JPH1088802A - Execution method of age curing fluid-made floor surface and execution device thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To contrive an automatic operation by driving a traveling drive car on a floor surface made of a fluid, such as concrete and pressurizing the surface of the fluid by the application of the weight of the car which acts thereon by way of wheels so as to increase the density of the fluid and leveling the surface by the application of supersonic waves. SOLUTION: Tires 22 provided on an execution device and a roller 622 are laid out so that they come in contact with a floor surface FL by way of a gap G. The tires 22 are made of a low pressure balloon tire and their portions which come in contact with the floor surface FL are flat. When the execution device is adapted to travel, a raised portion SD by the gap G is produced between wheel tracks RB and RR and the area between the wheel tracks RB and RR is compressed with the tires 22 and the roller 622 so that the density of the soil may be increased and the ground may be leveled up uniformly. After the tires 22 and the roller 622 have passed, a supersonic iron provided on the construction device is arranged to pass by, thereby turning the raised portion SD to a flat leveled finished surface MT. This construction makes it possible to finish the soil beautifully and enhance the density of the soil and furthermore automate a manual plaster work and thereby reduce cost as well.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for constructing a floor made of a time-hardening fluid such as concrete, cement, mortar, stucco, or wall clay, and more particularly to an apparatus for robotizing a clerical work. The present invention relates to a method of constructing ready-mixed concrete.

[0002]

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

[0003] Conventionally, in the compaction or surface finishing step of the floor surface in concrete work, the surface of the poured ready-mixed concrete is leveled by a trowel (plastering trowel).
The concrete surface after hardening is finished to be a glossy flat surface. Such plastering work is performed manually by the plasterer, a specialist.

[0004]

However, with the increase in the size of the construction, the manual work by plastering requires a long construction period, and in addition to this, the cost required for plastering also increases. Furthermore, in recent years, plastering work is lacking, and both the construction period and cost required for plastering work tend to further increase.

Therefore, in order to improve the efficiency of plastering work and reduce the construction period and cost, it is necessary to automatically perform plastering work by a machine instead of the conventional manual work by plastering work.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has been made in view of the fact that the work of finishing a floor made of a time-hardening fluid such as concrete is automatically performed instead of the manual work of a plasterer. Aim.

[0007]

According to a first aspect of the present invention, there is provided a method comprising the steps of:
Using a traveling drive vehicle traveling by wheels, causing the traveling drive vehicle to travel on a floor made of a fluid, and applying the weight of the travel drive vehicle to the surface of the fluid via the wheels, The surface of the fluid is pressurized to increase the density, and the surface of the pressurized fluid is leveled by the ultrasonic trowel.

[0008] In the method according to the second aspect of the present invention, the ultrasonic iron is disposed such that a surface of the ultrasonic iron has an elevation angle in a front side in a moving direction thereof. In the method according to the third aspect of the present invention, the wheels include a plurality of tires provided on left and right sides of the vehicle body and one or a plurality of rollers provided before and / or after the vehicle body.

In the method according to a fourth aspect of the present invention, the wheels include four tires provided on the left and right sides of the vehicle body, and two rollers provided on the front and rear sides of the vehicle body.

According to a fifth aspect of the present invention, in the method, the tire and the roller are arranged so as to have a gap between a rut by the tire and a rut by the roller, and the part of the gap is A raised portion of the fluid protruding from the surface of the rut formed by the tire and the roller is formed, and the raised portion is pressed and leveled by the ultrasonic iron.

According to a sixth aspect of the present invention, the tire provided on the left side of the vehicle body, the tire provided on the right side of the vehicle body, and the roller are independently driven. The method according to claim 7, wherein the traveling drive vehicle is provided by making the peripheral speeds of the tire provided on the left side of the vehicle body, the tire provided on the right side of the vehicle body, and the roller different. Steer.

[0012] In the method according to the present invention, the tire is a balun tire. The method according to claim 9, wherein the tire and the roller are arranged so as to have a gap between a rut by the tire and a rut by the roller, and a portion of the fluid is provided in the gap. A raised portion protruding from the surface of the rut formed by the tire and the roller is formed, and the raised portion is pressed and leveled by the ultrasonic iron.

According to a tenth aspect of the present invention, there is provided an apparatus comprising:
A right tire provided on the right side of the vehicle body, a left tire provided on the left side of the vehicle body, a roller provided on a front portion or a rear portion of the vehicle body, and a right tire driving source for rotating and driving the right tire. A left tire driving source for driving the left tire to rotate, a roller driving source for driving the roller to rotate, and an ultrasonic trowel provided at the rear of the vehicle body and vibrated by ultrasonic waves. Is done.

An apparatus according to an eleventh aspect of the present invention is provided with a vibrating iron that is vibrated by a low frequency and vibrates on the surface of the fluid body, at a rear portion of the vehicle body and in front of the ultrasonic iron. Have been.

According to a twelfth aspect of the present invention, the right tire, the left tire, and the roller are arranged such that there is a gap between a rut formed by the right tire and the left tire and a rut formed by the roller. Have been.

According to a thirteenth aspect of the present invention, there is provided an apparatus comprising:
A right tire provided on the right side of the vehicle body, a left tire provided on the left side of the vehicle body, a front roller provided on a front portion of the vehicle body, and a rear roller provided on a rear portion of the vehicle body, A right tire driving source for driving the right tire, a left tire driving source for driving the left tire, a front roller driving source for driving the front roller, and a rear roller for driving the rear roller. The vehicle includes a drive source and an ultrasonic trowel oscillated by ultrasonic waves provided at a rear portion of the vehicle body behind the rear roller.

According to a fourteenth aspect of the present invention, a vibrating iron is provided between the rear roller and the ultrasonic iron to vibrate at a low frequency to apply vibration to the surface of the fluid. I have.

The apparatus according to claim 15, wherein the right tire, the left tire, the front roller, and the rear roller are a rut formed by the right tire and the left tire, and the front roller and the rear roller. Are arranged so as to have a gap between them.

[0019] In the apparatus according to the sixteenth aspect of the present invention, the ultrasonic iron is arranged such that the surface of the ultrasonic iron has an elevation angle on the front side in the moving direction. Claim 1
In the device according to the seventh aspect, the tire is a balun tire.

An apparatus according to the invention of claim 18 is a steering control device for steering the traveling drive vehicle by making the peripheral speed of the right tire, the left tire, the front roller, or the rear roller different. Is provided.

According to a nineteenth aspect of the present invention, there is provided a power generator, a traveling drive vehicle that is self-propelled by supplying power from the power generator, and is detachably connected to a front and / or a rear of the travel drive vehicle. A first unit for pressing the surface of the fluid to increase the density, and a second unit connected to the first unit for leveling the surface of the pressurized fluid. Is done.

In the apparatus according to the twentieth aspect, the first unit includes a roller, a roller driving device that rotationally drives the roller, a vibrating iron, and a vibrating mechanism that vibrates the vibrating iron. And a lifting mechanism for raising and lowering the vibrating iron.

[0023] In the apparatus according to the twenty-first aspect, the second unit has at least one ultrasonic iron oscillating by ultrasonic waves. In the apparatus according to the invention of claim 22, the second unit includes an outer frame connectable to the traveling drive vehicle or the first unit, and an inner frame slidably supported in the outer frame in a vertical direction. Provided in the inner frame, an inner frame vertical movement drive device for moving and positioning the inner frame in the vertical direction, and provided in the inner frame,
An ultrasonic oscillating drive device for swingably supporting and positioning the ultrasonic trowel at the lower end and for oscillating and positioning the ultrasonic trowel.

The apparatus according to the nineteenth to twenty-second aspects can be divided into a plurality of units, and each unit is lightweight so that it is convenient to carry. In addition, it is possible to remove the first unit having the vibrating iron and the roller and to perform the installation, and to remove the second unit having the ultrasonic iron and perform the installation. You can have. The second unit is
It is composed of an outer frame and an inner frame supported in the outer frame so as to be vertically movable, and makes the vertical movement and swinging of the ultrasonic iron independent from each other.

The traveling drive vehicle travels when wheels are rotationally driven by a rotational drive source. As the traveling drive vehicle travels, the wheels pressurize the surface of the fluid, thereby compressing the fluid and increasing its density. The surface of the pressurized fluid is leveled by a vibrating trowel and finished flat.

The ultrasonic trowel performs ultrasonic vibration by the vibration of an ultrasonic vibrator. Since the surface of the ultrasonic iron has an elevation angle on the front side in the moving direction, the lower surface or the edge of the ultrasonic iron comes into contact with the floor made of the fluid. As a result, the surface of the fluid is strongly pressed by the edge and is leveled by the ultrasonic vibration.

By providing a gap between the tire and the roller, a raised portion protruding from the surface of the rut is formed, and the raised portion is expanded by a vibrating trowel to fill the unevenness on the surface of the rut. Can be

As the wheels, rubber or resin balun tires (low internal pressure tires), pneumatic tires, solid tires, rubber or resin rollers, metal rollers, and the like are used.

By independently driving the left and right tires and the rollers, the running of the fluid on the floor is stabilized. Further, by controlling the rotational speed (peripheral speed), steering such as straight running and turning is performed.

In this specification, the fluid includes ready-mixed concrete, cement, mortar, plaster, wall clay, and the like. The floor includes buildings or structural members having a substantially horizontal planar surface. The floor may have a slope or irregularities.

[0031]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIGS. 1 to 4 are diagrams for explaining the general outline of a construction apparatus 1 according to the present invention, and FIGS. 5 to 8.
FIGS. 9 to 18 are views for explaining a first unit provided with a vibrating trowel and rollers, and FIGS. 19 to 19 are views for explaining a traveling drive vehicle 11 of the construction apparatus 1 according to the present invention. 2
9 is a diagram for explaining a second unit provided with an ultrasonic iron.

As shown in FIG. 4, the construction apparatus 1 of this embodiment has six dividable units (the traveling drive vehicle 1).
1, the power generator 12, the first units 13A and 13B, and the second units 14A and 14B) are connected to each other. Of these six units, the traveling drive vehicle 11 and the power generation device 12 are essential, but the first units 13A and 13B and the second unit 14
About A and 14B, it is possible to select and connect. Hereinafter, first, an overall configuration in which all six units are connected will be described with reference to FIGS. 1 to 3, and then, six individual units will be described.

FIG. 1 is a front view showing a construction apparatus 1 according to the present invention, FIG. 2 is a plan view of the construction apparatus 1, and FIG. 3 is a left side view of the construction apparatus 1. Referring to FIGS. 1 to 3, a construction apparatus 1
Is a traveling drive vehicle 11, a power generator 12, two first units 13A and 13B, and two second units 14A and 14B.
Consists of The second unit 14A, 14B has a bumper 1
5A and 15B are attached.

The two first units 13A and 13B
May be referred to as “first unit 13”, and both or one of the two second units 14A and 14B may be referred to as “second unit 14”.
Since the two first units 13A and 13B and the two second units 14A and 14B have the same structure, only one of them will be described. However, in order to particularly indicate that it is one of these components, A or B may be added as a symbol of the component. The same applies to the drawings.

Since the first unit 13 is provided with a roller, the first unit 13 may be called a "roller unit". Since the second unit 14 is provided with an ultrasonic iron, the second unit 14 may be referred to as a “trowel unit”.

As shown in FIG. 2, assuming that the origin O is the center position of the traveling drive vehicle 11 on the horizontal plane,
On the horizontal plane, the X-axis is a line symmetrical with the X-axis as a line passing through the origin O along the traveling direction or the Y-axis as a line perpendicular to the X-axis.

That is, the traveling drive vehicle 11 has a substantially line-symmetrical shape with respect to the above-described X axis or Y axis.
The two first units 13A and 13B and the two second units 14A and 14B have the same shape.

Referring also to FIG. 4, the construction apparatus 1 includes a traveling drive vehicle 11, a power generator 12, and two first units 13A, 1A.
3B and two second units 14A and 14B, a total of six independent units are connected to each other and integrated. By disconnecting those connections, it is easy to disassemble into six units as shown in FIG. As a structure for connecting these units, various known connecting structures are employed. The weight of each unit is about 10 to 20 kg,
The total weight of the construction apparatus 1 is about 100 kg.

As described above, by disassembling the construction apparatus 1 into six units, a person can lift it with one hand and easily carry it. The construction device 1 can be assembled. Each unit has a handle 111, 61
1, 211 (see FIG. 4) are attached.

Next, the power generator 12 will be described with reference to FIGS. The power generator 12 rotates a generator using a four-cycle gasoline engine, and performs three-phase, 100 V,
It outputs 220 Hz, 1.5 kW high frequency power. By using three-phase high-frequency power generation, the weight of the power generation device 12 is reduced. As described later, the power generation device 12
It is installed on the XY table 52 of the traveling drive vehicle 11 and is also used as a heavyweight for controlling the attitude of the construction apparatus 1. The weight of this generator is about 18 kg.

The gasoline tank 10 of the power generator 12
5 is provided with a yellow rotating light 106. A fixing device (not shown) that can be attached to and detached from the XY table 52 with a single touch is provided on the bottom surface of the power generation device 12. As such a fixing tool, for example, a rail having a groove formed on the upper surface of the XY table 52 is provided, and an L-shaped or T-shaped engaging section which can be inserted into the rail is provided on the bottom surface of the power generator 12. A conventionally known easy-to-remove structure, such as a structure in which a member is provided and the engaging member is inserted into a groove of the rail and slid, is used.

Next, the driving vehicle 11 will be described with reference to FIGS. FIG. 5 shows the traveling drive vehicle 11 when the control device 51 and the XY table 52 (see FIG. 1) are removed.
It is the figure which looked at from the top. As shown in FIG. 5, the traveling drive vehicle 11 includes a car body 21 having a box shape with an open top, four tires 22a, 22b, 22c, 22d for traveling, two motors 23a, 23b as rotary driving sources, and The transmission mechanism 24a, 24b is provided. In addition, four tires 2
2a, 22b, 22c, and 22d may be referred to as "tire 22" in some or all cases. Similarly, “motor 23” or “transmission mechanism 24” may be referred to as both or one of the motors 23a and 23b or the transmission mechanisms 24a and 24b.

The vehicle body 21 is formed of a metal plate in the shape of a rectangular parallelepiped box having an open upper surface. Handles 111 are provided outside the two side surfaces of the vehicle body 21, respectively. In FIG. 5, all four tires 22 are balun tires (low internal pressure tires) made of a low pressure rubber film. By using a balun tire, the contact pressure is reduced to reduce sinking into the floor.

The respective tires 22 are mounted on axles 41a, 41b, 41c and 41d supported so as to be rotatable 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. Motors 23a, 2
Sprockets 43a and 43b are attached to each output shaft 3b.

The transmission mechanisms 24a and 24b are connected to the axles 41a to 41a.
d and the sprockets attached to the output shafts of the motors 23a and 23b, and a chain extending over these sprockets.

The rotation of one motor 23a causes 2
The two tires 22c and 22d rotate, and the other motor 23
The two tires 22a and 22b rotate by the rotation drive of b. These two motors 23a and 23b are controlled by a control device 51 described later in terms of their rotational speeds and directions independently of each other. Two motors 23a, 23b
The forward control, the reverse drive, the left turn, the right turn, and the speed control are performed by the rotation control of. The traveling drive vehicle 11 is usually
The vehicle travels at a speed of about 0.1 to 0.6 m / sec.

When the traveling drive vehicle 11 travels, the weight of the traveling drive vehicle 11 acts on the surface of a fluid such as ready-mixed concrete via the tires 22. In other words, the surface of the fluid is pressurized by gravity applied to the tire 22 to increase the density and level the surface of the fluid.

Note that the first unit 13 is attached to the traveling drive vehicle 11.
Is attached, the rotation speed of the roller 622 of the first unit 13 is also controlled independently. A control device 51 is mounted on an upper portion of the vehicle body 21, and an XY table 52 is further mounted thereon. The control device 51 will be described later.

The XY table 52 is provided with the power generator 12, which is controlled by the controller 51.
By operating the table 52, the position of the power generator 12 on the horizontal plane is changed. The variable range of the position of the power generation device 12 is, for example, about ± 5 cm in the left, right, front and rear directions with respect to the origin O described above. When the floor on which the construction device 1 runs (the surface of the fluid) is horizontal, the power generation device 1 is usually used.
2 is located at the origin O, whereby the center of gravity of the construction apparatus 1 is at the origin O. However, when the floor surface is inclined, the position of the power generating device 12 is moved so that the center of gravity moves to a side above the inclined surface from the origin O, whereby the construction device 1 is always horizontal during traveling. The posture is controlled to be maintained (see FIG. 2).

As the XY table 52, a conventionally used one can be used as long as it can move the power generator 12 in the XY plane as described above. An example will be described with reference to FIGS.
This illustrated example shows two tables 112, 1 having the same structure.
13 (see FIG. 6) are placed on top of each other with their movement directions intersecting each other.

As shown in FIG. 6, two tables 1
12 and 113 are mounted on a control device 51 provided on the upper part of the vehicle body 21. These tables 112,
Reference numeral 113 also serves as a lid 114 of the control device 51. Since the two tables 112 and 113 have the same structure, only one of them will be described.

7 and 8 show the structure of the tables 112 and 113. FIG. 7 is a cross-sectional view along the moving direction (the direction of the arrow 115), and FIG. 8 is a cross-sectional view along a direction perpendicular to the moving direction. .

In these figures, the table 112 (or 113) includes an upper pedestal 116, a lower pedestal 117, a motor 1
18, a pinion 119, and a rack 120. The upper pedestal 116, as shown in FIG.
a, and a pair of legs 116b provided on both sides thereof, and has a U-shaped cross section opened downward.
A plurality of rollers 121 are provided at the lower end of the leg 116b, and the upper pedestal 116 can move on the lower pedestal 117 by rolling of the rollers 121. Legs 116
A long hole 122 long in the horizontal direction is provided on the side surface b. Further, a motor 118 with a speed reducer is attached to the back surface of the horizontal surface portion 116a. This motor 11
8 is controlled by the control device 51 described above.

On the other hand, the lower pedestal 117 has a U-shaped portion 12 forming a groove for guiding the leg 116b of the upper pedestal 116.
3 and a guide screw 124 fixed so as to penetrate the U-shaped portion 123. The guide screw 124
It penetrates through the long hole 122 of the leg 116 b inserted into the U-shaped part 123 and regulates the amount of movement of the upper pedestal 116. A rack 120 is laid on the bottom surface of the lower pedestal 117 so as to mesh with a pinion 119 connected to the motor 118. Therefore, by driving the motor 118, the upper pedestal 116 slides on the lower pedestal 117 by a distance corresponding to the rotation speed of the motor 118.

Next, the first unit 13 will be described with reference to FIGS. 1 to 4 and FIGS. 9 to 18. As shown in FIG. 1, the first unit 13 includes a main body 61, a roller device 62, and a vibrating iron device 63. A handle 611 is provided on the upper part of the main body 61.

As shown in FIG. 9, the first unit 13 can be easily connected to the traveling drive vehicle 11 indicated by a two-dot chain line by a connecting fitting 126 and a bolt 127. Also, by loosening the bolt 127, the first
The unit 13 can be easily removed from the driving vehicle 11. Although not shown, the vehicle body 21 of the traveling drive vehicle 11 is provided with a through hole and a nut for directly attaching the second unit 14 to the traveling drive vehicle 11 instead of the first unit 13.

As shown in FIG. 10, the roller device 62 and the vibrating iron device 63 in the first unit 13 are
Each height position is controlled independently. That is,
In the roller device 62, the height position of the roller 622 is controlled such that the height after the tire 22 presses and equalizes the floor surface FL and the height after the roller 622 presses and equalizes the same, In addition, the shaking iron device 63 controls so that the shaking iron 631B provided in the front is raised and the shaking iron 631A provided in the rear is lowered in the traveling direction indicated by the arrow 67. Is done. The vibration iron 631 is mounted on the tire 22
This is because it is only necessary to equalize a bulge formed in the gap between the rut of the roller 622 and the rut of the roller 622.

The first unit 13 can be used with the second unit 14 removed. In that case, as shown in FIG. 10, the bumper 125 is attached to at least the front side of the first unit 13.

Next, the roller device 62 will be described with reference to FIGS. 1 to 4, FIG. 9, FIG. 11, and FIG. The roller device 62 includes a roller 622, two motors 623a, 62
3b and the like. The roller 622 is formed by forming a rubber film on the surface of a cylindrical tube, and its axial length is smaller than the distance between the inner surfaces of the left and right tires 22, and its outer diameter is the outer diameter of the tire 22. It is set to less than half.
The rollers 622 are arranged so as to be symmetrical with respect to the X axis (see FIG. 2).
Are arranged so as to have an equal gap with respect to the inner side surface of each of them.

Each of the two motors 623a and 623b is a DC motor having a built-in reduction gear. The rollers 622 are rotationally driven by these motors 623a and 623b. The roller device 62 is supported by an expandable and contractible suspension (not shown) with respect to the main body 61, and is attached so as to be movable in the vertical direction and positioned in the vertical direction by a lifting drive device (not shown) by a motor (not shown). I have.

Two first units 13 provided before and after
The rollers 622A and 622B of A and 13B are
Rotation control is performed separately for each. That is, the roller 6
The four wheels 22A, the roller 622B, the tires 22a and 22b, and the tires 22c and 22d are separately driven, and rotation control is separately performed. In other words, 4
Wheel drive.

By controlling the rotational speeds of the left and right tires 22 and the rollers 622 to make the peripheral speeds different from each other, the traveling drive vehicle 11 is steered. In FIG. 11, the steering in the case of going straight, turning right and turning left in the directions of arrows 64, 65 and 66 will be described.

For example, when the floor surface is an ideal plane, the peripheral speeds of the left and right tires 22 and the rollers 622 are made equal to each other, so that the construction device 1 moves straight in the arrow 64 direction. Right tires 22d and 22c, roller 6
22A and 622B, of the left tires 22a and 22b,
By setting the ratio of the peripheral speeds to, for example, 1: 2: 3, the construction device 1 turns right in the direction of arrow 65. Conversely, by setting the ratio of the peripheral velocities to, for example, 3: 2: 1, the construction device 1 turns left in the direction of arrow 66.

When the construction apparatus 1 travels, the traveling drive vehicle 1
The weight of one acts on the surface of the fluid via the roller 622. That is, the roller 622 presses the surface of the fluid to increase the density and level the surface of the fluid. The tire 22
And the roller 622 pressurize and level different surfaces of the fluid, but since there is an axial gap between them, a gap is formed between the rut by the tire 22 and the rut by the roller 622, A raised portion protruding from the surface of the rut is formed there.

When the construction apparatus 1 turns left and right, the rollers 622 need to skid on the floor. Roller 62
When the vehicle 2 skids, the outer diameter of the roller 622 is less than half the outer diameter of the tire 22 because the roller 622 does not scrape the surface of the fluid that is the floor surface and does not make a mark of dents. ing.

Further, in order to make the leveling state of the tire 22 and the roller 622 uniform, it is necessary to make the grounding load (grounding pressure) per unit area of the tire 22 and the roller 622 approximately the same. Since the contact area of the tire 22 is larger than the contact area of the roller 622, the height of the lower surface of the roller 622 is higher than the lower surface of the tire 22 so that more weight is added to the tire 22 than to the roller 622. Perform position control.

As shown in FIGS. 11 and 12A, the tire 22 and the roller 622 are arranged so as to have a gap G therebetween in the axial direction. Gap G
Is about 2 to 4 cm, for example. Therefore, as shown in FIG. 12 (B), a rut RB by the tire 22 and a rut RR by the roller 622 are formed on the trace where the construction device 1 has run, and a gap is formed between the rut RB and the rut RR. A bulge SD by G is formed. Tire 22
After the rollers 622 have passed, the vibrating iron 63 and the like pass, and as shown in FIG.

Next, the vibration iron device 63 will be described with reference to FIG. 9 and FIGS. Excitation iron device 63
Has an action of further pressing and leveling the surface of the fluid leveled by the tire 22 and the rollers 622 by the vibrating vibration iron 631. However, the vibrating iron device 63 on the front side of the traveling drive vehicle 11 in the traveling direction is raised to the raised position and is not used.

The vibrating iron device 63 includes a vibrating iron 631 that is in contact with the floor surface, and a vibrating mechanism 6 that vibrates the vibrating iron 631.
8 and an elevating mechanism 69 that moves and moves the vibrating iron 631 vertically.

As shown in FIGS. 13 and 14, the vibration mechanism 68 has a vibration motor 130 attached to a vibration iron 631 via a vibration keel 131. The vibration motor 130 has an eccentric weight 1 attached to the rotation shaft 133 of the motor.
34 is fixed. As shown in FIG. 15, a plurality of grooves along the traveling direction are provided on the lower surface of the vibration iron 631 in parallel with each other. Therefore,
The vibrating keel material 131 also has a role of reinforcing the vibrating iron 631. A leg member 132 is provided below the vibration motor 130, and the leg member 132, the vibration keel material 131,
Further, the vibrating iron 631 is integrally fixed by a screw 136.

The elevating mechanism 69 not only moves the vibrating iron 631 in the vertical direction, but also when the vibrating iron 631 descends and comes into contact with the floor FL, an appropriate elevation angle θ (FIG. 16 and FIG. 16). The control of the angle is also performed so as to have (see FIG. 18).

As shown in FIGS. 9, 16 and 17, the lifting mechanism 69 includes a lifting motor 140,
1, 142, swing shafts 143, 144, and a connecting rod 145 connecting them. The elevating motor 140 and the fixed shafts 141 and 142 are fixed to the main body 61.

As shown in FIG. 16, the lifting motor 1
When 40 is driven, the swing shafts 143 and 144 swing around the fixed shafts 141 and 142, respectively.
The vibrating iron 631 descends, for example, from the position shown in FIG. 16A to the position shown in FIG.

By the way, as shown in FIG. 18, the swing shaft 144 and the connecting rod 145 are connected by a T-shaped pipe 146. The pipe 146 is connected to the connecting rod 14.
5 is fixed by a screw 148, but the swing shaft 14
4 is not fixed, the swing shaft 144 is connected to the pipe 1
It is possible to freely slide and rotate the contents surface of 46. Another pipe 147 has a screw 149 on the swing shaft 144.
It is fixed by.

One of the pipes 146 has a notched surface 150.
The other pipe 147 has a cutout surface 151.
Is provided. These notched surfaces 150, 151
Engage with each other in one direction of rotation. Therefore,
Normally, pipe 146 is connected to pipe 1 as shown by arrow 152.
Since the swing shaft 144 is shifted toward 47, the swing shaft 144 can freely rotate in the arrow 153 direction, but cannot rotate in the opposite direction.

Therefore, the position shown in FIG.
When the connecting rod 145 rotates counterclockwise about the fixed shaft 142 with the operation of lowering the vibrating iron 631 to the position of FIG. 6B, the pipe 146 moves leftward (in the direction of arrow 153).
, The notch surface 150 of the pipe 146 comes into contact with the notch surface 151 of the pipe 147 and pushes it. As a result, the shaking iron 631 is moved to the floor surface FL.
Has an appropriate elevation angle θ with respect to the floor surface FL with the elevation angle θ (FIG. 18A).
reference).

Further, the vibrating iron 63 is moved to the position shown in FIG.
1, the pipe 146 moves rightward (arrow 153).
In the opposite direction), the notch 15
The restriction on the cutout surface 151 due to 0 is removed, and the vibrating iron 631 returns to the horizontal posture by its own weight.

Next, the second unit 14 will be described with reference to FIGS.
9 will be described. The second unit 14
Is usually the first unit 13 as shown in FIG.
, But as shown in FIG.
The unit 13 can be removed and attached directly to the traveling drive vehicle 11.

As shown in FIG. 19, the second unit 14 includes an outer frame 70 fixedly connected to the first unit 13 (which may be the traveling drive vehicle 11) indicated by a two-dot chain line, and an outer frame 70. And a substantially quadrangular cylindrical inner frame 75 supported so as to be slidable in the vertical direction. In the inner frame 75, an inner frame vertical movement driving device 73 (see FIG. 23) for vertically moving and positioning the inner frame 75, and an ultrasonic iron 71,
An ultrasonic trowel swing drive device 74 (see FIG. 25) for independently swingably supporting and swinging each of the 72 is incorporated.

As shown in FIGS. 19 and 20, a connecting member 160 is screwed to the corners 70a and 70b of the outer frame 70 on the first unit 13 side by screws 161. The connecting member 160 has a through hole 164 into which the bolt 165 is inserted. Further, the outer frame 70 is provided with the intermediate member 16 having a width smaller than that of the plate member 162.
It is fixed by means such as screwing or welding through 2a, thereby forming a rail groove 163.

On the other hand, as shown by the two-dot chain line, a connecting portion 61a formed by bending a plate material into an L-shape is formed at the end of the main body 61 of the first unit 13. Connecting part 61a
Can be inserted into the rail groove 163 in the vertical direction and slidable. In order to connect the second unit 14 to the first unit 13, the second unit 14 is lifted using the handle 211 of the second unit 14 (see FIG. 1), and
Then, the connecting portion 61a of the first unit 13 is inserted into the rail groove 163, and the second unit 14 is lowered in that state. Then, the through hole 164 provided in the connecting member 160 is aligned with a through hole (not shown) formed in the connecting portion 61a of the first unit 13, and a bolt 165 is inserted through the through hole 164.
It is screwed into a nut 61b fixed to the main body 61 and fastened. Thus, the outer frame 70 is fixed to the first unit 13.

As shown in FIGS. 19 and 21, inside the side surface of the outer frame 70, there are two rail members 16 which are substantially U-shaped and open inward and which are long in the vertical direction.
6,166 are provided so as to face each other.
As shown in FIG. 23, two guide bars 167, 168 provided on the side surface of the inner frame 75 with a space therebetween in the vertical direction are fitted into the rail member 166 so as to be vertically movable. Thus, the inner frame 75 is guided so as to be able to move up and down without swinging with respect to the outer frame 70 in a state of being housed inside the outer frame 70.

Returning to FIG. 19, the guide rods 167, 168
Is fixed to the annular fastener 169 fixed to the side surfaces 75a and 75b by bolts at the base side. Above the inner frame 75, support shafts 170 and 171 are provided so as to penetrate the side surfaces 75a and 75b. As shown in FIG. 25, an ultrasonic iron 72 is attached to the support shaft 170 via other plural members. An ultrasonic iron 71 is similarly attached to the support shaft 171.
In FIG. 19, illustration of these other members is omitted for simplification of the drawing.

Both ends of the support shafts 170 and 171 protrude outside the side surfaces 75 a and 75 b of the inner frame 75. As shown in FIG. 22, a cap 172 is fitted to an end of the support shaft 170 (or 171). Cap 1
As shown in FIG. 21, reference numeral 72 slides in a state of contact with the inner surface of the outer frame 70, and is made of a synthetic resin or metal having good slidability as a material. Cap 17
2 comes into contact with the inner surface of the outer frame 70,
5 is positioned in the left-right direction, and the posture of the inner frame 75 is further stabilized.

In FIGS. 23 and 24, the vertical movement of the inner frame 75 in the outer frame 70 is performed by an inner frame vertical driving device 73 mounted on the upper portion of the inner frame 75. The inner frame vertical drive device 73 includes a first arm 173, a second arm 174, and a motor 175 with a speed reducer attached to the inner frame 75. The first arm 173 is connected to a drive shaft of a motor 175, and the second arm 174 is rotatably supported by the outer frame 70.

Therefore, when the motor 175 rotates in the direction of the arrow 177, the motor 175 and the inner frame 75 move upward (in the direction of the arrow 176). Motor 175 has arrow 175
When rotated in the opposite direction, the inner frame 75 moves downward.

The ultrasonic trowels 71 and 72 are provided with the inner frame 75 described above.
Is moved up and down at the same time by moving up and down. However, the angle (elevation angle) α of the ultrasonic
1 and α2 can be independently adjusted by the ultrasonic oscillating drive device 74 shown in FIG.

As is well shown in FIG.
The two side holes 75a and 75b are provided with two circular holes 180 and a long hole 181 respectively. That is, four pairs of the circular holes 180 and the long holes 181 provided at intervals in the vertical direction are provided. The support shaft 170 is inserted into each circular hole 180, and the guide rod 188 is inserted into each elongated hole 181.

In FIG. 25, the ultrasonic oscillating drive device 74 includes a support shaft 170 inserted into the circular hole 180, a trowel shaft 182 for fixedly supporting the ultrasonic trowel 71, and a support shaft 17
Vibration absorbing shaft 183 connecting the iron 0 and the iron shaft 182, the motor 1
87, a first arm 184, a second arm 185, and a third arm 18 sequentially connected to a drive shaft of a motor 187.
6 and a guide shaft 188.

As shown in FIG. 26, the vibration absorbing shaft 183
Comprises an upper shaft 196, a lower shaft 195 slidably inserted into the upper shaft 196 in a vertical direction, and a spring 197 mounted therebetween. With the support shaft 170 and the guide shaft 188 inserted into the circular hole 180 or the elongated hole 181, respectively, the spring 197 is compressed by an appropriate force. That is, the guide shaft 188 is
1 can be moved up and down, but in a free state, it is urged by a spring 197 and is located farthest from the support shaft 170. When the weight of the device is added to the support shaft 170, the spring 197 is further compressed according to the magnitude of the gravity, and the guide shaft 188 moves to a suitable intermediate position in the long hole 181.

In this state, if the ultrasonic irons 71 and 72 are pushed up by the unevenness of the floor surface FL during traveling, the guide shaft 188 moves further upward against the compressive force of the spring 197.

Therefore, when the ultrasonic irons 71 and 72 move or vibrate in the vertical direction due to irregularities on the floor FL or the like, the amount of sliding between the upper shaft 196 and the lower shaft 195 and the compression amount of the spring 197 are reduced. Due to the change, the vertical movement and vibration are absorbed, the shock is reduced, and the ultrasonic trowels 71 and 72 are constantly moved by the floor FL with an appropriate force.
Will be pressed.

In FIG. 25, the motor 187 is fixed to a bracket 189b by screws, and the bracket 189b is supported by a support member 189a fixedly provided to the lower shaft 195.

The first arm 184 is driven by driving the motor 187.
Is rotated in the direction of arrow 190, the third arm 186
The iron trowel rotates about the iron shaft 182 in the direction of arrow 191, and the ultrasonic iron 71 also rotates about the iron shaft 182 in the direction of arrow 192. Even if the ultrasonic iron 71 vibrates due to unevenness of the floor FL, the vibration absorbing shaft 183
Can absorb this.

As shown in FIG. 19, the ultrasonic iron 71 and the ultrasonic iron 72 are respectively
Pipes 18 rotatably provided with respect to 2,182
8, 199 and the shaft 200 are connected and reinforced so as to keep a distance from each other.

Next, based on FIG.
1 and 72 will be described. In addition, two ultrasonic irons 7
1 and 72 have the same structure and function, so only one ultrasonic iron 71 will be described. For the ultrasonic iron 71, reference can be made to JP-A-6-193268.

The ultrasonic iron 71 is a flat iron pedestal 10.
1. Keel member 102 attached to the upper surface of iron pedestal 101 by elastic coupling, six ultrasonic vibrators 103a to 103f attached to the upper surface of keel member 102 in an insulated state and elastic coupling, and ultrasonic vibrators 103a to 103a It comprises a cover 104 for sealing and protecting f. It should be noted that the ultrasonic transducers 103a to 103f may be referred to as "ultrasonic transducer 103" in all or in part.

The iron pedestal 101 is substantially the same as that used as the plaster ironing iron pedestal, and is made of a stainless steel plate or a hard thin copper plate, etc., and has an elasticity to flex appropriately and flexibly. Things. The length of the iron pedestal 101 is set slightly larger than the width of the traveling drive vehicle 11. In this embodiment, it is about 60 cm. Iron base 1
01 is for pushing or leveling the surface of the ready-mixed concrete by the lower surface or the edge, and by transmitting the elastic wave to the material in contact with the iron pedestal 101 by the ultrasonic vibration of the iron pedestal 101 to drive the iron. belongs to.

The keel member 102 is made of a stainless steel plate or the like having substantially the same thickness as the iron pedestal 101, and is firmly attached to the upper surface of the iron pedestal 101 by a structural adhesive or silver brazing. The keel member 102
Mode conversion of the longitudinal wave from the ultrasonic transducer 103 into a transverse wave,
This is for effectively generating vibrations due to both longitudinal waves and transverse waves on the entire surface of the iron pedestal 101. Keel member 10
2 is called a coupler, a vibration cone, a vibration horn, a vibration plate, or the like in terms of ultrasonic engineering.

The keel member 102 is used as a vibration drive source by performing vibration mode conversion when the length of the iron pedestal 101 is relatively large. "Keel material"
This is because the large tanker is similar to a keel structure for reinforcing the strength in the length and width directions of the hull by a rib structure in a 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 having a PZT-based piezoelectric ceramic plate and a metal plate bonded together. Vibration in the radial direction by supplying driving power in the ultrasonic frequency band, for example, 40 to 50 kHz
Emits ultrasonic waves. The ultrasonic transducer 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 high-power ultrasonic transducer 103 by itself from the viewpoint of electric capacity, six ultrasonic transducers 103 are used.
Are used, and they are arranged in a straight line.

The ultrasonic oscillator 103 and the keel member 1
A thin glass epoxy or carbon-based Capeler thin plate which is an insulator and is an ultrasonically elastic coupling body may be interposed between the thinner and the second epoxy resin. Further, the number of the ultrasonic transducers 103 may be other than six. In that case, for example,
The number is preferably an even number such as 2, 4, 8, 10, 12, or the like.

The surface vibration of the iron pedestal 101 is generated by the vibration of the ultrasonic vibrator 103, and the floor surface of the ready-mixed concrete is leveled and finished by the lower surface or the edge of the iron pedestal 101.

In the plastering work on the floor using the plastering iron by the plasterer, a plurality of types of plastering work such as wood trowel finishing, smoothing finishing, leveling finishing, and pressing polishing finishing are performed. Correspondingly, in the ultrasonic irons 71 and 72 and the drive control circuit thereof, if the structure, dimensions, shape, material, vibration frequency, vibration intensity, longitudinal wave and transverse wave state of the ultrasonic irons 71 and 72 are different. You may let it.

For example, when a finish leveling iron is supported, the thickness of the edge portion of the iron pedestal 101 is made extremely thin so that the edge portion bends against a pressing load. As a result, it is possible to prevent a gap from being generated between the iron pedestal 101 and the floor surface, and to even out the floor surface. On the contrary, the thickness of the edge part is increased,
It is also possible to configure so as not to bend. Note that a plurality of linear cuts arranged at equal intervals may be provided at the edge of the iron pedestal 101.

Further, since two ultrasonic trowels 71 and 72 are attached to each second unit 14, various units can be attached according to the purpose. Various constructions can be performed.

The second unit 14 has an attitude sensor SE11A for detecting an inclination angle with respect to a horizontal plane,
SE11B (see FIGS. 1 and 2) is attached. Each of the attitude sensors SE11A and SE11B is configured by combining a gyro and an accelerometer, for example, and outputs detection signals of an inclination angle (or angular velocity) and an acceleration in the X-axis direction and the Y-axis direction with respect to a horizontal plane.

The control device 51 mounted on the upper part of the traveling drive vehicle 11 controls all the driving devices built in the units 13 and 14 in addition to the traveling motors 23a and 23b.

Then, the control device 51 controls the posture sensor SE.
11A, the construction device 1 based on the detection signals of SE11B
Construction device 1 regardless of the inclination of the floor surface during traveling
The XY table 52 is driven to move the position of the power generation device 12 so that the XY table 52 always maintains the horizontal posture. Further, the ultrasonic irons 71 and 72, the vibrating iron device 63, the roller device 62
The height of the floor is adjusted, and the pressure applied to the floor by them is adjusted. Thereby, the ready-mixed concrete in the portion having a high surface height is caused to flow toward the low portion, and control is performed so that the floor surface of the ready-mixed concrete is horizontally finished by running of the construction apparatus 1.

The control device 51 can also incorporate a receiving circuit and an automatic control circuit for remote control by radio. The control device 51 includes the above-described drive control circuit, microcomputer, memory, interface, other peripheral elements, operating devices, display elements, switching power supplies, and the like.

Next, a method of constructing a ready-mixed concrete floor surface by the construction apparatus 1 will be described. The execution by the construction apparatus 1 is performed by using the ultrasonic irons 71A, 71B, 72A, and 72.
B, iron pedestals 631A, 631B, rollers 622A, 6
22B and the tires 22a, 22b, 22c, 22d are grounded on the surface of the ready-mixed concrete, and the construction apparatus 1 is run. However, the ultrasonic trowels 71 and 72 on the front side in the traveling direction, the vibrating trowel 631, or the roller 622
The vehicle may be driven without being grounded.

As shown in FIGS. 11 and 12A, the tire 22 and the roller 622 are arranged so as to have a gap G therebetween in the axial direction. The size of the gap G is, for example, about 2 to 4 cm. The tire 22
Is a balun tire, whose rubber film is soft and has low internal pressure, so that the portion in contact with the floor surface FL is concave and almost flat. The height position of the roller 622 is adjusted so as to contact the floor surface FL at the same height position as the tire 22.

Therefore, as shown in FIG.
On the trace where the construction device 1 has run, there is a rut RB by the tire 22.
And a rut RR by the roller 622.
A raised portion SD is formed by the gap G between and the rut RR.

The portions of the tracks RB and RR are compressed by the pressure of the tire 22 or the roller 622, and the density is increased. Since the surface pressure applied to the surfaces of the ruts RB, RR is almost equal at all portions, the surface pressure is evenly equalized.

The height H2 of the protruding portion SD is determined by the rut RB,
Smaller than the depth RR, ie, the height H1 of the floor FL,
For example, it is about half the height H1. The distance L1 between the outsides of the rut RB is, for example, 58 cm.

After the tire 22 and the rollers 622 have passed, the iron pedestal 631 and the ultrasonic irons 71 and 72 pass. Then, the raised portion SD is pressed and expanded by the iron pedestal 631 and the ultrasonic irons 71 and 72, thereby filling the irregularities on the surfaces of the ruts RB and RR, and as shown in FIG. The entirety of the RB, RR and the raised portion SD is leveled, and a flat leveled surface MT is finished.

The first straight running of the construction apparatus 1
As shown in FIG. 12D, one level surface MT1 is formed. MT parallel to the first run and first leveling surface MT
By performing the second run overlapping the end of 1,
A second leveling surface MT2 on the widthwise extension of the leveling surface MT1
Is formed. Similarly, by performing the third and subsequent runs, a flat smooth surface MT is formed over the entire floor surface FL.

By adjusting the height position of the ultrasonic trowels 71 and 72 when the construction apparatus 1 is running, the ratio of the total weight of the construction apparatus 1 to the ultrasonic trowels 71 and 72 can be reduced. Can be adjusted. The gravity applied to the ultrasonic irons 71, 72, that is, the ultrasonic waves
By adjusting the force to press L, the ultrasonic trowel 71, 7
2 to adjust the leveling effect.

In other words, the construction device 1 can be considered as Yajirobei with the tire 22 of the traveling drive vehicle 11 as the middle point on the overall gravity balance and the second units 14A, 14B on both sides as heavyweights. . Each second unit 14A, 14
By adjusting the height of the ultrasonic irons 71 and 72 in B, the tire 22 (or the tire 22 and the roller 622) is adjusted.
And the ratio of the weight applied to the two second units 14A and 14B can be variably adjusted. Ultrasonic trowel 71, 7
When the height position of the second unit 2 is lowered, the second unit 1
4 adds more weight. Normally, the ratio of the weight applied to the second unit 14 on the front side in the traveling direction, the tire 22, and the weight of the second unit 14 on the rear side in the traveling direction is, for example, 25:50:25. By adjusting the height position of the ultrasonic irons 71 and 72, for example, 10: 80: 10,30
The ratio may be 40:30, 10:70:20, 20:50:30, or the like.

According to the above-described embodiment, the traveling drive vehicle 11 is run, and the floor FL of the ready-mixed 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 done. Can replace the manual work by plasterers,
Improve the efficiency of plastering work, shorten the construction period required for plastering work,
And the cost required for plastering work can be reduced.

In particular, the surface of the ready-mixed concrete is uniformly pressed by the tires 22 and the rollers 622 to increase the density, and the raised portions SD are entirely spread over the surfaces of the ruts RB and RR, thereby to reduce the rut RB. , RR are leveled and the surface is finished finely.

In the above embodiment, the XY table 52
Although a structure having the pinion 119 and the rack 120 has been described, a structure having a ball screw and a nut may be used. The second unit 14 may have one ultrasonic iron. In the second unit 14, the ultrasonic trowels 71 and 72 are vertically moved and positioned by the inner frame vertical movement driving device 73 and the rail member 166, for example, as shown in Japanese Patent Application No. 6-328064. Ultrasonic trowel using a simple pantograph mechanism 7
You may make it support 1 and 72 and hold the position and attitude | position. In addition, four tires 22 are provided, but five tires 22 are provided.
Six or eight may be used. Further, the ultrasonic transducer 103
Various types such as Langevin type can be used. The ultrasonic transducer 103 is connected to the keel 1
02 may be directly fixed to the surface of the iron pedestal 101 without going through. In that case, the keel member 102 may be provided with a hole larger than the ultrasonic vibrator 103. The structures, shapes, dimensions, materials, and the like of the ultrasonic irons 71 and 72 can be variously changed.

[0124]

According to the first to twenty-second aspects of the present invention, the work of finishing a floor made of a fluid such as ready-mixed concrete can be automatically performed instead of the manual work of a plasterer.

According to the inventions set forth in claims 2 and 16, appropriate construction can be performed according to the state of the fluid on the floor. According to the fifth, ninth, twelfth, fifteenth and sixteenth aspects of the present invention, a raised portion protruding from the surface of the rut is formed in the gap between the tire and the roller, and the raised portion is expanded to extend the surface of the rut. The uneven part of the surface is filled, and it can be finished to a beautiful level surface.

According to the invention of claims 6 to 18,
It is possible to stably travel on a floor made of a fluid such as ready-mixed concrete. According to the seventh and thirteenth to eighteenth aspects of the invention, by controlling the peripheral speeds of the tires and the rollers, it is possible to make the construction apparatus go straight or steer the traveling direction.

According to the nineteenth to twenty-second aspects, the device can be divided into six parts, so that it is convenient to carry.

[Brief description of the drawings]

FIG. 1 is a front view showing a construction apparatus according to the present invention.

FIG. 2 is a plan view of the construction apparatus.

FIG. 3 is a left side view of the construction apparatus.

FIG. 4 is a diagram showing a state where the construction apparatus is disassembled into six units.

FIG. 5 is an enlarged view of the vicinity of the traveling drive vehicle and a partial cross-sectional view.

FIG. 6 is a plan view showing an attached state of an XY table of the traveling drive vehicle.

FIG. 7 is a cross-sectional side view illustrating an example of an XY table of the traveling drive vehicle.

FIG. 8 is an explanatory diagram of an example of an XY table of a traveling drive vehicle.

FIG. 9 is a perspective view of a first unit.

FIG. 10 is a diagram for explaining the operation of the first unit.

FIG. 11 is a diagram showing an arrangement state of tires, rollers, and a trowel of the construction apparatus.

FIG. 12 is a diagram showing a state of a rut.

FIG. 13 is a sectional view of a vibrating mechanism of a vibrating iron of the first unit.

FIG. 14 is an exploded perspective view of a vibrating mechanism of a vibrating iron of the first unit.

FIG. 15 is a diagram showing a state of the back surface of the pedestal of the vibration iron of the first unit.

FIG. 16 is a view for explaining an operation of a raising and lowering mechanism of a vibrating iron of the first unit.

FIG. 17 is a view for explaining the operation of the raising and lowering mechanism of the vibrating iron of the first unit.

FIG. 18 is a view for explaining a swinging operation of a vibrating iron elevating mechanism of the first unit.

FIG. 19 is a perspective view showing a part of the second unit in a cutaway manner.

FIG. 20 is a plan view showing a connection portion of an outer frame of the second unit.

FIG. 21 is a plan view showing a connection portion between an outer frame and an inner frame of the second unit.

FIG. 22 is a diagram illustrating a state of a support shaft and a cap of the second unit.

FIG. 23 is an exploded view showing an inner frame and an outer frame of the second unit.

FIG. 24 is a side view of the second unit.

FIG. 25 is a view showing the structure of an ultrasonic oscillating drive device of the second unit.

FIG. 26 is a diagram showing a structure of a vibration absorption shaft of the ultrasonic oscillating drive device of the second unit.

FIG. 27 is a perspective view showing the structure of the ultrasonic oscillating drive device of the second unit.

FIG. 28 is an exploded perspective view showing the structure of the ultrasonic iron.

FIG. 29 is a front view showing a state where only the second unit is attached to the traveling drive vehicle.

[Explanation of symbols]

DESCRIPTION OF REFERENCE NUMERALS 1 construction device 11 traveling drive vehicle 12 power generation device 13 first unit (traveling drive vehicle) 14 second unit 22a, 22b, 22c, 22d tires (right tire, left tire) 23a, 23b motor (left tire drive source, right tire Driving source) 62 Roller device (roller, front roller, rear roller) 63 Vibration trowel device (vibration trowel) 623a, 623b Motor (roller driving source, front roller driving source, rear roller driving source) 70 outside Frame 71, 72 Ultrasonic iron 75 Inner frame RB, RR Rut SD Ridge

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Masaru Soma 2-6-3 Marunouchi, Chiyoda-ku, Tokyo Within Mitsubishi Corporation (72) Inventor Osamu Hatakeyama 2-5-8 Kita-Aoyama, Minato-ku, Tokyo Shares (72) Inventor Masaaki Kobayashi 2-5-8 Kitaaoyama, Minato-ku, Tokyo Co., Ltd. Inside the corporation

Claims (22)

[Claims] 1. A traveling drive vehicle provided with an ultrasonic iron oscillating by ultrasonic waves and traveling on wheels, the traveling drive vehicle traveling on a floor made of a fluid, and Applying weight to the surface of the fluid via the wheels to pressurize the surface of the fluid to increase its density and level the surface of the pressurized fluid with the ultrasonic trowel; A method for constructing a floor comprising a time-curable fluid, characterized by the following. 2. The floor surface made of a temporally hardenable fluid according to claim 1, wherein said ultrasonic iron is arranged such that a surface of said ultrasonic iron has an elevation angle in a front side in a moving direction thereof. Construction method. 3. The vehicle according to claim 1, wherein the wheel includes a plurality of tires provided on left and right sides of the vehicle body, and one wheel provided in front and / or behind the vehicle body.
The method for constructing a floor surface comprising the time-curable fluid according to claim 1, comprising one or a plurality of rollers. 4. The time-curable fluid according to claim 1, wherein the wheels comprise four tires provided on the left and right sides of the vehicle body, respectively, and two rollers provided on the front and rear sides of the vehicle body. The construction method of the floor. 5. The tire and the roller, wherein the tire and the roller are disposed so as to have a gap between the rut by the tire and the rut by the roller, and the tire and the roller of the fluid are provided in the gap. 5. The method according to claim 3, wherein a raised portion protruding from the surface of the rut is formed, and the raised portion is pressed and leveled by the ultrasonic iron. 6. 6. The aging hardening flow according to claim 3, wherein the tire provided on the left side of the vehicle body, the tire provided on the right side of the vehicle body, and the roller are independently driven. Construction method of the floor consisting of the body. 7. A tire provided on a left side of the vehicle body,
The method for constructing a floor made of a temporally hardenable fluid according to claim 6, wherein the traveling drive vehicle is steered by making peripheral speeds of the tire and the roller provided on the right side of the vehicle body different. 8. The method according to claim 6, wherein the tire is a balun tire. 9. The tire and the roller, wherein the tire and the roller are arranged so as to have a gap between the rut by the tire and the rut by the roller, and the tire and the roller of the fluid are provided in the gap. A raised surface protruding from the surface of the rut formed by the step, and the raised portion is pressed down and leveled by the ultrasonic iron, and the floor surface made of the temporally hardenable fluid according to any one of claims 6 to 8. Construction method. 10. A vehicle body, a right tire provided on a right side of the vehicle body, a left tire provided on a left side of the vehicle body, a roller provided on a front part or a rear part of the vehicle body, and the right tire. A right tire driving source for driving the rotation, a left tire driving source for driving the left tire to rotate, a roller driving source for driving the roller to rotate, and an ultrasonic wave oscillating ultrasonic wave provided at a rear part of the vehicle body. An apparatus for constructing a floor made of a time-curable fluid, comprising: 11. A vibrating trowel that vibrates at a low frequency to vibrate on the surface of the fluid is provided at a rear portion of the vehicle body and in front of the ultrasonic trowel. Floor construction device made of a time-curable fluid. 12. The right tire, the left tire, and the roller are arranged so as to have a gap between a rut by the right tire and the left tire and a rut by the roller. An installation apparatus for a floor surface comprising the temporally hardenable fluid according to claim 11. 13. A vehicle body, a right tire provided on a right side of the vehicle body, a left tire provided on a left side of the vehicle body, a front roller provided on a front part of the vehicle body, and a rear part of the vehicle body A right roller driving source that rotationally drives the right tire; a left tire driving source that rotationally drives the left tire; a front roller driving source that rotationally drives the front roller; A rear roller driving source that rotationally drives the rear roller; and an ultrasonic trowel that is provided at the rear of the vehicle body behind the rear roller and that vibrates with ultrasonic waves. Construction equipment for floors made of curable fluid. 14. The aging apparatus according to claim 13, further comprising a vibrating iron provided between said rear roller and said ultrasonic iron to vibrate at a low frequency to apply vibration to the surface of said fluid. Construction equipment for floors made of curable fluid. 15. The right tire, the left tire, the front roller, and the rear roller have a gap between a rut formed by the right tire and the left tire and a rut formed by the front roller and the rear roller. The floor construction device comprising the temporally curable fluid according to claim 13 or 14, which is disposed so as to have. 16. The curing with time according to claim 13, wherein the ultrasonic iron is disposed such that a surface of the ultrasonic iron has an elevation angle in a front side in a moving direction thereof. Construction equipment for floors made of permeable fluid. 17. The floor construction apparatus according to claim 13, wherein the tire is a balun tire. 18. A steering control device for steering the traveling drive vehicle by making peripheral speeds of the right tire, the left tire, the front roller, or the rear roller different. A floor construction device comprising the temporally curable fluid according to any one of claims 13 to 17. 19. A power generator, a traveling drive vehicle that is self-propelled and supplied with power from the power generator, is detachably connected to the front and / or rear of the traveling drive vehicle, and pressurizes the surface of the fluid. First to increase density
And a second unit connected to the first unit for leveling the surface of the pressurized fluid, comprising: apparatus. 20. The first unit, comprising: a roller; a roller driving device that rotationally drives the roller; a vibrating iron; a vibrating mechanism for vibrating the vibrating iron; 20. The apparatus for constructing a floor surface made of a temporally hardenable fluid according to claim 19, further comprising an elevating mechanism for moving up and down. 21. An apparatus according to claim 19, wherein said second unit has at least one ultrasonic iron vibrating by ultrasonic waves. . 22. An outer frame connectable to the traveling drive vehicle or the first unit; an inner frame slidably supported in the outer frame in a vertical direction; And an inner frame vertical movement driving device for moving and positioning the inner frame in the vertical direction, and provided in the inner frame and swingably supporting an ultrasonic iron at a lower end, and the ultrasonic wave 22. An apparatus for constructing a floor made of a temporally curable fluid according to claim 19, further comprising an ultrasonic oscillating drive device for oscillating and positioning the trowel.