction work line L in the compaction work line L. The manipulator 3 is automatically controlled by a controller using a computer so that the rod-shaped vibrator 10 is aligned with each compaction work point P ₁ , P _2, ... P _n on the work line L, and the vibrator is inserted / removed. The device 9 is sequentially moved, and each point P ₁ , P ₂ ...
... While feeding back the height information from the height measuring device 27 and the insertion length information from the rotary encoder 26 for each P _n , the rod-shaped vibrator 10 is inserted to a predetermined depth, and the required compaction length is used by a timer. It is controlled so as to perform a certain compaction.

The horizontal control of the vehicle body 1A is carried out by moving the front and rear wheels 2A and 2B up and down, and has wheels with a steering mechanism and rear wheels with a drive mechanism.

As shown in FIGS. 4 to 6, front wheels 2A, 2A have front wheel bearings 32 rotatably supported on a front wheel support frame 30 so as to be rotatable about a vertically oriented steering shaft 31. On the other hand, the front wheel shaft 33 is rotatably supported in a cantilever manner, and the front wheel 2A is supported thereby.

The front wheel support frame 30 is mounted on the vehicle body 1 via a pair of slide guides 34, 34 and a hydraulic cylinder 35.
It is supported under A. Each slide guide 34 is shown in FIG.
As shown in FIG. 3, a guide shaft 37 is inserted into a guide cylinder 36, and a slide bearing 38 is interposed between them, the guide cylinder 36 is fixed on the front wheel support frame 30, and the guide shaft 37 is fixed to the vehicle body. It is fixed to the lower surface of 1A. The hydraulic cylinder 35 includes both slide guides 34, 34.
1A and the front wheel support frame 30 at an intermediate position of
Both ends are supported by and. Thus, the hydraulic cylinder 35
The front wheel support frame 30 can be moved up and down in parallel by expanding and contracting.

In the steering mechanism for the front wheels 2A, the front wheel bearing 32 is turned by turning the steering shaft 31, and the steering shaft 31 is not turnable with respect to the shaft 31 and is vertically slidable. Is provided with an extension shaft 31a, and the operating arm 39 fixed to the upper end of the extension shaft 31a is operated by a hydraulic cylinder 40 for steering to perform a turning motion. Further, the steering shafts 31, 31 of the left and right front wheels 2A, 2A are simultaneously turned in the same direction by an interlocking rod 41 connecting the operation arms 39, 39.

As shown in FIGS. 7 to 9, a rear wheel bearing 43 is fixed to the rear wheel support frame 42 of the rear wheels 2B, 2B, and a rear wheel shaft 44 is supported by penetrating the bearing 43. The rear wheel 2B is fixed to its outer end. The rear wheel support frame 42 is a pair of the same slide guides 34 as the front wheels,
34 is supported on the lower surface of the vehicle body 1A via
The hydraulic cylinder 35 interposed between the frame 42 and the vehicle body 1 </ b> A extends between the frames 4 and 34 and is vertically translated.

Universal joints 46, 46 are provided between the rear wheel shaft 44 and the output shaft 45a of the differential gear mechanism 45 to which the drive of the engine is transmitted.
A propeller shaft 47 is connected via a propeller shaft 47. The propeller shaft 47 has a structure in which it can be expanded and contracted by an expansion and contraction shaft 47a which is mutually expandable and contractable in the rotational direction. Incidentally, reference numeral 48 in the drawing denotes an inboard brake.

The vertical movement of each wheel of the traveling work vehicle 1 configured as described above is automatically performed by a controller using a computer device, and the control is performed by 360 degrees provided in the vehicle body 1A. A horizontal sensor 50 for detecting the inclination in the horizontal direction, and height measuring devices 51, 5 including ultrasonic rangefinders provided on the lower surfaces of the central portions of both sides of the main body.
It is supposed to be done while feeding back the information of 1.

For example, when used in a work site where there is a protrusion such as a reinforcing bar for a beam, as shown in FIG. 10 (a), either the front or rear wheel 2A, 2B on either side has a protrusion 52.
When work is required while riding on the top, the height measuring instrument 51 on the higher value side of the height measuring instruments 51, 51 is selected.
Is selected and used, and the height of the vehicle body 1A is adjusted to a set value, so that the vehicle body 1A is horizontal and preset based on the information of the horizontal sensor 50 and the height measuring instruments 51, 51. Each wheel can be moved up and down so as to have a predetermined height. Further, as shown in FIG. 10B, when the work is performed with one of the front and rear wheels 2A and 2B riding on the protrusion 52, the same horizontal and height controls are automatically performed. ing.

When the vehicle is to be used at a work site where there are only recesses where the wheels fall, the lower one of the height measuring instruments 51, 51 is selected and used, and the vehicle body 1A is used. To match the set value.

[0029]

As described above, in the traveling work vehicle for a concrete compacting device of the present invention, when each wheel under the vehicle body is individually moved up and down, when working at a work site having unevenness In the above, since it is possible to work with the car body always horizontal, the control method is simplified and the manipulator can be manually operated when the vibrator insertion / extraction device is moved by automatically controlling the manipulator and determining the insertion / extraction direction. Even in the case of controlling, the operation is easy.

Further, since the height of each wheel is automatically controlled based on the information of the horizontal sensor and the height measuring device, one skilled operator is not required, and the operation can be easily performed by anyone. be able to.

Further, when the vertical movement of the wheel is vertically moved by the slide guide, the ground contact angle of the wheel becomes constant, and the optimum ground contact angle can be maintained, so that stable traveling is possible. .

[Brief description of drawings]

FIG. 1 is a side view showing a general outline of a work vehicle according to the present invention.

FIG. 2 is a plan view showing a work state of the above.

FIG. 3 is a plan view of the vibrator insertion / extraction device of the above.

FIG. 4 is a plan view showing the front wheel support structure of the above.

5 is a cross-sectional view taken along the line AA in FIG.

FIG. 6 is a sectional view of a slide guide for supporting the wheels of the above.

FIG. 7 is a plan view showing a rear wheel support structure of the above.

FIG. 8 is a rear view of the same.

FIG. 9 is an enlarged side view of the same portion.

10 (a) and 10 (b) are schematic diagrams showing a state in which the projecting portion of the work vehicle is climbed up.

[Explanation of symbols]

 1 traveling work vehicle 1A vehicle body 2 wheels 2A front wheel 2B rear wheel 3 manipulator 4 support post 5 first joint metal fitting 6 first arm 7 second joint metal fitting 8 second arm 9 vibrator insertion / extraction device 10 rod-shaped vibrator 11 vibrator cylinder 12 vibrator 13 power Cable 14 Take-up reel 15, 16 Guide roller 20 Support frame 21 Feed roller 22 Recessed groove 23 Electric motor 24 Gear 25 Feed shaft roller 26 Rotary encoder 27 Height detector 30 Front wheel support frame 31 Steering shaft 31a Extension shaft 32 Front wheel bearing 33 front wheel shaft 34 slide guide 35, 40 hydraulic cylinder 36 slide cylinder 37 guide shaft 38 slide bearing 39 operation arm 41 interlocking rod 42 rear wheel support frame 43 rear wheel bearing 44 rear wheel shaft 45 differential gear mechanism 45a Output shaft 46 Universal joint 47 Propeller shaft 47a Telescopic shaft 48 Inboard brake 50 Horizontal sensor 51 Height measuring instrument 52 Projection

Claims (2)

[Claims] 1. A traveling wheel is provided under a vehicle body,
In a traveling work vehicle for a concrete compaction device supporting a vibrator inserting / extracting device for inserting / extracting a rod-shaped vibrator downward in the vehicle body, concrete in which vertical heights of the traveling wheels with respect to the vehicle body are adjustable Traveling work vehicle for compaction devices. 2. A vehicle body is provided with a horizontal sensor for detecting an angle in the horizontal direction and a height measuring device for measuring the height of the vehicle body, and the wheel height is determined by the information from the horizontal sensor and the height measuring device. A traveling work vehicle for a concrete compaction device, comprising a controller using a computer device that adjusts and controls the vehicle body horizontally and at a predetermined height.