JPS63255468A - Concrete floor surface finish machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a concrete floor finishing machine equipped with an electric rotary trowel for leveling and finishing the surface of poured concrete;
In particular, it relates to a concrete floor finishing machine that finishes the surface of concrete fully automatically or by remote control.

[Prior Art] Conventionally, finishing work on concrete floors has been performed by pouring concrete, then applying mortar, and leveling the concrete. However, mortar coating has the drawbacks of peeling and cracking, and requires a high level of skill from the plasterer, so a so-called ``monolithic'' finish, in which the concrete is directly finished before it hardens, has come to be used. .

As a result, new labor management problems have arisen, with plasterers having to finish the leveling work after the concrete has been poured, and having to work late into the night.

Therefore, on the construction side, the trowel work of plastering work was mechanized, and the use of a single electric rotary trowel increased the construction speed, saving labor and improving the working posture of plasterers. by progress.

Driving automation has been added. The automatic driving technology is mainly aimed at the means of running and moving the floor finishing machine on the floor, such as those that use a gyro compass (inertial sensor) to detect direction, and those that perform sequencer control using tracing operation. It has been known. These technologies have introduced mechanical power into the surface finishing of unhardened concrete, achieving labor savings for finishers, as well as providing labor management and automatic operation. The robotization of machines is still in its infancy, and only the conversion of trowel operation to mechanical power and the addition of drivability have been achieved, and no satisfactory results have been achieved in terms of the workability of actual finishing, which depends on the plasterer's skills. do not have.

[Problems to be solved by the invention] Naturally, the development of automation for floor finishing machines is expensive in terms of mechanical equipment. Nevertheless.

Various functions have been added to finishing machines by incorporating a small computer processing unit (hereinafter simply referred to as a CPU), but the gyro compass is quite expensive and requires stable operation as a sensor before work. It takes a very long time.

In addition, it has been pointed out that automatic driving using sequence control has drawbacks such as large errors in driving direction. Furthermore, in addition to the configuration of these devices, there are demands for the basic work itself, and the quality of the finishing work is
Workability, such as the flatness of the completed floor, has not yet been developed.

[Means for Solving the Problems] The present invention was developed as a result of intensive research in view of the current state of automatic concrete floor finishing machines, and is designed to adapt various CPU-based control equipment configurations to automatic operation. In addition to this, it is equipped with a control device that allows the operation of the electric rotary trowel to match the concrete conditions.

This control device has a direction detection sensor, a distance detection sensor, and an obstacle detection sensor in order to enable automatic driving, and further controls the rotation speed of the rotary trowel according to the properties of the concrete. It features a built-in mechanism and is also suitable for remote control.

[Example] The control device of the present invention will be explained in detail based on the drawings of a preferred embodiment. FIG. 1 is a block diagram showing the control device installed in the floor finishing machine of the present invention, and FIG. 2 shows the entire floor finishing machine equipped with this control device.
Figure a) is its top view, and figure (b) is its side view. First, the floor finishing machine PT will be explained with reference to FIG. 2. The floor finishing machine PT is called a "power trowel", and three rotary trowels 20 are rotatably supported on a machine frame 10 having a traveling means. The rotary trowel 20 runs on the concrete floor surface F, leveling and finishing the unhardened concrete by the rotation and revolution of the rotary trowel 20. The machine frame 10 is constructed by assembling four frame members 12 in the radial direction that meet at the center support part 11 in an electric pattern using inner and outer frame members 13 and 13 in a concentric circle.
2 bends the tip downward and attaches the outer circular frame member 1 near the floor surface.
I support 3. A center shaft 14 is fixed downward to the center support part 11, and supports three rotary irons 20 outwardly via a slip ring 15. A frame 16 is fixed to the lower end of the rotary iron 20, and a traveling means is attached to the center shaft 14. A pair of left and right running rollers 17, A and B, are rotatably supported, and respective drive motors 18 (A, B) and respective AC servo motor drivers 19 are mounted thereon.

The rotary iron 20 includes a drive motor 21 and three horizontal iron blades 22.
It is supported by the tip of the arm 23 from the slip ring 15 and is supplied with power. The floor finishing machine PT is stably supported as a whole on the floor surface F by the trowel blades 22 of the rotary trowel 20, and levels and finishes the concrete by traveling and moving while rotating the trowel 2o once. Regarding this type of floor finishing machine PT, the present applicant previously filed a patent application under the name "Concrete Floor Finishing Machine" (
(Japanese Patent Application No. 61-270366) can be referred to. However, it goes without saying that the floor finishing machines to which the present invention is directed are not limited to those described above.

In the present invention, a control device is added to the floor finishing machine described above or equivalent thereto, so that the floor finishing machine PT can be automatically operated or remotely controlled.

This control device includes a control panel 30, a direction detection sensor 40, a distance detection sensor 56, an obstacle detection sensor 60, and an inverter 70. As shown in the block diagram of FIG. 1, the control panel 30 mainly includes a computer processing unit (CPU) 31 and incorporates a current position calculation program 32 and a running route instruction program 33.
4, to which the various control sensors described above are connected.

A direction detection sensor 40 for controlling the traveling direction of the floor finishing machine PT uses a gas rate sensor as an inertial sensor, and is connected to the CPU 31 via an A/D converter 41. As the distance detection sensor 5o, an encoder that encodes the rotation of the travel drive motor 18 is used and is connected to the travel roller 17 of the floor finishing iPT. An AC servo motor driver 19 for controlling the left and right traveling drive motors 18 is connected to the CPU 31 via a D/A converter 24 .

Next, the obstacle detection sensor 60 is used to detect running obstacles such as structures, reinforcing bars, and piping protruding from the floor surface F, or intruders into the workplace, on the work surface of the floor finishing machine PT. The sensor includes a touch sensor 61 and a light sensor 62.

They are connected to the ■/○ boats 34, respectively. The touch sensor 61 is an electric conductor stretched along the outer surface of the outer frame material 13 and is incorporated into the detection circuit of the CPU, and the optical sensor 62 is located opposite to the left and right with respect to the traveling direction of the floor finishing machine PT. It is attached to the outer frame member 13 at a certain position, and detects obstacles such as intruders that block light. Of course, an ultrasonic sensor may also be used.

An inverter 70 is connected to the CPU 31 via the D/A converter 24, and a rotary iron 20 is connected to the output side of the inverter.
A drive motor 21 is connected thereto. The inverter 70 controls the output of AC power according to a command from the CPU 31, controls the rotational speed of the rotating iron 21, and changes the rotational speed of the rotary iron 20.

Reference numeral 80 indicates a flashing light for alarm, and reference numeral 81 indicates a warning buzzer, each of which is publicly known, and is connected to the work/○ boat 34 via an interface relay 36 along with switches 35 that indicate the operation of each device. There is. 90 is a power supply cable for the entire floor finishing machine PT.

The control panel 30 is equipped with a wireless receiver 43R for remote control, connected to the CPU 31, and receives control signals from a local transmitter C for wireless control.

FIG. 3 is a block diagram corresponding to FIG. 1 when the floor finishing machine of the present invention is used by remote control, and common reference numbers are used for structures equivalent to those in FIG. 1. be. As is clear from the figure, when manual control is performed from the hand-held control transmitter C, the sensors for direction and distance control and the program for that control do not operate, so they are omitted, and are not shown separately. , 18B are added.

[Function] The function of the floor finishing machine PT of the present invention will be explained based on its use and operating method. Figure 4 shows the floor plan of the building, where the floor F is the preceding part A and the succeeding part B of concrete pouring.
has been completed. When the floor finishing machine PT is started from the illustrated position and operated along a predetermined planned line, the floor finishing machine PT runs in accordance with the traveling route instruction program 33 and in accordance with the output of the direction detection sensor 40. The azimuth detection sensor 40 is a gas rate sensor as an inertial sensor, so it emits an angular velocity signal, and this signal is integrated by the CPU 31 and recognized as an azimuth angle, and the drive motors of the left and right running rollers 17 are individually controlled. The direction of travel is maintained. Then, according to the current position calculation program 32, the direction is changed at the left end of the figure under the control of the output distance signal of the distance detection sensor 50, and further turned according to the operating width B of the touch sensor 61 of the floor finishing machine PT. The floor finishing machine PT turns around and finishes along the planned line while covering the floor surface F. In this way, the floor finishing machine PT constantly monitors the current position by the combination of the direction detection sensor 4o, the distance detection sensor 50, and the CPU. Drive while recognizing.

At this time, if there is a difference in the timing of concrete placement and the degree of hardening of the concrete is different between sections B and A, or when the degree of hardening of the concrete changes sequentially, the rotary trowel 20 may There will be a difference.

Then, by operating the control transmitter C, the rotational speed of the rotary trowel 20 is selected to an appropriate state in each section and position. Also,
By providing the load detection sensor 71 that detects the load on the drive motor 21, changes in the load on the drive motor 21 are detected, and thereby the rotation speed of the rotary iron 20 is automatically controlled appropriately. By changing the rotational speed of the drive motor 21 in this way, the finishing work of the rotary trowel 20 can be uniformly leveled from beginning to end, which is a major feature of the present invention.

Furthermore, if there is an obstacle such as a pillar 63 on the floor F,
The touch sensor 61 or optical sensor 62 provided on the outer frame material 13 of the floor finishing machine PT first detects an obstacle in the path, and then the direction detection sensor 40 takes priority over the control of the distance detection sensor 50.
and turn the floor finishing machine PT to the left. Then,
By turning around, work can continue on the planned line.

In the example shown in FIG. 3 in which the floor finishing machine PT is remotely and manually operated, the direction, distance, and rotation speed of the rotary trowel 20 are controlled by the hand-held control transmitter C.

Further, in this example, the drive motor 18 of the traveling roller 17 is also controlled, so that the leveling work becomes more reliable and uniform.

[Effects of the Invention] The present invention is equipped with a direction detection sensor, a distance detection sensor, and an obstacle detection sensor as a control device for a floor finishing machine, and furthermore, the control device is equipped with a direction detection sensor, a distance detection sensor, and an obstacle detection sensor. Since an inverter is provided to control the speed, there is no need for expensive control device equipment, and the floor finishing machine can run fully automatically or by remote control. In particular, since the drive motors for both the travel and rotary trowel are controlled by the inverter, leveling is done at a rotation speed that corresponds to the degree of hardening of the poured concrete. The remarkable improvement in workability is a noteworthy effect, and the present invention will greatly contribute to the construction industry.

[Brief explanation of the drawing]

The drawings show an embodiment of the floor finishing machine of the present invention, FIG. 1 is a block diagram of the control device, FIG. 2 shows the entire floor finishing machine, and (a) is a top view thereof. b) The figure is a side view thereof. FIG. 3 is a block diagram of another embodiment corresponding to FIG. 1, and FIG. 4 is a plan view of a floor explaining the operation of the floor finishing machine of the present invention. 10... Machine frame, 12.13... Frame material, 17... Running roller, 18... Drive motor, 20... Rotating iron,
21... Drive motor, 22... Trowel blade, 30...
Control panel, 31...CPU, 40...Direction detection sensor, 50...Distance detection sensor, 60...Obstacle detection sensor, 61...Touch sensor, 62...Light or ultrasonic sensor , 63... Obstacle, 70.70A, 70B
... Inverter, 80 ... Flashing light, PT ... Floor finisher, C ... Control transmitter, R ... Radio receiver,
F...Floor surface. Figure 1 Figure 2 Figure 3 Figure 4

Claims (4)

[Claims] (1) In a traveling type concrete floor finishing machine that has a power-driven rotary trowel equipped with various running control devices, this floor finishing machine also has the ability to adjust the rotational speed of the rotary trowel to the properties of the concrete. A concrete floor finishing machine characterized by incorporating a mechanism for controlling accordingly. (2) The various driving control devices include a direction detection sensor, a distance detection sensor, and an obstacle detection sensor, and the rotation speed control mechanism includes an inverter, and these sensors and the inverter are connected to the floor finishing machine by a computer processing device. 2. The concrete floor finishing machine according to claim 1, wherein the concrete floor finishing machine controls: (3) The direction detection sensor is a gas rate sensor, the distance detection sensor is an encoder, the obstacle detection sensor is an ultrasonic sensor, a light sensor, and a touch sensor, and a control panel to which these sensors and the inverter are connected. A wireless receiver is connected to the control transmitter, and the control transmitter is controlled via a control transmitter.
Concrete floor finishing machine described in section. (4) Item 3, characterized in that the inverter controls the drive motor of the rotary iron and the travel drive motor, and the control transmitter is capable of controlling the travel control device and the inverter via the wireless receiver. Concrete floor finishing machine listed.