JPH07305496A - Concrete flooring machine - Google Patents

Abstract

PURPOSE:To obtain a concrete flooring machine, in which travelling operation and control are facilitated regardless of a boarding type or a non-boarding type. CONSTITUTION:Rocking shafts 25 are supported to the support plate 2 of a machine body 1 in a rockable manner in the X and Y directions by motors 30, 35 through servo links 33, 38, rotor shafts 16 are spline-coupled with shafts 17 mounted in a coaxial manner with the rocking shafts, rotors 10 are fixed onto the rotor shafts, and a plurality of blades 13a-13d are installed radially to the rotors by fixtures 14. Bases 18 fastened at the lower ends of the shafts and pulleys 8 set up to cylindrical members 9 are supported pivotally to X- and Y-axes through gimbal rings 20, revolution is transmitted over a motor 3, belts 7 and the pulleys 8, and the blades are turned. A command is transmitted by operating sticks 201, 202 for a transmitter 200, and received by a receiver 300, travelling is controlled while an azimuth is detected by an azimuth detector 302 mounted on the support plate, and the azimuth is controlled so as to be kept constant by a controller 303.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a finishing machine for a concrete pouring floor, and more specifically, it is a non-boarding type machine that can be operated by automatic or remote control without the need for an operator to board. The present invention relates to a concrete floor finishing machine, and also relates to a concrete floor finishing machine which can be easily operated and controlled even when the operator is a boarding type.

[0002]

2. Description of the Related Art As a conventional concrete floor finishing machine of this type, for example, there is a pouring concrete floor finishing machine disclosed in Japanese Patent Laid-Open No. 63-130860. This cast concrete floor finishing machine has a plurality of rotors in which a plurality of blades are evenly and radially arranged, an airframe configured for a driver to board, and an engine mounted on a frame of the airframe. , A power transmission mechanism for transmitting power from the engine to each rotor, and two control sticks for controlling the rotor. The rotor shaft of each rotor is connected to a gear box so that it can be freely tilted at an appropriate angle with respect to the vertical axis, and the two control sticks are respectively connected to the gear box via a link mechanism having a universal joint. The rotor shaft can be tilted in any direction by the control stick.

In the cast concrete floor finishing machine configured as described above, a driver on the machine operates two control sticks, and a rotor is connected via a link mechanism and a gear box connected to the control sticks. Tilt the shaft to the desired angle. And the processing surface in the direction of inclination (concrete pouring surface)
The blade pressure is increased, and the machine body is moved in the direction opposite to the rotating direction of the blade at the position where the pressure is increased to finish the floor surface.

Further, in a non-boarding type concrete floor finishing machine having a structure as shown in FIG. 14 in which the driver does not board, the tilt of the rotor shaft is controlled by remote control by wire or wireless. The same principle is used for running and finishing the floor surface. In the figure, reference numeral 200 denotes a transmitter, which is a first stick 201 for giving a ± X movement command and a ± Y movement command to the machine body 1, and a second stick 201 for giving a ± θ turning command.
A stick 202 is provided. In addition, the support plate 2 of the airframe 1
A receiver 300 is installed above, and the control device 301 is configured to incline the rotor shaft 16 in the command direction in response to the above commands. Also, 3 is two rotors 10.
Motors for rotating the motors in opposite directions, 13a-1
3d is a blade attached to each rotor so that the angle can be adjusted, 17 is a rotary shaft spline-coupled to the rotor shaft 16, and a base plate 18 is fixed to the lower end of the gimbal ring 20.
It is adapted to be rotated by the pulley 8 via. Two
A swing shaft 5 is supported on the support plate 2 so as to be tiltable in the X and Y directions, and rotatably supports a rotary shaft 17. 30,
30a (30 is not shown) is a drive motor for inclining the swing shaft 25 in the X direction via the servo links 33, 33a, and 35, 35a are the swing shaft 25 for the servo link 3.
A drive motor for inclining in the Y direction via 8, 38a.

[0005]

In the conventional concrete floor finishing machine as described above, even if the machine body is made to go straight, for example, the concrete floor surface has irregularities, slopes, undulations, etc. Turn in one direction or drive or make a turn. Therefore, it is attempted to maintain straightness by giving a tilt correction amount in the direction of canceling this, but this operation is very difficult. Therefore, the conventional concrete floor finishing machine has a problem that it is difficult to operate regardless of whether it is a boarding type or a non-boarding type, and it takes a long time (about one year) to train an operator.

The present invention has been made to solve the above-mentioned problems, and can be used for traveling operation of an aircraft regardless of whether it is a boarding type or a non-boarding type.
The purpose is to obtain a concrete floor finishing machine that is easy to control.

[0007]

SUMMARY OF THE INVENTION A concrete floor finishing machine according to the present invention has a support shaft and a plurality of blades mounted radially and rotatably, the rotary shaft being supported so as to be tiltable with respect to the support plate. A plurality of rotors respectively fixed to the support plate, a first drive unit and a first power transmission unit arranged on the support plate for rotating the rotors, and a second unit for changing the angle of the blades. Drive means and second power transmission means, third drive means and third power transmission means arranged on the support plate for tilting the rotation axis of the rotor in the X direction, and the rotor. A fourth drive means and a fourth power transmission means arranged on the support plate for tilting the rotation axis of the vehicle in the Y direction, and an orientation detection means for detecting the orientation of the machine body. And

Here, the direction detecting means is, for example, a finger north gyroscope, a combination of a vibration gyro and an integrating circuit, a magnetic direction sensor, or an optical fiber gyroscope.

Further, the direction of the machine body is detected by detecting the amount of the machine body turning deviation from the predetermined direction by the signal of the direction detecting means, and inclining one or more rotary shafts to correct the amount of the machine body turning deviation. Is provided with a control device for automatically keeping the constant.

[0010]

Since the azimuth detecting means of the present invention detects the azimuth of the machine when the machine is traveling, the traveling direction of the machine can be easily corrected based on the deviation of the machine. That is, regardless of the boarding type or the non-boarding type, the control device automatically calculates the correction inclination amount from the deviation amount (detection value of the azimuth detecting means), and the rotational axis is in the direction to cancel the deviation amount with the correction inclination amount. The aircraft is tilted and controlled so that the direction of the aircraft is always constant.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a perspective view showing the entire structure of the present invention, a part of which is shown in cross section, and FIG. 2 is an exploded perspective view of the main part thereof. In both figures, 1 is a machine body, 2 is a support plate, 3 is a motor or engine that is a drive source installed on the upper surface of the support plate 2, and 5 and 5 a are blade drive mechanisms provided on both sides of the motor 3. The output shaft of the motor 3 projects almost vertically from the lower surface of the support plate 2 and is connected to the drive shafts 6, 6a via a transmission mechanism.
(However, 6a is not shown), the drive shafts 6 and 6a are provided via belts 7 and 7a, respectively, and pulleys 8 and 8a of blade drive mechanisms 5 and 5a located below the support plate 2 ( 8a is not shown).
In this case, a transmission mechanism such as a chain or a gear mechanism may be used instead of the belts 7 and 7a. 9 and 9a are fixed to the support plate 2, and below the support plate 2 as shown in FIG.
It is a cylindrical member that rotatably supports the pulleys 8 and 8a via bearings. Since the blade drive mechanisms 5 and 5a have substantially the same structure, the blade drive mechanism 5 will be mainly described below.

Reference numeral 10 denotes a rotor arranged below the support plate 2, a circular groove 11 is provided on the outer periphery thereof, and one end of an arm 12 is slidably fitted in the circular groove 11. At the other end of the arm 12, blades 13a to 13d are L
It is attached via a V-shaped attachment 14. further,
The base of the fixture 14 is pivotally attached by a pin to a bearing 15 attached to the lower surface of a mount base 18 described later.
By vertically moving the rotor 10, which will be described later, the blades 13a to 13d are tilted about this pin to change the angle of the blade. A rotor shaft 16 having a spline formed on the outer peripheral surface is integrally attached to the rotor 10.

Reference numeral 17 denotes a rotary shaft having a spline nut provided on the inner peripheral surface thereof, in which a rotor shaft 16 is slidably fitted in the vertical direction. The rotary shaft 17 is disposed in the cylindrical member 9, and the lower end portion of the rotary shaft 17 has a circular shape. A plate-shaped mounting base 18 is fixed, and X, Y
The lower end of the rotating shaft 17 which can be tilted in the direction is supported by a gimbal mechanism described below.

That is, 20 is a gimbal ring which is a main component of the gimbal mechanism, and is arranged above the mounting base 18 so as to surround the lower end of the rotary shaft 17. Reference numerals 21a and 21b denote gimbal X-axis bearings that hang from the lower surface of the pulley 8 so as to face each other (see FIGS. 2 and 3), and pivotally support a shaft 22 in the X-axis direction that is coupled to the gimbal ring 20 and via the gimbal ring 20. The rotary shaft 17 is supported so as to be swingable around the X axis. Reference numerals 23a and 23b denote gimbal Y-axis bearings provided upright on the upper surface of the mounting base 18 to pivotally support a shaft 24 in the Y-axis direction connected to the gimbal ring 20 and to rotate the rotary shaft 17 via the gimbal ring 20. It is swingably supported around the Y-axis.

Reference numeral 25 is a cylindrical rocking shaft whose lower part is located in the cylindrical member 9, and is rockably supported by the support plate 2 via a spherical bearing (not shown, but a spherical bearing 80 is omitted in FIG. 5). In addition, the upper end of the rotary shaft 17 is rotatably supported inside the lower end of the swing shaft 25 via a bearing 26.
The upper end of the rotor shaft 16 that penetrates the rotary shaft 17 is connected to an adjusting screw 28 that is screwed into the upper end of the swing shaft 25 via a thrust bearing 27. Reference numeral 29 is an angle adjusting unit. The angle adjusting unit 29 is manually rotated, but it may be rotated by a motor.

Reference numeral 30 (see FIG. 2) is an X-axis servomotor mounted on the support plate 2 via a bracket 31, and as shown in FIG. 4, a spherical bearing 3 via a servo lever 32.
It is connected to a Y-shaped servo link 33 rotatably fixed to the swing shaft 25 by 4a and 34b. Reference numeral 35 denotes a Y-axis servomotor mounted on the support plate 2 via a bracket 36, which swings via a servo lever 37 by a spherical bearing 39 provided orthogonally to the spherical bearings 34a and 34b of the servo link 33. It is connected to an I-shaped servo link 38 rotatably fixed to the moving shaft 25. In addition,
The swing shaft 25a is also provided with an X-axis servo motor 30a, a Y-axis servo motor 35a, and the like having the same configuration as described above.

In the present embodiment constructed as described above,
When the motor 3 is driven, the rotation is transmitted to the pulley 8 by the belt 7 and the pulley 8 is rotated. The rotation of the pulley 8 is transmitted to the mounting base 18 via the gimbal X-axis bearings 21a and 21b, the gimbal ring 20, and the gimbal Y-axis bearings 23a and 23b. The rotation of the mounting base 18 is transmitted to the rotor 10 via the rotor shaft 16 that is spline-coupled to the rotating shaft 17 that is integral with the mounting base 18.
0 is rotated integrally, and the blades 13a to 13d are rotated by the mounting tool 14 held by the rotor 10 and the mounting base 18 by the arm 12 and the bearing portion 15, respectively. The blades 13a to 13d of the other blade drive mechanism 5a also rotate in the same manner, but the rotation direction is opposite to that of the blades 13a to 13d of the blade drive mechanism 5.

In this case, when the concrete is soft, if the pressure of the blades 13a, 13d in contact with the work surface is too strong, the work surface will be roughened, so it is necessary to weaken the pressure. Also, when the concrete gradually hardens, it will not be effective at a weak pressure, so it is necessary to increase the pressure. In this way, the pressure of the blades 13a to 13d in contact with the processed surface must be adjusted depending on the condition of the processed surface and the like. For this purpose, the angle adjusting unit 2
9 is rotated to move the angle adjusting screw 28 up and down, and the rotor shaft 16 and the rotor 10 connected thereto are moved up and down. At this time, since the mounting base 18 is held at a fixed position, the arm 12 that engages with the circular groove 11 of the rotor 10 rotates about the pin of the bearing portion 15 as the rotor 10 moves up and down. Of the blades 13a to 13d relative to the machined surface changes, and the pressure applied to the machined surface can be adjusted.

Next, the operation of moving the machine body 1 will be described, but before that, the principle of movement of the machine body 1 will be described.

2 and 5, when the X-axis servomotor 30 is rotated in the forward or reverse direction and the servo link 33 is rotated in the A or B direction in FIG. 5, the swing shaft 25 connected thereto is rotated. Is the support, that is, the gimbal mechanism
Or tilt in the B direction. The gimbal mechanism includes a gimbal ring 20, gimbal X-axis bearings 21a and 21b, and gimbal Y-axis bearings 23a and 23b at the lower end of a rotary shaft 17 which is coaxially supported by the swing shaft 25. Therefore, the rotor shaft 16 and the base plate 18 tilt in the A or B direction, and change the tilt angle in the A or B direction of the blades 13a to 13b connected thereto.

When the Y-axis servo motor 35 is rotated in the forward or reverse direction and the servo link 38 is rotated in the C or D direction, the swing shaft 25 is rotated about the gimbal mechanism as a center.
Or tilt in the D direction. Therefore, the rotor shaft 16 and the base plate 18 tilt in the C or D direction, and change the tilt angle in the C or D direction of the blades 13a to 13b connected thereto.

This will be described in more detail with reference to FIG. In addition,
In FIG. 6, an arrow 30 / A indicates an X-axis servo motor 30.
Blade 13 when the swing shaft 25 is tilted in the A direction by
The pressure applied to the machined surface of a, arrow 30 / B, indicates the pressure applied to the machined surface of the blade 13c when the swing shaft 25 is similarly tilted in the B direction. The arrow 35 / C indicates the pressure applied to the machining surface of the blade 13b when the swing shaft 25 is tilted in the C direction by the Y-axis servomotor 35, and the arrow 35 / D also tilts the swing shaft 25 in the D direction. The pressure applied to the processed surface of the blade 13d in the case of being shown is shown. The broken line arrow indicates the action direction of the reaction force in each of the above cases, that is, the propulsive force of the machine body 1, and the blade drive mechanism 5a also operates according to the above.

Next, referring to FIG. 7 and FIG. 6, the movement operation of the machine body 1 will be described. In the two blade drive mechanisms 5 and 5a, when the rotors 10 and 10a rotate in mutually opposite directions, as shown in FIG. 7A, the pressure on the working surface of the blades 13c and 13a on the inner side is changed to the pressure of the other blades. When it is further increased, the body 1 will use this blade 13
It moves in the direction opposite to the rotation direction of c and 13a, and hence in the direction of the reaction force (for example, the forward direction).

Further, as shown in FIG. 3B, if the pressures of the outer blades 13a and 13c against the machined surfaces are increased more than the pressures of the other blades, the machine body 1 increases the pressure due to its reaction force. Blades 13a, 13c
It moves in the direction opposite to the rotation direction of (for example, backward).

Further, as shown in FIG.
If the pressure against the blade 13d of 0 and the processing surface of the blade 13b of the rotor 10a on the side opposite to this blade 13d is increased more than the other blades, the reaction force causes the machine body 1 to move to the right, and (d) As shown in the drawing, if the pressure on the working surface of the blade 13b of the rotor 10 and the blade 13a of the rotor 10a on the opposite side of the blade 13b is increased, the reaction force causes the machine body 1 to move to the left.

As shown in FIG. 8A, the rotor 1
If the pressure on the working surface of the blade 13c on the inner side of 0 and the blade 13c on the outer side of the rotor 10a is increased, the machine body 1 turns clockwise due to the reaction force, and as shown in FIG. Outer blade 13a and rotor 10
If the pressure on the machined surface of the blade 13a inside a is increased, the reaction force causes the machine body 1 to turn counterclockwise.
In addition to the above, as illustrated in, for example, (c) to (g) of FIG. 8, various blades 13a to 13d of both rotors 10 and 10a that increase the pressure applied to the processed surface can be selected as appropriate. It is possible to perform the applied operation of.

Next, the improvement of the operability and maneuverability of the machine body in the present invention will be described in comparison with a conventional example.

First, in the conventional boarding type and non-boarding type, the non-boarding type of FIG. 14 will be described.
In order to make X movement, ± Y movement, and ± θ rotation, the transmitter 20
± X and ± Y movement commands with the first stick 201 of 0,
A ± θ turning command is given by the second stick 202.
By this stick operation, the machine body can be caused to perform various movements as shown in FIGS. 7 and 8.

However, on the floor surface, even if the first stick 201 is moved forward by the + Y movement command, the machine body may move in the + X or -X direction depending on the conditions such as the dryness of the concrete, the unevenness of the surface, and the coefficient of friction. Therefore, the remote control cannot be performed in the desired direction and posture, due to the side-slip motion or the swivel-slip motion in the + θ or −θ direction. Therefore, when moving the aircraft forward,
While moving forward with the + Y movement command of the first stick 201,
The aircraft was steered by giving the lateral slip correction amount + X or -X, and further by giving the turning slip correction amount + θ or -θ with the second stick 202. As described above, in the conventional method, ± X, ± Y, ± θ are required in order to cause the aircraft to perform a desired motion.
Was required and it took a long time to train the operator.

On the other hand, in this embodiment, as shown in FIG. 1, an azimuth detector 302 for detecting the azimuth of the machine body 1 during traveling is provided on the support plate 2. Direction detector 3
Reference numeral 02 is a known finger north gyroscope, a magnetic direction sensor, an angle sensor combined with a vibration gyro and an integrator, or an optical fiber gyroscope.

FIG. 10 is a block diagram of an embodiment of the control unit of the present invention. The azimuth detector 302 detects the azimuth of the machine body, and the controller 303 processes the azimuth so that the azimuths of the rotary shafts 17 and 17a can be kept constant.
Controls 30a and 35a. 9 and 11,
Explaining the turning correction operation by the rotating shafts 17 and 17a,
For example, in the hovering state shown in FIG.
When a turning-sliding motion in the -θ direction occurs (Fig. 11
(B)), the control device 303 calculates the slip angle based on the detection signal from the azimuth detector 302, and further tilts the rotary shaft 17 in the + Y1 direction and the rotary shaft 17a in the -Y2 direction to move in the + θ direction. Perform turning correction operation (Fig. 11
(C)), which keeps the orientation constant (FIG. 11).
(D)).

Further, for example, as shown in FIG. 13, when a turning-sliding motion in the −θ direction occurs during the + Y forward movement (FIG. 13 (b)), a tilt command for the rotary shafts 17 and 17a +
Propulsion force A
Is corrected to be larger than the propulsive force B and the aircraft is moved forward while the turning correction operation is performed in the + θ direction to correct the azimuth. In the above description, both of the rotary shafts 17 and 17a are made to perform the turning correction operation. However, as shown in FIG. 12, only one of the rotation shafts may be made to perform the turning correction operation independently.

The ± θ operation of the second stick 202 is used for the forced turning motion. Here, for the sideslip ± X, it is necessary to instruct the correction amount ± X with the first stick 201, but the sideslip motion is slow, and
Since the floor finishing work can be performed only by operating the stick 201, even a beginner can operate the aircraft with about 30 minutes of practice.

[0034]

As described above, in the concrete floor finishing machine of the present invention, regardless of whether it is a boarding type or a non-boarding type, the direction detecting means can detect the amount of deviation of the direction when the machine is running, Further, since the control device for controlling the azimuth of the machine body by controlling the inclination of one or a plurality of rotation axes by the signal of the azimuth detecting means is provided, the azimuth can be automatically kept constant, and the controllability and operability are improved. Good and stable running performance.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an embodiment of the present invention.

FIG. 2 is an exploded perspective sectional view of a main part of FIG.

FIG. 3 is a cross-sectional view showing a mounting state of the pulley and the cylindrical member of FIG.

FIG. 4 is an explanatory diagram of a servo link unit in FIG.

FIG. 5 is an explanatory diagram of an operation of moving the machine body.

FIG. 6 is an explanatory view of the action of moving the machine body.

FIG. 7 is an explanatory diagram of an operation of moving the machine body.

FIG. 8 is an explanatory diagram of an operation of moving the machine body.

FIG. 9 is an explanatory view of the action of moving the machine body.

FIG. 10 is a block diagram of an embodiment of a control unit of the present invention.

FIG. 11 is an explanatory diagram of a turning correction operation by a plurality of rotation axes.

FIG. 12 is an explanatory diagram of a turning correction operation by one rotating shaft.

FIG. 13 is an explanatory diagram of a turning slip error correcting operation during a forward movement operation.

FIG. 14 is an overall configuration diagram of a conventional example.

[Explanation of symbols]

 1 Airframe 2 Support plate 3 Motor 5,5a Blade drive mechanism 6 Drive shaft 7 Belt 8 Pulley 9,9a Cylindrical member 10,10a Rotor 13a-13d Blade 16 Rotor shaft 17 Rotating shaft 18 Mounting base 20 Gimbal ring 25 Swing shaft 30 , 30a, 35, 35a Servo motor 33, 33a, 38, 38a Servo link 200 Transmitter 201 First stick 202 Second stick 300 Receiver 302 Direction detector 303 Control device

[Procedure amendment]

[Submission date] May 20, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0020

[Correction method] Change

[Correction content]

2 and 5, when the X-axis servomotor 30 is rotated in the forward or reverse direction and the servo link 33 is rotated in the A or B direction in FIG. 5, the swing shaft 25 connected thereto is rotated. Is the support, that is, the gimbal mechanism
Or tilt in the B direction. The gimbal mechanism includes a gimbal ring 20, gimbal X-axis bearings 21a and 21b, and gimbal Y-axis bearings 23a and 23b at the lower end of a rotary shaft 17 which is coaxially supported by the swing shaft 25. Therefore, the rotor shaft 16 and the base plate 18 tilt in the A or B direction, and change the tilt angle in the A or B direction of the blades 13a to 13d connected thereto.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0021

[Correction method] Change

[Correction content]

When the Y-axis servo motor 35 is rotated in the forward or reverse direction and the servo link 38 is rotated in the C or D direction, the swing shaft 25 is rotated about the gimbal mechanism as a center.
Or tilt in the D direction. Therefore, the rotor shaft 16 and the base plate 18 tilt in the C or D direction, and change the tilt angle in the C or D direction of the blades 13a to 13d connected thereto.

Claims (6)

[Claims] 1. A support plate and a plurality of blades mounted radially and rotatably,
A plurality of rotors each fixed to a rotation shaft supported so as to be tiltable with respect to the support plate, and a first drive unit and a first power arranged on the support plate for rotating the rotors. Transmission means, second drive means and second power transmission means for changing the angle of the blade, and a first driving means arranged on the support plate for inclining the rotation axis of the rotor in the X direction. A third drive means and a third power transmission means, a fourth drive means and a fourth power transmission means arranged on the support plate for inclining the rotation axis of the rotor in the Y direction, A concrete floor finishing machine, which is provided with an azimuth detecting means for detecting the azimuth of the concrete floor. 2. The concrete floor finishing machine according to claim 1, wherein the direction detecting means is a finger north gyroscope. 3. The concrete floor finishing machine according to claim 1, wherein the azimuth detecting means comprises a vibrating gyro and an integrating circuit. 4. The concrete floor finishing machine according to claim 1, wherein the direction detecting means is a magnetic direction sensor. 5. The concrete floor finishing machine according to claim 1, wherein the direction detecting means is an optical fiber gyroscope. 6. A direction of the machine body is detected by a signal from the direction detecting means, and the amount of the machine body turning deviation from a predetermined direction is detected. In order to correct the amount of the machine body turning deviation, one or more rotary shafts are tilt-controlled. 6. The concrete floor finishing machine according to claim 1, claim 2, claim 3, claim 4 or claim 5, further comprising a control device for automatically keeping the value constant.