JPH08239999A - Traveling driving method on ready-mixed concrete floor surface and traveling and driving car - Google Patents

Abstract

PURPOSE: To enable a traveling and driving car to travel freely on a ready- mixed concrete floor by using a balloon tire wherein a slip preventive recessed part is installed on the surface as a tire of the running and driving car. CONSTITUTION: A balloon tire is used as a tire 2 of a running and driving car, thereby reducing a ground pressure against the floor surface of ready-mixed concrete and minimizing a setting into the concrete floor surface. A recessed groove 21 is installed on the surface of the tire 22 so that the ready-mixed concrete set into the recessed groove 22, which increases a tracking force of the running and driving car by using a shearing resistant force of the raw-mixed concrete. Furthermore, the four tires 22 are laid out point symmetrically with the central point of a chassis 21, and vertical load added on each tire 22 is equalized substantially in a similar manner. The four ties are turnably driven in this state. The tracking force of the running and traveling car can move a work means such as supersonic iron on the concrete surface freely and horizontally.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a drive vehicle for driving a floor surface of ready-mixed concrete.

[0002]

2. Description of the Related Art Conventionally, concrete construction has been carried out in buildings, theaters, stadiums, roads, runways, and various other civil engineering construction works. In addition, concrete wall materials, building materials, and various other structural members are also produced in factories. Generally, in these concrete works, green concrete in which cement, aggregate, water, and various admixtures are mixed at an appropriate ratio is solidified through construction such as driving, compaction, surface finishing and curing.

[0003] Conventionally, in the step of compacting or finishing the surface of the floor in concrete construction, the surface of the poured fresh concrete is leveled by a trowel (plastering trowel),
The surface of the concrete after hardening is finished so as to have a glossy flat surface. Such plastering work is performed manually by the professional plasterer.

[0004]

However, as the construction work becomes larger, the manual work by the plasterer requires a longer construction period, and in addition to this, the cost required for the plasterer work also increases. Further, in recent years, since the plastering work is insufficient, both the construction period and the cost required for the plastering work tend to be further increased.

Therefore, in order to improve the work efficiency of the plastering work and reduce the construction period and cost, it is necessary to automatically perform the plastering work by a machine instead of the conventional manual work by the plastering work. The applicant of the present invention has previously proposed Japanese Patent Application No. 6-328064 as an automatic floor finishing device for this purpose.

In such an automatic floor finishing device, an ultrasonic trowel comprising a flat iron pedestal and an ultrasonic transducer mounted on the upper surface of the trowel pedestal is used to The trowel pedestal is configured to be moved horizontally with a part of the pedestal in contact with the floor surface. With automatic finishing equipment,
It is necessary to move the ultrasonic trowel horizontally freely on the floor of the ready-mixed concrete.

However, unconsolidated ready-mixed concrete is in a muddy state, and when ordinary tires are used, the running wheels are largely up and down, which makes running difficult. The present invention has been made in view of the above problems, and a method and a drive vehicle for driving a floor surface in order to freely move a working tool such as an ultrasonic trowel horizontally in a horizontal direction on a fresh concrete surface. The purpose is to provide.

[0008]

According to a first aspect of the present invention, there is provided a vehicle body, a traveling tire mounted on the vehicle body, a rotary drive source, and a rotary drive force of the rotary drive source for the tire. A method for driving a floor surface of ready-mixed concrete by a traveling drive vehicle including a transmission mechanism for transmitting to a tire, wherein the tire is a balun tire provided with a recess for slip prevention on the surface thereof, and the tire is This is a method in which all of the tires are driven to rotate while the vertical loads applied to the tires are made substantially equal to each other.

According to a second aspect of the present invention, there is provided a traveling drive vehicle, a vehicle body, a traveling tire mounted on the vehicle body, a rotational drive source, and a transmission for transmitting rotational drive force of the rotational drive source to the tire. And a mechanism for driving on a floor surface of ready-mixed concrete, wherein a total of four balun tires are used at least on the left, right, front and rear, and each of the four tires is the center of the vehicle body in a horizontal plane view. The tires are arranged in a point-symmetrical manner with respect to the position, a slip preventing recess is provided on the surface of each tire, and floor construction tools having substantially the same weight are attached to the front and rear of the vehicle body.

In the invention of claim 3, the recess is
The cross section has a substantially semicircular shape, and a pattern formed by a large number of two kinds of straight lines that obliquely intersect each other on the surface of the tire is formed.

In a fourth aspect of the present invention, a connection support mechanism for mounting the floor construction tool is provided in front of and behind the vehicle body, and the connection support mechanism is located at a position more than a rotation center position of the tire. It has a rotating plate rotatably connected by a shaft pin located at a high position.

[0012]

By using the balun tire as the tire of the driving vehicle, the ground contact pressure of the fresh concrete on the floor surface is reduced, and the sinking of the fresh concrete on the floor surface is reduced.

By providing the concave portion on the surface of the tire, the shear resistance of the green concrete is utilized to increase the traction force of the traveling drive vehicle. There is little influence on the finish of the fresh concrete surface due to the recesses provided on the surface of the tire.

Further, since the vertical loads applied to the tires are almost equal to each other, the loads are evenly applied to the tires, and the maximum traction force can be obtained by rotationally driving all of the tires.

[0015]

1 is a front view showing a finishing device 1 using a traveling drive vehicle 11 according to the present invention, FIG. 2 is a plan view of the finishing device 1, and FIG. 3 is a trowel unit of the finishing device 1 shown in FIG. 12
FIG. 4 is an enlarged view of the vicinity of A, FIG. 4 is an enlarged view of the vicinity of the traveling drive vehicle 11 of the finishing device 1 shown in FIG. 2, and FIG. 5 is an enlarged view of the vicinity of the connecting portion 31b of the traveling drive vehicle 11. 6 is a sectional view, FIG. 6 is a right side view of the finishing device 1 shown in FIG.
8 is a view showing a cross-sectional shape of the concave groove 221, FIG. 8 is a view showing an example of a pattern of a concave portion provided on the surface of the tire 22, FIG. 9 is an enlarged front view of the iron unit 12, and FIG. 11 is an enlarged plan view showing a part of the iron unit 12, FIG. 11 is a right side view showing an enlarged part of the iron unit 12, and FIG. 12 is an exploded perspective view showing the structure of the ultrasonic iron 71. .

The finishing device 1 is shown in a simplified manner in FIG. 2, and in FIG. 4, the traveling drive vehicle 1 is shown.
The inside of the control device 13 and the power supply device 14 mounted on the vehicle 1 are omitted and a part thereof is shown in section.

Referring to FIGS. 1 to 5, the finishing device 1 is
Traveling drive vehicle 11, two iron units 12A, 12B,
It is composed of a control device 13 and a power supply device 14. It should be noted that both or one of the two iron units 12A and 12B may be referred to as "trowel unit 12".

As shown in FIG. 4, the traveling drive vehicle 1
1 is a vehicle body 21, four running tires 22a, 22
b, 22c, 22d, a motor 23 as a rotation drive source
a, 23b and conduction mechanisms 24a, 24b.
The four tires 22a, 22b, 22c, 22d may be referred to as "tire 22" by referring to all or part of them. Similarly, the motors 23a and 23b or the transmission mechanism 24
Both "a" and "24b" may be referred to as "motor 23" or "conduction mechanism 24".

The vehicle body 21 is formed of a metal plate in the shape of a rectangular parallelepiped box having an open upper surface. Side plates on both the left and right sides of the vehicle body 21 extend forward and rearward, and connect parts 31a, 31b, 31c, 31d for connecting the iron unit 12.
Is formed.

As shown in FIG. 5, the connecting portion 31b is well formed.
The tip portion 32 is bent at a right angle to fit into the connecting groove 33 formed in the iron unit 12. The other connecting portions 31a, 31c, 31d are also connected to the connecting portion 3
It has the same structure as 1b.

When actually connecting the traveling drive vehicle 11 and the iron unit 12A, the two connecting grooves 33 formed in the iron unit 12A are connected to the two connecting portions 31a and 31b of the traveling drive vehicle 11 from above to below. When the holes 34 and 35 are aligned with each other, the holes 34, 34
Insert the pin 36 into. The pin 36 positions the traveling drive vehicle 11 and the iron unit 12A in the vertical direction. The other iron unit 12B is similarly connected.

In FIG. 4, all four tires 22 are balun tires made of a rubber film for low pressure. The tire 22 has its internal pressure at atmospheric pressure or a pressure close to atmospheric pressure in a non-loaded state, and by applying a load,
Internal pressure is generated according to the load. These tires 22
A groove 221 for slip prevention is provided on the surface of the. As shown in FIG. 8A, the groove 22
In the surface of the tire 22, No. 1 has a pattern formed by a large number of two kinds of straight lines that obliquely intersect each other.

As shown in FIG. 7, the concave groove 221 has a substantially semicircular cross section, its width W is 1 to 3 mm, and its depth d is 0.
It is about 5 to 1 mm. By using balun tires as the tires of the traveling drive vehicle 11, the ground contact pressure of the fresh concrete with respect to the floor surface is reduced and the sinking of the concrete into the floor surface is reduced. Then, the groove 2 is formed on the surface of the tire 22.
Since the fresh concrete enters the groove 221 by providing the groove 21, the shear resistance of the fresh concrete is utilized to increase the traction force of the traveling drive vehicle 11.

According to the experiments conducted by the present inventors, when the traveling drive vehicle 11 of the present embodiment travels and the depth of the rut attached to the floor surface of the fresh concrete by the tire 22 is 5 mm or less, the present embodiment The example trowel unit 12 allowed the ruts to be erased and the surface to be leveled. In that case, the horizontal traction force was 5 to 10 kgf.

According to experiments, the traction force of the traveling drive vehicle 11 changes depending on the ground contact pressure of the tire 22, the presence or absence of the groove 221, and the traveling speed. It was found that the higher the contact pressure, the bite into the contact surface, and the higher the traveling speed, the greater the traction force. For example, the ground pressure is 0.021
At kg / cm ² , the traction force is 13.5 kgf, and at ground pressure 0.046 kg / cm ² , the traction force is 16.5.
It was kgf.

That is, it is considered that the traction force when traveling on the unconsolidated green concrete surface is affected by the slip resistance of the ground contact portion, and the larger the vertical load, the greater the traction force. However, when the vertical load becomes large, a large depression is caused on the surface of the ready-mixed concrete, and when the rut becomes deeper than a certain depth, the rut cannot be eliminated depending on the iron unit 12, so the vertical load is unlimited. Can't be big.

In this embodiment, in order to obtain the traction force while limiting the vertical load, the ground pressure is reduced by using a balun tire as the tire 22, and the traction force is reduced by providing the groove 221, on the surface of the tire 22. It has increased. Further, since the groove 221, which is provided on the surface of the tire 22, has little influence on the finish of the fresh concrete surface, and as a result, the fresh concrete surface is finished neatly.

The concave portion provided on the surface of the tire 22 may be a concave groove 221a composed of a large number of straight lines parallel to each other as shown in FIG. 8B.
As shown in (C), a large number of hemispherical recesses 221b may be formed.

The tires 22 are mounted on axles 41a, 41b, 41c, 41d that are rotatably supported independently of each other via bearings mounted on the vehicle body 21. One sprocket is attached to each axle 41a, 41d, and two sprockets are attached to each axle 41b, 41c.

Each of the motors 23a and 23b is a DC motor having a built-in reduction gear. Motor 23a, 2
Sprockets 43a and 43b are attached to each output shaft of 3b.

The transmission mechanisms 24a and 24b are connected to the axle 41a.
It is composed of sprockets attached to the output shafts of d and the motors 23a and 23b, and a chain stretched around these sprockets. Due to the rotational driving of the motors 23a and 23b, the traveling drive vehicle 11 is 0.3 m / sec.
Drive at moderate speed. Forward control, reverse drive, left turn, right turn, speed control, and the like are performed by the rotation control of the motors 23a and 23b.

That is, in the traveling drive vehicle 11, the four tires 22 are arranged point-symmetrically with respect to the center position of the vehicle body 21 in the horizontal plane view, and the vertical loads applied to the respective tires 22 are substantially equal to each other. All of 22 are rotationally driven.

Next, the schematic structure of the iron unit 12 will be described with reference mainly to FIGS. Trowel unit 1
2A and 12B are ultrasonic trowels 71A, 72A, 71B,
72B, vibro plates 73A and 73B, connection support mechanisms 81A and 81B, pantograph mechanisms 82A and 82B,
Trowel posture holding mechanisms 83A, 83B, iron angle adjusting mechanism 8
4A, 84B, and iron lifting mechanisms 85A, 85B.

Incidentally, these iron units 12A, 12
Bs have the same structure and the same weight, so that only one of the iron units 12A will be mainly described. In the following description, the symbol “A” or “B” will be omitted unless particularly necessary.

When the traveling drive vehicle 11 travels without any work, the iron unit 12 is lifted by the built-in iron lifting mechanism 85 so that the ultrasonic irons 71 and 72 do not come into contact with the floor surface. It is raised to position PU. At the time of working, the ultrasonic trowels 71 and 72 are lowered by gravity to an operating position PE where the irons 71 and 72 contact the floor surface. When working,
Both of the two iron units 12 are used at the same time.
The ultrasonic trowel 71, 7 depending on the traveling direction of the traveling drive vehicle 11
The angles α1 and α2 of 2 are adjusted. However, the vibro plate 73 that is connected to the front side in the traveling direction has the raised position P.
It is raised to U and is not used.

The ultrasonic trowels 71 and 72 are supported by the trowel posture holding mechanism 83, and their respective postures are held. The trowel posture maintaining mechanism 83 is supported by the connection supporting mechanism 81 via a pantograph mechanism 82 having four parallelepipeds whose four vertices can rotate. Therefore, the trowel posture holding mechanism 83 can be moved in the vertical direction (vertical direction) while the posture is held by the deformation of the pantograph mechanism 82. The connection support mechanism 81 includes a pantograph mechanism 82, a trowel posture holding mechanism 83, and a trowel angle adjusting mechanism 84, which rotate the shaft pin 125 along the traveling direction of the traveling drive vehicle 11 with respect to the vehicle body 21 of the traveling drive vehicle 11. Is rotatably connected to and supported by a trowel lifting mechanism 85.
Are connected to and supported by the vehicle body 21 of the traveling drive vehicle 11.

The iron angle adjusting mechanism 84 variably adjusts the position of the iron posture holding mechanism 83 with respect to the pantograph mechanism 82, and sets the angle between the ultrasonic irons 71 and 72 and the floor surface. The iron lifting mechanism 85 has a trowel posture holding mechanism 83.
Also, the ultrasonic trowels 71 and 72 are moved up and down. When the ultrasonic trowels 71 and 72 are used, the trowel elevation mechanism 85, the pantograph mechanism 82, and the trowel posture holding mechanism 83 are disengaged, and the trowel posture holding mechanism 83 and the ultrasonic trowel 7
1, 72 descend due to their weight and come into contact with the floor surface. When the ultrasonic irons 71, 72 are not used, the iron lifting mechanism 85 lifts the iron posture holding mechanism 83,
The ultrasonic irons 71, 72 are raised to the raised position PU so that they do not contact the floor surface.

Next, the detailed structure of the trowel unit 12 will be described mainly with reference to FIGS. 3, 5, 11, and 12. First, the ultrasonic trowels 71 and 72 are respectively the planar trowel bases 101A and 101B and the iron base 101.
The ultrasonic transducer 103 is attached to the upper surfaces of the A and 101B via a keel member 102 by elastic coupling (see FIG. 12). The vibration of the ultrasonic transducer 103 causes surface vibration of the iron pedestals 101A and 101B, and the floor surface of the fresh concrete is leveled and finished by the lower surfaces or edges of the iron pedestals 101A and 101B. Details of the ultrasonic trowels 71 and 72 will be described later.

The vibro plate 73 is for leveling fresh concrete beforehand by vibration. Next, the connection support mechanism 81 will be described. The connection support mechanism 81 includes an outer substrate 121, a back plate 122 fixed to the center of the back side of the substrate 121, plate members 123 and 124 fixed to both sides of the back side of the substrate 121, and a shaft on the front side of the substrate 121. Pin 12
The rotary plate 126 is rotatably connected by means of 5, and the like.

As best shown in FIG. 3, the substrate 121
Is a bracket portion 121a formed by being bent at right angles on both left and right sides (upper side and lower side in FIG. 3).
21b. A top plate 121c covering a part of the substrate 121 is fixed above the substrate 121.

As shown in FIG. 5, the connecting groove 33 is formed by the substrate 121 and the plate members 123 and 124, and the tip 32 of the connecting portion 31b or 31a is inserted into the connecting groove 33 and connected. It In the state where the connection support mechanism 81 is connected to the connection portions 31a and 31b, the rotating plate 12
6 is at a position slightly higher than the rotation center position of the tire 22 due to the shaft pin 125. In the state where the connection support mechanism 81 is connected to the connection portions 31a and 31b, the rotating plate 126
Is pulled and pulled by the shaft pin 125. The pantograph mechanism 82 is connected to the rotating plate 126.

Referring particularly to FIGS. 9 and 10, in the pantograph mechanism 82, the four sides of the parallelogram are rotatably connected at the positions of the four vertices PG1 to PG4.
The vertices PG1 and PG2 are fixedly provided on the rotating plate 126. That is, the vertex PG1 and the vertex PG
The two are connected by the rotating plate 126 itself. The vertices PG1 and PG2, and the vertices PG3 and PG4 are
They are connected by an arm member 131 and an arm member 132, respectively. The apex PG2 and the apex PG3 are arm members 144 and 145 that are a part of the trowel posture holding mechanism 83.
Are linked by. The arm member 144 and the arm member 145 are fixed to each other in an inverted T shape.

The trowel posture holding mechanism 83 is a parallelogram type 4
One side is rotatably connected at the positions of the four vertices HM1 to HM4. Vertex HM1, Vertex HM2, Vertex H
M2 and vertex HM3, vertex HM3 and vertex HM4, vertex HM
4 and the apex HM1 are connected by an arm member 141, an arm member 142, an arm member 143, and an arm member 144, respectively. The lower ends of the arm members 142 and 144 are rotatable shaft members 1 horizontally arranged at the respective positions of the vertices HM3 and HM4.
It is fixed to 46 and 147, respectively. Each shaft member 14
Ultrasonic irons 71, 72 are arranged below the shaft members 146, 147 along the shaft members 146, 147. Each ultrasonic trowel 7
1, 72 are at both ends of each shaft member 146, 147,
Each of them is easily removably attached by using fasteners 151, 152 such as a patch lock.

A plurality of arm members 157 are rotatably attached to the rotating plate 126 by pins 156. One horizontal shaft member 158 is fixed to the lower end of the arm member 157. At both ends of the shaft member 158, the vibro plates 73 are easily and removably attached by the stoppers 153, respectively.

Between the arm member 141 and the arm member 145, the positions of these members can be varied and the trowel angle α1,
An iron angle adjusting mechanism 84 for adjusting α2 is attached.

That is, a trowel angle adjusting motor 161 is attached to the lower portion of the arm member 141 on the tip side. The motor 161 is a DC motor that has a built-in gear for deceleration. The output shaft of the motor 161 has a link arm 1
62 is fixed. Between the tip of the link arm 162 and the upper end (apex PG2) of the arm member 145,
A link arm 163 is rotatably attached at each connection point. An angle sensor 164 for detecting a rotation angle is attached to the output shaft of the motor 161.

Therefore, when the motor 161 is driven to rotate, the link arm 162 rotates and the link arm 162 rotates.
The link arm 163 linearly moves to the left and right according to the rotation angle. Then, since the posture of the arm member 145 is fixed by the pantograph mechanism 82, the motor 1
With the rotation of 61, the arm member 141 moves left and right. As a result, the parallelogram of the trowel posture holding mechanism 83 is deformed, the arm member 142 and the arm member 144 rotate about the apexes HM3 and HM4, and the ultrasonic trowels 71 and 72 are directed in the arrow AR1 direction and the arrow. Rotate in the AR2 direction. As a result, the angles α1 and α2 formed by the lower surface of the iron pedestal 101 and the floor surface of the ultrasonic irons 71 and 72 are adjusted, and the ultrasonic irons 71 and 72 are positioned at angular positions corresponding to the rotation amount of the motor 161.

An engagement pin 148 protruding outward is attached to the arm member 145, and the engagement pin 148 is attached.
And a trowel elevating mechanism 85 for engaging the trowel posture holding mechanism 83 and the ultrasonic trowels 71, 72 with
It is attached to the substrate 121 or the like.

That is, the bracket portion 12 of the substrate 121
A link 171 is rotatably attached to the la 1 by a pin 172. One end of the link 173 is rotatably connected to the upper end of the link 171 by a pin 174. At the other end of the link 173, the link 17
One end of 5 is rotatably connected by a pin 176. The other end of the link 175 is rotatably attached to the substrate 121 by a pin 177. A link mechanism similar to the link mechanism by these links 171, 173, 175 and the like is also provided on the other bracket portion 121b of the substrate 121.

Bracket portion 121a and bracket portion 12
A horizontal rod 178 is fixedly mounted between the two links 175, 175 provided on the 1b. Since the two links 175 and 175 are connected by the rod 178, their link mechanism moves integrally.

As best shown in FIGS. 3, 9 and 10, the iron lifting motors 181a and 181b are mounted on the top plate 121c of the substrate 121.
Each of the motors 181a and 181b is a DC motor having a built-in reduction gear. Motor 181a, 181b
A link arm 182a or 182b is fixed to each of the output shafts. The link arm 183a is provided between the tip ends of the link arms 182a and 182b and the rod 178.
Alternatively, 183b is rotatably attached at each connection point. Link arms 183a and 183
In b, each of two arms is connected by a bolt, and the length can be adjusted by loosening the bolt and changing the positions of the two arms with respect to each other. An angle sensor 184 for detecting the rotation angle is attached to the output shaft of one motor 181a.

Therefore, when the motors 181a and 181b are rotationally driven, the link arms 182a and 182b rotate, and the link arms 183a and 183b linearly move left and right according to the rotation angle of the link arms 182a and 182b. Then, the link 175 rotates about the pin 177, and the link 171 rotates about the pin 172.

When the link 175 rotates to the left in FIG. 9, the engaging claw 175a provided at the lower end of the link 175.
Engages with the engagement pin 148 provided on the arm member 145 to move it upward (in the vertical direction). Then, the pantograph mechanism 82 is deformed, and the trowel posture holding mechanism 83 is lifted while maintaining the shape and posture at that time. As a result, the ultrasonic trowels 71 and 72 are lifted to the raised position PU that does not contact the floor surface.

On the contrary, when the link 175 is rotated rightward in FIG. 9 with the ultrasonic irons 71 and 72 being lifted, the iron posture holding mechanism 83 and the ultrasonic iron 7
1,72 descends due to gravity, and ultrasonic trowels 71,72
Lowers to the operating position PE in contact with the floor FL and stops. Since the link 175 also rotates after that, the engaging claw 175a of the link 175 eventually separates from the engaging pin 148.

When the link 171 rotates to the left in FIG. 9, the engaging claw 17 provided at the lower end of the link 171.
1a hits the shaft member 158 and moves the shaft member 158 diagonally upward. Then, the vibro plate 73
It can be lifted up to a raised position PU that does not contact the floor surface. Conversely, when the link 171 rotates to the right in FIG. 9 while the vibro plate 73 is being lifted, the vibro plate 73 is lowered by gravity, and the vibro plate 73 comes into contact with the floor surface FL at an operating position. It descends to PE and stops. Since the link 171 also rotates after that, the engaging claw 171a of the link 171 separates from the shaft member 158 before long.

The arm member 143 of the trowel posture holding mechanism 83 is extended to the front, and a bumper 191 is attached to the tip of the arm member 143. Proximity sensors 192a to 192d that detect whether or not there are obstacles in the left-right direction and the front direction are attached to both sides above the bumper 191.

Next, the ultrasonic trowels 71 and 72 will be described. Since the ultrasonic irons 71 and 72 have the same structure, one ultrasonic iron 71 will be described. For the ultrasonic iron 71, reference can be made to JP-A-6-193268.

FIG. 12 is an exploded perspective view showing the structure of the ultrasonic iron 71. In FIG. 12, an ultrasonic iron 71 is attached to a planar iron base 101, a keel member 102 attached to the upper surface of the iron base 101 by elastic coupling, and an insulating state and elastic coupling to the upper surface of the keel member 102. It is composed of six ultrasonic transducers 103a to 103f and a cover 104 that hermetically protects the ultrasonic transducers 103a to 103f. Note that all or part of the ultrasonic transducers 103a to 103f may be referred to as "ultrasonic transducer 103".

The trowel base 101 is almost the same as that used as a trowel base for a plastering trowel, and is made of a stainless steel plate or a hard thin copper plate, etc., and has elasticity to flex appropriately and flexibly. It is a thing. The length of the iron base 101 is set to be slightly larger than the vehicle width of the traveling drive vehicle 11. In this embodiment, it is about 60 cm. Trowel base 1
01 is for pushing or leveling the surface of green concrete by the lower surface or the edge, and for the ultrasonic vibration of the iron pedestal 101, to transmit the elastic wave to the substance in contact with the iron pedestal 101 for vibration driving. belongs to.

The keel member 102 is made of a stainless steel plate or the like having substantially the same thickness as the iron base 101, and is firmly attached to the upper surface of the iron base 101 by a structural adhesive or silver brazing. The keel member 102 is
The longitudinal wave from the ultrasonic transducer 103 is mode-converted into the transverse wave,
This is for effectively causing vibrations due to both longitudinal waves and transverse waves on the entire surface of the iron base 101. Keel member 10
2 is ultrasonically referred to as a coupler, a vibrating cone, a vibrating horn, a vibrating plate, or the like.

The keel member 102 performs mode conversion of vibration when the iron pedestal 101 has a relatively long length and serves as a vibration driving source. "Keel member"
This is because, in a large tanker, it is similar to the keel structure for reinforcing the strength in the length direction and the width direction of the hull by the rib structure in the large tanker. That is, the keel member 102
Constitutes the keel structure of the vibration system.

The ultrasonic vibrator 103 is, for example, a disk-shaped member formed by laminating a PZT-based piezoelectric ceramic plate and a metal plate. By supplying the driving power, it vibrates in the radial direction and emits ultrasonic waves of 40 to 50 kHz, for example. The ultrasonic oscillator 103 is firmly attached by a structural adhesive or silver brazing so as to be elastically coupled to the keel member 102. Since it is difficult to manufacture a large output ultrasonic transducer 103 by itself in terms of capacitance, six ultrasonic transducers 103 are used and they are arranged in a straight line.

The ultrasonic transducer 103 and the keel member 1
It is also possible to sandwich a glass epoxy or carbon-based capsular thin plate which is an insulator and which is an ultrasonically elastically coupled body and has a small loss.

At the upper part of the traveling drive vehicle 11, a control device 13 is installed.
Is attached to the upper part of the control device 13, and the power supply device 14
Is detachably attached. The controller 13 controls the motors 23a and 23b for traveling, the motor 161, for adjusting the iron angle, the motors 181a and 181b for lifting and lowering the iron, the ultrasonic irons 71 and 72, the vibro plate 73, various safety devices, and the like. To do. It also has a built-in receiving circuit and automatic control circuit for wireless remote control. Controller 13
Is composed of the above-mentioned drive control circuit 201, a microcomputer, a memory, an interface, other peripheral elements, an operating device, a display element, a switching power supply, and the like.

The power supply device 14 is composed of a gasoline engine and an AC generator driven to rotate by the gasoline engine. The finishing device 1 has an overall weight of about 60 kg, which is almost the same as the weight of one plasterer. Therefore,
Even if the finishing device 1 travels on the ready-mixed concrete, it does not affect the ready-mixed concrete when the plasterer performs plastering work on the ready-mixed concrete.

Moreover, the finishing device 1 is the traveling drive vehicle 1
1, the iron unit 12A, the iron unit 12B, the control device 13, and the power supply device 14 can be easily disassembled. Each of the disassembled parts has a weight of about 10 kg or less except the traveling drive vehicle 11, and can be carried by hand.

According to the above-described embodiment, the traveling drive vehicle 11 is driven and the floor FL of fresh concrete can be easily and beautifully finished by the ultrasonic irons 71 and 72, and the strength of the concrete surface is improved. Can be made. It can replace the manual work of plasterers,
Improving the efficiency of plastering work, shortening the construction period required for plastering work,
And the cost required for plastering work can be reduced.

Since the iron units 12 are connected to the front and rear of the traveling drive vehicle 11 and the ultrasonic irons 71 and 72 are moved up and down by the iron elevating mechanism 85, the traveling drive vehicle 11 moves forward and backward. Floor surface F when traveling in both directions
L finishing work can be performed and work efficiency is good.

The ground pressure is reduced by using the balun tire as the tire 22, and the traction force is increased by providing the groove 221 on the surface of the tire 22. As a result, the traveling drive vehicle 11 can freely travel on the floor surface of the ready-mixed concrete, and the iron unit 12 can be pulled and horizontally moved.

In the above embodiment, it is possible to drive the traveling drive vehicle 11 by a single motor. The iron unit 12 may have a single ultrasonic iron. Pantograph mechanism 82, trowel posture holding mechanism 8
3, the iron angle adjusting mechanism 84, the iron lifting mechanism 85, etc. may be omitted, or other mechanism may be used instead of them. The structure, shape, size, material and the like of the traveling drive vehicle 11, the iron unit 12, and other parts or the whole of the finishing device 1 can be appropriately changed in accordance with the gist of the present invention.

[0071]

According to the inventions of claims 1 to 4, it becomes possible for the traveling drive vehicle to travel freely on the surface of the ready-mixed concrete, and the work implement such as the ultrasonic iron can be pulled by the traveling drive vehicle. Can be freely moved horizontally on the surface of ready-mixed concrete.

That is, by using the Balun tire as the tire, the ground contact pressure of the fresh concrete on the floor surface is reduced, and the sinking of the fresh concrete on the floor surface is reduced. Further, by providing the concave portion on the surface of the tire, the traction force of the traveling drive vehicle is increased. Since the vertical loads applied to the tires are almost equal to each other, the loads are evenly applied to the tires, and the maximum traction force can be obtained by rotationally driving all of the tires. As a result, it has become possible to run on fresh concrete, which was impossible in the past.

[Brief description of drawings]

FIG. 1 is a front view showing a finishing device using a traveling drive vehicle according to the present invention.

FIG. 2 is a plan view of a finishing device.

FIG. 3 is an enlarged view showing the vicinity of a trowel unit of the finishing apparatus shown in FIG.

FIG. 4 is an enlarged view showing the vicinity of a traveling drive vehicle of the finishing device shown in FIG.

FIG. 5 is an enlarged cross-sectional view showing the vicinity of the connecting portion of the traveling drive vehicle.

6 is a right side view of the finishing device shown in FIG. 1. FIG.

FIG. 7 is a diagram showing a cross-sectional shape of a groove.

FIG. 8 is a diagram showing an example of a pattern of recesses provided on the surface of a tire.

FIG. 9 is an enlarged front view of the iron unit.

FIG. 10 is an enlarged plan view showing a part of the iron unit.

FIG. 11 is a right side view showing an enlarged part of the iron unit.

FIG. 12 is an exploded perspective view showing the structure of an ultrasonic iron.

[Explanation of symbols]

 11 Travel Drive Vehicle 12 Trowel Unit (Floor Construction Tool) 22 Tire 23 Motor (Rotation Drive Source) 24 Transmission Mechanism 81 Connection Support Mechanism 125 Shaft Pin 126 Rotation Plate 221 Recessed Groove (Recess) 221a Recessed Groove (Recess) 221b recess

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Osamu Kanzaki 2-6-3 Marunouchi, Chiyoda-ku, Tokyo Sanryo Shoji Co., Ltd. (72) Hiroshi Takebayashi 2-5-8 Kita-Aoyama, Minato-ku, Tokyo Stocks Intra-company group (72) Inventor Hitoshi Ueno 2-5-8 Kita-Aoyama, Minato-ku, Tokyo Stock company Inter-group (72) Inventor Gakunori Shigehara 7-10-701 Komitsu-cho, Ashiya-shi, Hyogo Stock company Within Eroika Corporation

Claims (4)

[Claims] 1. A traveling drive vehicle including a vehicle body, a traveling tire mounted on the vehicle body, a rotary drive source, and a transmission mechanism for transmitting a rotary drive force of the rotary drive source to the tire. A method for driving a concrete floor surface, wherein, as the tire, a Balun tire having a recess for slip prevention provided on the surface thereof is used, and the vertical loads applied to the tire are substantially equal to each other. A method for driving and driving a floor surface of ready-mixed concrete, characterized by rotating all of the above. 2. A floor surface of ready-mixed concrete comprising a vehicle body, a traveling tire attached to the vehicle body, a rotary drive source, and a transmission mechanism for transmitting the rotary drive force of the rotary drive source to the tire. It is a traveling drive vehicle that travels above, and a total of four balun tires are used as at least the left, right, front, and rear, and each of the four tires is arranged in a point symmetric state with respect to the center position of the vehicle body in a horizontal plane view. The surface of each of the tires is provided with a recess for slip prevention, and the front and rear of the vehicle body are equipped with a floor construction tool having substantially the same weight. Driven vehicle. 3. A recess according to claim 2, wherein the recess has a substantially semicircular cross section, and forms a pattern composed of a large number of two kinds of straight lines diagonally intersecting each other on the tire surface. A drive-driving vehicle on the floor of ready-mixed concrete. 4. A front and rear of the vehicle body is provided with a connection support mechanism for mounting the floor construction tool, and the connection support mechanism is a shaft located at a position higher than a rotation center position of the tire. The traveling drive vehicle for a floor surface of ready-mixed concrete according to claim 2, further comprising a rotating plate rotatably connected by a pin.