MACHINE FOR PROCESSING A CONCRETE SURFACE, METHOD FOR PROCESSING A SEQUENCE OF CONCRETE SURFACES AND METHOD FOR PRODUCING A CONCRETE SURFACE

Abstract

A machine (1) for treating a concrete surface comprising a treatment tool (2) mechanically coupled to one end of a telescopic arm (3), a frame (5) in which a compartment for the arm (3) is formed, and two axles (61, 62) fixed at two respective extremity portions (51, 52) of the frame (5) each supporting at least one wheel (41, 42) whose wheels (41, 42) are steerable and their arrangement via the aforementioned axles (61, 62) and frame (5) is such that they allow the machine (1) to be supported regardless of the position of the tool (2) and the arm (3); a method for treating a succession of concrete surfaces and a method for manufacturing a concrete surface.

Description

Technical field

[0001] The present invention relates to a machine for treating a concrete surface. Prior art

[0002] To treat a concrete surface, it is known to use a machine equipped with a tool dedicated to this purpose. In some cases, the tool is fixed against the frame of the machine, the latter moving as the surface is treated. This type of machine is typically small and low-powered. It is used for small surfaces. In other cases, the tool is mechanically coupled to the end of a telescopic arm, called a "boom", so as to be movable above the surface in a direction of extension of the arm, from a base unit. The arm extends over distances generally of 4 to 9 meters, or even more, it is thus possible to quickly treat a surface in the form of a strip of concrete from a single position and orientation of the machine. It is precisely this type of machine with a boom that is the subject of the present invention.

[0003] An example of a known treatment of a concrete surface is the leveling of unset (or unhardened) concrete, this operation also being known as "screeding". For example, document EP3728739A1 discloses an embodiment of a machine for leveling a concrete surface equipped with a boom as known from the prior art.

[0004] Such a machine generally comprises a hollow compartment for the arm arranged in an upper part of the base unit. The latter also comprises a lower part which is coupled to the upper part and around which the upper part can rotate to properly orient the arm and the tool in a given position of the machine. The movement of the machine can be obtained via two axles each carrying two wheels and fixed on the lower part. As shown by way of example in the figure 1of the cited document, each of the two axles extends in the direction of extension, the axles being aligned in a direction orthogonal to that of extension of the arm. The wheels thus make it possible to move the machine in this orthogonal direction between the treatment of two surfaces. Thus, it is possible to successively move via the wheels and orient via the rotation of the upper part the arm and the tool between each concrete surface treatment.

[0005] While the wheels can support the machine when the boom is retracted into the hollow compartment, they are generally not sufficient to stabilize and support the machine in all circumstances, especially when the boom is extended, given the weight of the tool and the boom. This is why this type of boom machine includes removable and / or adjustable stabilizing feet attached to the bottom to support the machine in position while treating the concrete surface. These stabilizing feet also allow the boom to be given the desired angle of attack. However, the stabilizing feet must be removed and / or adjusted both before and after treating each concrete surface. Positioning and stabilizing the machine, as well as the orientation of the boom, before treating a concrete surface therefore takes considerable time on site. Statement of the invention

[0006] An object of the present invention is to provide such a machine with boom which allows concrete surfaces to be treated efficiently.

[0007] For this purpose, the present invention provides a machine for treating a concrete surface comprising: a tool for treating a concrete surface mechanically coupled to one end of a telescopic mechanical arm (i.e. the "boom"), so that the tool is movable above the concrete surface in a direction of extension of the arm; a hollow compartment for the arm formed in a chassis of the machine extending mainly along the direction of extension; wheels coupled to the compartment and arranged to move the machine; and in which the aforementioned chassis comprises two end portions at each of which is fixed at least one axle extending transversely to the direction of extension and supporting at least one of the wheels, and preferably two of the wheels on either side of the chassis, the wheels being both steerable and adapted to support the machine.

[0008] The machine according to the present invention allows concrete surfaces to be treated more efficiently than similar machines of the prior art. Indeed, since the wheels of the machine are steerable, the machine is more maneuverable. In particular, it is not necessary to provide a base unit composed of two parts movable in rotation relative to each other to orient the arm and the tool because this orientation can be provided by the wheels. Furthermore, since the wheels are adapted to support the machine, typically for any position of the tool along the extension direction, there is then no need to provide stabilizing feet. The wheels can, by themselves (i.e., without any other necessary contact with the ground) directly and completely support and stabilize the machine in position. The treatment of concrete surfaces with the machine is thus made more efficient, because it is not necessary: to remove or adjust such stabilizing feet before processing each surface - which results in considerable time savings; to manipulate both an orientation between two parts of a basic unit and an advancement of the wheels in a single direction orthogonal to the extension direction in order to properly position and orient the machine and the tool.

[0009] These features relating to the wheels, particularly their adaptation to support the machine, produce their full effects given the way in which they are arranged on the machine, and mechanically coupled to the compartment. Indeed, in order to support, and in particular to stabilize, the machine, it is advantageously provided that the center of gravity of the machine overcomes or is in a space between the wheels, whatever the position of the tool along the extension direction. This is a major difficulty which is not easily overcome on the basis of an arrangement of the wheels as known from the prior art since the axles of the wheels are then aligned orthogonally to the arm at the end of the arm opposite that to which the tool is mechanically coupled. To overcome this, the machine is provided with a frame extending mainly along the extension direction and in which the compartment is formed.The axles are then fixed at two end portions of the chassis, along the direction of extension, the axles extending transversely, and preferably perpendicularly, to it. In particular, unlike the machines of the prior art, the axles are necessarily aligned along the direction of extension, and arranged at the end portions of the chassis sufficiently distant from each other along the direction of extension so that the center of gravity of the machine overcomes or is in a space between the wheels, regardless of the configuration of the machine.

[0010] These features, the purpose of which is to allow the wheels to support the machine, could penalize the maneuverability of the machine because they induce the need for a chassis, typically central, extending sufficiently along the direction of extension, in order to be able to fix the axles sufficiently far from each other at the extreme sections of the chassis. Fortunately, this is not the case because the wheels are steerable and therefore allow the machine to be moved easily in any position, despite its chassis. The wheel orientation characteristic is therefore closely linked to the technical means in terms of chassis and axle making it possible to achieve the characteristic of supporting the machine by the wheels within the technical framework of the present invention.

[0011] The chassis is preferably referred to as central and / or main. It is preferably the only chassis of the machine. In particular, since the wheels are steerable, it is not necessary to provide two separate parts of a base unit as described according to the prior art, the entire machine being able to be arranged on the basis of a single chassis elongated along the extension direction and steerable via the wheels. Since the compartment is formed in the chassis, an orientation of the chassis induces an orientation of the arm and therefore of the tool. The chassis is in particular directly linked to the steerable running gear of the machine as described above. The compartment is further preferably capable of containing at least 85% of the arm measured along the extension direction, and preferably the entire arm, in a retracted configuration.

[0012] Advantageously, the chassis also allows the masses of the machine to be distributed even more adequately to ensure that the center of gravity of the machine is positioned above or in a space between the wheels. For example, heavy elements of the machine such as batteries or motors may be arranged at the end portion of the chassis opposite the tool to counterbalance the weight of the tool. In particular, a mass of a part of the machine extending in front of (in the direction of deployment of the arm along the extension direction) the axle fixed at the end portion of the chassis closest to the tool is typically less than a mass of a part of the machine extending behind this axle.

[0013] The chassis' potential pitching is further limited by the arrangement of the wheels via the axles, with the running gear preferably being rigid. For example, the wheels may include solid tires filled with silicone foam, which provides good wheel rigidity. This prevents the tires from crushing under arm movements when working on a concrete surface.

[0014] For the purposes of this document, the term "concrete" generally refers, in an unset (or uncured) state, to a flexible paste of variable homogeneity, preferably comprising a mixture of sand and cement, intended to be poured into a dedicated space prior to its hardening. This occurs after a setting time. The dedicated space is, for example, a support, a mold or a cavity. Concrete is a very widely known construction material which can be used to form coatings and construction elements of great strength.

[0015] In the context of the present invention, the concrete is preferably poured so as to form a concrete surface. The term "treatment" is likely to relate to different stages of the formation of this surface. For example, the tool may be a tool for leveling the surface of unset concrete (an operation known as "screed") or a finishing tool for applying a finishing powder to the surface (an operation known as "spreading").

[0016] The term "surface" is not to be understood in this document as referring to a strictly two-dimensional (mathematical) object. In particular, as would be understood by a person skilled in the art, a concrete surface necessarily has a certain thickness of concrete. The term "surface" is used taking into account that, in general, the exterior surface of the concrete once set and treated is the one that is visible externally, typically during the design of a concrete covering, floor or slab. Thus, for example, before leveling a concrete surface, the unset concrete poured into the space dedicated to the formation of the surface generally includes irregularities and variations in thickness forming a relief, hence the need to level this surface with a machine provided for this purpose. This concrete therefore does not extend only two-dimensionally. Generally speaking, within the context of this document, the term "surface" is interchangeable with the term "extent".

[0017] For the purposes of this document, the telescopic mechanical arm corresponds to a "boom" as introduced in the prior art. It will be understood by a person skilled in the art that such an arm is distinguished from attachment means holding the tool against the chassis or from a direct extension of less than 1 meter of these attachment means. The arm is preferably capable of extending along the extension direction by at least 4 meters, and preferably by a maximum extension length of between 4 and 9 meters, for example about 5.5 or 6.0 meters, typically when deployed, or alternatively of carrying the tool at this distance from the chassis.

[0018] In the context of this document, the term "primarily" in reference to a direction in which a part of the machine extends means that this part of the machine extends (significantly and / or visibly) more in this direction than in other basic directions in space. In particular, the frame of the machine extends primarily in the direction of extension of the arm, but of course also in the other two directions in space which are perpendicular to it and are perpendicular to each other. For example, the frame extends in these two directions over a variable distance along the direction of extension and between 0.5 and 1.0 meters.

[0019] Preferably, at least two of the wheels, and more preferably, all the wheels are individually and / or independently steerable. Each wheel can thus be steered in a chosen manner independently of the other wheels, and in particular of any wheel coupled to the same axle. A wide range of movements of the machine is thus made possible as illustrated in figure 2 hereinafter introduced.

[0020] Preferably, the axles are directly attached to the chassis. The chassis thus directly follows the movement induced by the axle and the wheels, simplifying the maneuverability of the machine. The term "directly" is used here to refer to an attachment preferably without an intermediary. The axles are therefore preferably attached against the chassis and / or extend the chassis.

[0021] For the purposes of this document, the term "extreme" portion at which an axle is fixed does not necessarily correspond to an end of the chassis considered in the direction of extension, but rather to a portion of the chassis located near such an end. According to the above statement, two portions of the chassis completely located near each of the ends of the chassis, preferably on either side of the middle of the chassis considered in the direction of extension, can be considered as "extreme" if, the axles being fixed at these portions, the center of gravity of the machine overcomes or is in a space between the wheels.

[0022] In other words, just because the chassis extends, strictly speaking, beyond one of the axles along the direction of extension does not mean that the axle in question is not fixed at an extreme portion of the chassis.

[0023] In this sense, the invention can alternatively be introduced as a machine for treating a concrete surface comprising: a tool for treating a concrete surface mechanically coupled to one end of a telescopic mechanical arm, so that the tool is movable above the concrete surface in a direction of extension of the arm; a hollow compartment for the arm formed in a frame of the machine extending mainly along the direction of extension; wheels supported by axles fixed on the frame for moving the machine; wherein the wheels are steerable and arranged so that the center of gravity of the machine overcomes or is in a space between the wheels for any position of the tool along the direction of extension. Said space preferably corresponds to the interior of a (simple) polygon having the wheels as vertices. Typically, the polygon is a non-square rectangle, for example defined by two parallel axles supporting two wheels at their ends, but the invention is not limited to this geometric shape. The various embodiments and advantages of the invention mentioned above or below apply equally to this alternative introduction of the invention.

[0024] The use in this document of the verb "to understand", or its variants, as well as their conjugations, does not exclude the presence of elements other than those mentioned. Similarly, the use in this document of the indefinite article "un", "une", or the definite article "le", "la" or "l'", to introduce an element does not exclude the presence of a plurality of these elements.

[0025] According to one embodiment of the invention, a wheelbase of the machine measured in the extension direction is between 35 and 65%, preferably between 40 and 55%, for example approximately 45%, of a maximum extension length of the boom measured in the extension direction. As is known to a person skilled in the art, the wheelbase corresponds to the distance separating the axes of the axles furthest from each other in the extension direction. As explained above, the maximum extension length is generally between 4 and 9 meters, for example approximately 5.5 or 6.0 meters, when the boom is fully extended. Thus, the wheelbase of the machine is, for example, approximately 2.5 to 3.0 meters for a boom with a maximum extension length of approximately 5.5 to 6.5 meters. This is a larger wheelbase than on prior art machines where it is approximately 1.6 to 1.9 meters for similar booms.

[0026] As discussed above, this particular wheelbase ensures that the machine's center of gravity remains within or over the space between the wheels at all times, even when the boom is in motion or fully extended. This axle arrangement improves the machine's stability.

[0027] Preferably, the wheels are arranged at the vertices of a non-square (planar) rectangle whose longer side extends parallel to the direction of extension. The length of the latter then corresponds to the aforementioned wheelbase. The length of the axle (measured perpendicular to the direction of extension) then corresponds to the length of the shorter side of the rectangle. Preferably, the longer side is at least twice as long, preferably at least three times as long as the shorter side.

[0028] According to one embodiment of the invention, each axle comprises: an axial portion (or axle) extending mainly transversely, preferably perpendicularly, to the direction of extension, from the chassis; two legs each of which comprises: an upper end mechanically coupled to one end of the axial portion by means of turning means, preferably mechanical, arranged to allow relative rotation between the axial portion and the leg, a lower end fixed at a hub of one of the wheels. In particular, each axle according to this embodiment is mechanically coupled and supports two wheels by means of the two legs.

[0029] Advantageously, each pair formed by a wheel and a leg is thus able to turn relative to the rest of the axle, and therefore in particular relative to the chassis, via the turning means, preferably independently of the other such pairs. The wheels are thus completely steerable thanks to the simple and practical mechanical coupling of the legs with the axial part. As the wheels turn with the legs, the machine is more stable and more solid. The forces within the machine are in particular better absorbed at the level of the axles and the wheels. The two legs also make it possible to offset the wheels below the plane of the chassis, and preferably laterally offset from the chassis, which makes it all the more possible to support and stabilize the machine effectively.Preferably, the axle is symmetrical on either side of the extension direction and / or the chassis, which induces a generally symmetrical absorption of forces within the machine, and therefore the stability of the latter.

[0030] Preferably, the turning means comprise a turning motor mechanically coupled to a slewing ring. Preferably, the motor is a hydraulic motor. The slewing ring preferably provides a rotational amplitude of at least 180°, preferably 360°. It is thus possible to steer the machine in all directions. These turning means thus form in particular a bearing. The slewing ring makes it possible to adequately transmit the power from the hydraulic motor for the purpose of rotating the leg. The slewing ring is preferably a ball bearing.The turning means may be incorporated in a dedicated and sheltered space between the upper end of the leg and the associated (opposite) end of the axial part, which preferably have a shape mainly extended parallel to the plane defined by the direction of extension (of the arm) and a transverse direction along which the axial part extends.

[0031] Preferably, each leg is arched. This shape allows the wheel to be partially surrounded to better support it and therefore better stabilize the machine as a whole. Preferably, the upper and lower ends of the leg are aligned in a direction orthogonal to the direction of extension. The wheels thus extend under the chassis, at least partially laterally offset from it, this helping to effectively support the entire machine.

[0032] Preferably, the wheels of the machine according to the invention are motorized, more particularly individually motorized. More preferably, each wheel comprises a hub within which is arranged a motor, preferably an electric motor, for advancing the wheel.

[0033] The advancement of the wheels via the respective motors thus makes it possible to move the machine quickly and efficiently in any direction defined by the orientation of the wheels. The lower end of each axle leg being fixed at, and preferably directly on, the hub of a wheel, for the embodiments concerned, it is possible to use the legs and / or the axial part of the axle, as well as the chassis to bring elements for connecting and / or supplying the electric motor of the wheel to a possible energy source (for example, batteries) present elsewhere in the machine, preferably in the rear part of the chassis to balance the masses according to the direction of extension.

[0034] Generally speaking, the axles (and in particular the legs and / or the axial parts of the axles for the embodiments concerned), and / or the chassis can serve as a desert conduit for the electrical, hydraulic and / or mechanical functions of the machine. The space requirement corresponding to the implementation of these functions is thus reduced, just as the power supplies, pipes and other corresponding wiring are protected within the machine. The energy chain of the machine can in particular be housed in the chassis.

[0035] Furthermore, in terms of energy, the machine differs from the concrete surface treatment machines known from the prior art in that it is preferably fully electric. More precisely, the machine preferably comprises an electrical power supply, for example, one or more batteries, coupled to one or more electric motors and a hydraulic system to power functionalities of the machine, these functionalities including any movement of the wheels, the arm and the tool. More preferably, all the functionalities of the machine are thus powered. An orientation of a wheel is considered as a movement since the wheel then turns on itself. As mentioned above, the electric motors can be arranged at the hubs of the wheels for the advancement of the machine, but also at the level of the arm for its deployment in the direction of extension.The hydraulic system, for its part, preferably comprises hydraulic motors and / or actuators for orienting the wheels as described above, and / or orienting the arm (or more precisely, its incidence), for example by modifying an elevation of the wheels, as described below, and / or modifying an elevation of the tool at the end of the arm as also described below.

[0036] The fact that the machine is fully electric, in the sense set out above, makes it possible to avoid the solution of powering the machine using one or more thermal engines coupled to a hydraulic system as known from the prior art. Indeed, this solution, in addition to obviously being very polluting and not very ecological, is less energy efficient. It has thus been demonstrated that the energy efficiency of the machine illustrated in figure 1introduced below is increased by 30 to 85% compared to the machines known from the prior art. In addition, as these machines are regularly used in semi-enclosed workshops or sites, it goes without saying that the absence of gas emissions from the combustion of diesel by the thermal engine(s) is beneficial for the health of the operators of these machines and any other workers nearby.

[0037] According to a preferred embodiment of the machine of the invention, at least one of the axles comprises lifting means arranged to allow a variation of a distance between the chassis and the at least one wheel, and preferably the two wheels, supported by the axle.

[0038] This embodiment is very advantageous because it allows the machine operator the possibility of adjusting the elevation of the wheels by controlling the distance between the chassis and the wheels supported by the axle. It is thus possible to tilt the arm by varying the height of the axle, and therefore of the chassis at which it is fixed. This makes it possible to compensate for the curvature of the arm, at its extreme portion carrying the tool, due to the weight of the tool when the arm is deployed. It is quite sufficient to incorporate the elevation means in a single axle to obtain this technical effect. The axle chosen can be both the front axle (i.e. closest to the tool) and the rear axle (i.e. furthest from the tool), for example.

[0039] Advantageously, the elevation means make it possible to dispense with an articulation between the arm and the compartment or with an elevation adjustment of stabilizing feet to adjust the inclination of the arm, as used in machines known from the prior art. This consequently contributes to the efficiency of use and the simplicity of the machine for treating concrete surfaces.

[0040] For the purposes of this document, the term "distance" between two objects refers to the shortest distance between two points each belonging to one of those objects.

[0041] Preferably, according to the aforementioned embodiments for which the axle comprises an axial part and two legs, each leg of said axle provided with the lifting means comprises a pivot connection around which two parts of the leg are articulated. The lifting means preferably comprise a hydraulic cylinder arranged or coupled at this pivot connection. In this way, the variation in height of the axle induces a movement at the pivot connection, like a flexed knee for each leg. The hydraulic cylinder is, for example, coupled to a hydraulic motor forming part of the lifting means which can be arranged at the upper end of the leg.

[0042] According to a preferred embodiment of the invention, an electric motor is arranged in the chassis to move the arm by means of a belt, preferably toothed, engaged at the electric motor. It is thus possible to move (and therefore to extend from the compartment and to retract into the compartment) the arm solely via this electric motor and this belt, without using a hydraulic cylinder as in known machines. The machine according to the invention is all the more efficient because the drive power of the arm is thus no longer limited by the hydraulic cylinder: it is possible to use the electric motor to the maximum. This is particularly useful when the arm must be extended or retracted into the compartment without contact between the tool and the concrete (which is, for example, typically the case for a leveling tool when repositioning the tool at the start of a concrete surface).In this case, although the power deployed by the hydraulic cylinder is low, its speed is limited by the maximum available flow rate, the arm then moving slowly. The use of an electric motor overcomes this defect and makes it possible to increase the speed of the motor while remaining at its nominal power in such a case, hence the arm is moved more quickly and the repositioning time of the tool is reduced, which makes the use of the machine according to the invention more efficient for treating concrete surfaces.

[0043] Those skilled in the art will understand that the considerations relating to the aforementioned electric motor in the present document go beyond the scope of the present invention as claimed in claim 1 and could be the subject of a separate invention, including for a machine comprising stabilizing feet.

[0044] The belt typically mechanically couples the electric motor and the arm, by engaging on both sides. The belt is toothed to prevent possible slippage and transmit more torque between the arm and the electric motor. A toothed belt also has the advantage of being suitable for the arrangement of a rotation sensor (or encoder or coder) of the belt at the level of the belt or at the level of its drive by the electric motor. Specifically, this sensor is for example arranged on a belt drive pulley. This sensor can then be used to determine the position of the arm and / or the tool according to the number of revolutions made by the belt, for example, determined at the pulley.This data can then be used to regulate the speed of movement of the arm along the extension direction, particularly during its deployment, to prevent it from hitting the end of its travel given its limited maximum extension length, which would risk damaging the belt and / or the electric motor. This regulation is in particular the subject of a method (A) explained below.

[0045] According to one embodiment of the invention, the treatment tool is mechanically coupled to the end of the arm via a tool-carrying structure which is fixed to the end of the arm, and on either side of which are arranged two elevation cylinders carrying the tool to modify an elevation of the latter. It is thus made possible to adapt the height of the tool according to the quality and fluidity of the concrete, the desired leveling tolerance and / or other parameters. The two elevation cylinders are preferably hydraulic cylinders. However, other types of cylinders such as electric actuators would not depart from the scope of the invention.

[0046] The determination of the elevation (or height) of the tool is generally based on a laser system as is known to a person skilled in the art. More precisely, a reference plane is generated, in the operating area of ​​the machine, by means of a source of one or more laser beams. This reference plane can then be captured by receivers provided for this purpose and mounted on the tool, which makes it possible to ensure that the tool remains at a desired elevation relative to this reference plane. In the event of deviation from this desired elevation, the aforementioned elevation cylinders make it possible to adjust the elevation of the tool.

[0047] The machine, especially the tool, and the machine's operating area are preferably equipped with this technology. In the case of a concrete surface leveling tool, this is very advantageous for leveling the surface sufficiently flat and at the correct height. This operation is often referred to as "laser screed".

[0048] However, the use of this technology may be hampered if a physical obstacle is present between the source of the laser beam(s) and the receivers mounted on the tool, since the receivers cannot then sense the reference plane. To overcome this difficulty, each of the elevation cylinders is preferably equipped with a position sensor. Thus, when one or more of the receivers no longer sense the reference plane, the elevation of the tool via the corresponding elevation cylinder(s) can be modeled on its last known position value(s) using the position sensor(s). The corresponding regulation of the elevation of the tool is in particular the subject of a method (B) explained below.

[0049] The aforementioned regulations of the speed of movement (or position) of the arm and / or the elevation of the tool, and / or the position control of the machine according to the invention can be carried out entirely manually by an operator by means of manual controls placed on the machine, for example via position data or aforementioned sensor data received on an interface.

[0050] Preferably, the machine comprises a central computer module capable of assisting the operator in all or part of these regulations and / or this control, for example by automatically controlling all or part of the regulations and / or certain stages of the control of the machine. In this case, the operator remains able to control the machine manually at any time, but components of the operation of the machine can also be controlled automatically by this central computer module. In this case, it is of course necessary for the machine to be equipped with sensors corresponding to the components in question, or any other equivalent element, and for these to be coupled (electrically and / or electronically) to the central information module so that the latter is able to base its control on the data received from the sensors.A coupling (electronic and / or electromechanical) is then also provided between the central computer module and the parts of the machine to be actuated and / or acted upon to achieve the desired control of the components of the machine operation. Thus, for example, to regulate the elevation of the tool, it is necessary that the central computer module can receive data from the receivers and / or position sensors, and actuate the two corresponding elevation cylinders.

[0051] Those skilled in the art will understand that the considerations relating to the central computer module in the present document, and the various methods associated therewith, go beyond the strict scope of the present invention as claimed in claim 1 and could be the subject of a separate invention, including for a machine comprising stabilizing feet for the cases for which this applies.

[0052] Preferably, the central computer module is of an electronic nature and is coupled electrically, electronically and / or electromechanically, as the case may be, to the wheels and / or electric motor(s) and / or cylinder(s) and / or hydraulic system and / or sensor(s) of the machine, depending on the mechanical elements and the embodiment considered, and this so as to implement one or more of the aforementioned regulation methods and / or control the movement of the machine at least according to certain mode and / or in certain circumstances, for example, in the case of the processing method (C) explained below.

[0053] Preferably, when an axle comprises lifting means as mentioned above, a sensor, for example a magnetic sensor, is provided in the hydraulic cylinder arranged or coupled at the pivot connection of each leg of the axle, to sense a position of the hydraulic cylinder and therefore the distance between the chassis and the wheels supported by the axle. These magnetic sensors and the corresponding hydraulic cylinders can be coupled to the central computer module, which will be, for example, configured to regulate an inclination of the arm according to the positions of the hydraulic cylinders. These couplings can for example be used to regulate the elevation of the tool in combination with the couplings of the electronic data module with the position sensors and the hydraulic elevation cylinders introduced above.

[0054] In the case of this document, the terms “based on” referring to a determination, regulation or calculation from parameters or data should not be interpreted as meaning that these are limiting and / or that their list is exhaustive.

[0055] Some of the methods mentioned above that can be implemented with the machine according to the invention are introduced below. The embodiments and advantages of the machine according to the invention are transposed mutatis mutandis to these methods.

[0056] The invention proposes in particular a method (A) for regulating a speed of movement of the arm of the machine in the context of the embodiments described above with reference to method (A). The present method therefore applies to a machine provided with an electric motor arranged in the chassis in order to move the arm (by deploying or retracting it) via a belt at which a revolution sensor is arranged. The method comprises a regulation of the speed of movement of the arm in a closed loop, typically implemented by a computer coupled to said revolution sensor and said electric motor, for example by means of a central computer module as introduced above, on the basis of data measured by the revolution sensor. The speed of deployment of the arm can thus be decreased when it is almost fully deployed to prevent it from damaging the belt or the electric motor by hitting a limit of its extension.

[0057] Preferably, method (A) applies for a machine also verifying the context of the embodiments described above with reference to method (B). The tool is then carried by elevation cylinders to modify its elevation, each of which is equipped with a position sensor. In this case, the regulation of the speed of movement of the arm, typically implemented by a computer also coupled to the position sensors, for example by means of the central computer module, is preferably done in a closed loop based on data measured by both the tower and position sensors.

[0058] This embodiment of method (A) allows for better regulation of the speed of the arm when it retracts. Indeed, taking into account the elevation of the tool makes it possible to take into account the force exerted by the concrete on the tool, and therefore on the arm, and to better adapt the retraction speed of the arm to this elevation according to the nature of the treatment. For example, in the case of a leveling tool, it is possible to determine this speed according to the desired leveling quality (fine or standard, for example) and the elevation of the tool. For example, this quality can be pre-programmed at the central computer module in the form of options that the machine operator only has to select via an interface, so that the movement speed of the arm is automatically regulated, specifically to the quality, in a closed loop based on the data measured by the tower and position sensors.

[0059] The invention also proposes a method (B) for regulating an elevation of the tool in the context of the embodiments described above with reference to method (B). The method applies to a machine whose tool is carried by elevation cylinders to modify its elevation and each of which is equipped with a position sensor as described above. In this case, the method comprises regulating the elevation of the tool, typically implemented by a computer coupled to the position sensors and elevation cylinders, for example by means of a central computer module as introduced above, in a closed loop based on data on the fluidity (and / or quality) of the concrete and data measured by the position sensors. The method makes it possible to ensure that the elevation of the tool corresponds to a desired elevation during operation of the machine.In particular, the method is entirely advantageous when this elevation is controlled on the basis of laser reception of a reference plane as explained above, because it then makes it possible to supplement and / or replace it temporarily.

[0060] More precisely, method (B) can be completed as follows: as long as at least one laser beam can be received by each of the receivers: determining the position data from the position sensors as those corresponding to the reference plane given the instantaneous adjustment in position of the elevation cylinders which is made possible via the receivers; storing (for example by means of a data medium of said central computer module) the difference between the position data from the two position sensors; when one of the receivers no longer receives a laser beam, estimating the elevation of the tool on this side, that is to say, at the level of this receiver, relative to the reference plane, as the difference between the position data from the position sensor on this same side and the position data from the other position sensor corrected by said stored difference.

[0061] These steps provide an example of a practical implementation of method (B) in the case of emission of a reference plane in the environment in which the machine operates. When the receivers receive the laser beam(s) that correspond to the reference plane, the closed-loop control based on the position data from the position sensors is due in particular to the fact that the position data correspond in any case to the position adjustment of the cylinders obtained via the receivers. Such control is of course always possible independently of this context, in particular when the target position data are known at the level of the concrete surface.

[0062] Another advantage of using position sensors via method (B) is to avoid the use of an inclinometer measuring a roll angle at the tool as additional data to those obtained via the receivers. Indeed, the signal from such an inclinometer could be disturbed by the vibrations of the tool, which would reduce its reliability.

[0063] As with method (A), the concrete fluidity (or quality) data can be a variable corresponding to a desired tool elevation and which can be pre-programmed at the central computer module in the form of options that the machine operator only has to select via an interface, so that the tool elevation is automatically regulated, specifically to the fluidity, in a closed loop based on the data measured by the position sensors. This is particularly advantageous because the machine operator does not need to specifically adjust the tool elevation, the central computer module being configured for this purpose based on the fluidity data. This saves time, particularly because this fluidity is likely to change during a day of operation with the machine.It is therefore not necessary to provide for setting times to re-parameterize the elevation of the tool according to the variation in the fluidity of the concrete, the communication of the variation in question by simple option on the interface being sufficient in this regard. This embodiment is advantageous in the case of a leveling tool for which the fluidity of the concrete generally significantly influences the result obtained by the machine. The concrete fluidity data is for example to be chosen or considered among "slump ranges" (for example S1, S2, S3, S4 or S5).

[0064] The invention also proposes a method (C) for treating a succession of similar concrete surfaces aligned along a guiding direction, by means of the machine according to the invention, the latter further comprising at least one rotary sensor (or encoder) arranged at at least one of the wheels in order to measure a distance traveled by this wheel. The method (C) then comprises the following steps: (0) positioning the machine facing the first concrete surface to be treated in the succession, such that the direction of extension overcomes the concrete surface, the wheels of the machine being oriented in the guiding direction; (i) treating the concrete surface by means of the machine; (ii) moving the machine by a predetermined distance such that the direction of extension overcomes the next concrete surface to be treated in the succession, which comprises an extreme covering strip with the concrete surface treated in step (i) extending parallel to the direction of extension; (iii) iterating steps (i) and (ii); step (ii) being regulated by means of a central computer module of the machine electronically and / or electromechanically coupled to the wheels and on the basis of data received from the at least one rotary sensor.

[0065] This method (C) is made possible by the steerable nature of the wheels and their ability to support the machine regardless of the position of the tool. In particular, method (C) makes it possible to quickly treat a large number of concrete surfaces in succession without the need to place and remove stabilizing feet from the machine. In particular, the machine thus moves "crab-like".

[0066] Orienting the wheels in the direction of guidance and moving the machine a predetermined distance also avoids any time wasted in manually adjusting the position of the machine "by eye" when the concrete surfaces are similar and aligned. Method (C) may be adapted and / or supplemented by a step (ii) consisting of an adjustment in the position of the machine for concrete surfaces which are not similar along the direction of extension, but remain aligned. The wheels are then preferably reoriented in the direction of guidance, if necessary, before or after treatment.

[0067] Preferably, the predetermined distance corresponds to the difference between the width of the tool and that of the extreme covering strip, these widths being measured in the guiding direction.

[0068] The end cap strip is intended to make a clean junction between the treatment of a concrete surface and the adjacent concrete surface. It is particularly useful when the tool is leveling these concrete surfaces because the edge of such a surface tends to sag after leveling when it is not held (and therefore when it adjoins a surface without concrete, or on which the concrete has not yet been leveled).

[0069] The electronic and / or electromechanical coupling of the wheels with the central computer module is similar to that discussed previously. It preferably concerns the electric drive motors in the wheel hubs and the wheel turning means according to the embodiments relating thereto. Thus, the central computer module can control the drive and orientation of the wheels based on the data received from the rotary sensor(s). This is possible because they provide information on the distance traveled by the wheel(s), therefore the distance to be traveled to move the machine by the predetermined distance.

[0070] Preferably, step (ii), although being regulated by the central computer module, is started on the basis of an instruction received from the operator of the machine, for example via an interface, when step (i) is completed.

[0071] The invention finally proposes a method for manufacturing a concrete surface comprising using a machine according to the invention to treat the concrete surface. The case where the treatment is leveling (and therefore where the tool is dedicated to this treatment) is preferred but the invention is not limited to it. Brief description of the figures

[0072] Other characteristics and advantages of the present invention will appear on reading the detailed description which follows, for the understanding of which reference will be made to the appended figures among which: there figure 1 represents an overall three-dimensional view of a machine according to a preferred embodiment of the invention when its arm is retracted into the compartment; the Figures 2A, 2B and 2C schematically illustrate from above the orientations of the wheels of the machine represented in figure 1 ; there figure 3schematically illustrates from above the positioning of the center of gravity of the machine represented in figure 1 relative to its wheels; and the figure 4 schematically illustrates from above an embodiment of the method of treating successive concrete surfaces according to the invention and by means of the machine shown in figure 1 .

[0073] The drawings of the figures are generally not to scale. Similar elements may be denoted by similar references in the figures. In particular, identical or similar elements may bear the same references. Furthermore, the presence of reference numbers or letters in the drawings is not limiting, in particular when these numbers or letters are indicated in the claims. Description of embodiments of the invention

[0074] A detailed description of preferred embodiments of the invention is presented. This is described with particular embodiments and references to figures but the invention is not limited thereby. The drawings or figures described below are only schematic and are not limiting.

[0075] In particular, the embodiments described below relate to the case where the treatment is leveling. In particular, the machine is a leveler for unset (or unhardened) concrete surfaces and the tool is a leveling tool dedicated to this use. The invention is however not limited thereto.

[0076] The tool in question is represented in figure 1 and referenced by 2. It comprises a head formed of a leveling rule arranged to move on a concrete surface using the machine 1. This head makes it possible to establish a desired slope on the concrete surface. This tool 2 is widely known to those skilled in the art.

[0077] The tool 2 is mechanically coupled to the end of a telescopic arm 3, which allows the aforementioned movement in an extension direction d. The mechanical coupling is done via a tool-carrying structure 21 fixed to the end of the arm 3 supporting the tool 2. Two hydraulic elevation cylinders 22 are arranged on either side of the tool-carrying structure 21 and make it possible to support the tool 2 at its ends. These cylinders make it possible to modify the elevation of the tool 2 at its ends. Each is surmounted by a laser receiver 24 for detecting a laser reference plane generated in the operating environment of the machine 1 as described in the description of the invention. The hydraulic lifting cylinders 22 are controlled in a known manner on the basis of signals emitted by these receivers 24, so as to control the elevation of the tool 2 relative to the reference plane and to ensure that the leveling is carried out according to the desired slope and / or plane.

[0078] In the case of the embodiment of the figure 1 , the hydraulic lifting cylinders 22 are each equipped with a position sensor 23 which also makes it possible to regulate the lifting of the tool 2 as detailed in the description of the invention, in particular when laser reception is compromised.

[0079] The machine 1 comprises a main and central frame 5 extending mainly in the extension direction d, in which a hollow compartment is formed for the arm 3 when the latter is retracted. The frame supports a manual control area of ​​the machine 1 comprising a seat 91 for an operator, control commands 92 (for example having a form of joysticks potentially comprising buttons) and a preferably interactive screen 93. The operator can manually control all the operations of the machine 1 by means of the control commands 92 and possibly via the screen 93. The screen 93 further allows the operator to supervise the operation of the machine 1. For example, a two-axis joystick of a control command 92 makes it possible to control the direction and acceleration of the machine 1.

[0080] The control data which follow the operator's interactions with the control commands 92 and the screen 93 pass through a central computer module 8 (or "central electronic module") arranged at the end of the chassis 5 opposite the arm 3 for reasons of balance of the center of gravity of the machine 1. This central computer module 8 is coupled electrically, electronically and / or electromechanically as the case may be to the control commands 92, but to the components of the machine which make it possible to control the functionalities of the machine, and in particular to implement the operator's instructions.Preferably, the machine 1 comprises sensors at these components (for example, the position sensors 23) coupled to the central computer module 8, so that the latter can automatically control at least part of the operations of the machine 1, and / or regulate parameters of the operation of the machine 1 as explained in detail in the description of the invention.

[0081] The machine 1 comprises two axles 61, 62 fixed directly (or even extending where appropriate) at two end portions 51, 52 resp. of the chassis 5. Each axle 61, 62 comprises an axial part 611, 621 resp. extending perpendicular to the direction of extension d, from the chassis 5, and two arcuate legs 612, 622 resp. for supporting wheels, on either side of the axial part 611, 621. Each of the legs 612, 622 comprises an upper end 613, 623 resp. mechanically coupled to one end of the axial part 611, 621 by means of turning means 7. These allow a relative rotation between the axial part 611, 621 and the leg 612, 622 resp. Such turning means 7 can be implemented as a hydraulic turning motor mechanically coupled to a slewing ring.

[0082] A lower end 614, 624 of each leg 612, 622 is provided to be fixed at a hub 43 of a wheel 41, 42 resp.

[0083] The machine 1 comprises at least two pairs of wheels 41, 42 supported by the axles 61, 62 resp. and mechanically coupled to them. The hub 43 of each wheel 41, 42 is fixed to a lower end 614, 624 of one of the legs 612, 622, and an electric motor for advancing the wheel 41, 42 is arranged therein. Thus, the wheels are independently steerable, preferably 360°. The machine can thus move on its wheels 41, 42 via the aforementioned electric motors in any direction by combining translation and rotation.

[0084] THE Figures 2A-C illustrate the freedom of movement possible by means of these wheel-axle couplings on the chassis 5. On the Figure 2A, the wheels 41, 42 are oriented so as to move the machine 1 longitudinally with a turning radius (counter-steering wheel mode). On the Figure 2B , the wheels 41, 42 are oriented so as to move the machine 1 laterally “crab” (parallel wheel mode). On the Figure 2C , the wheels 41, 42 are oriented to cause the machine 1 to rotate on the spot, this being useful for orienting the arm 3.

[0085] Since the axles 61, 62 supporting the wheels 41, 42 are fixed at the end portions 51, 52 resp. of the chassis 5, the wheelbase E of the machine 1 is 30 to 50% larger than on the known machines of the state of the art as described in the disclosure of the invention. It is made possible for the center of gravity of the machine 1 to be and remain in a space P between (or which overcomes) the wheels 41, 42 as illustrated in figure 3where the center of gravity is indicated by a cross, and this whatever the position of the tool 2 along the extension direction d. This position, like other parameters (for example, the inclination of the arm 3), is in fact likely to unbalance the machine 1 given the weight of the tool 2 and the arm 3. Thanks to the arrangement of the wheels 41, 42 and the axles 61, 62 directly on the extreme portions 51, 52 resp. of the chassis 5, the center of gravity of the machine 1 remains in a zone V included in the space P. It follows that the machine 1 is supported and stabilized on its four wheels 41, 42 whatever the position of the tool 2, without requiring stabilizing feet. The machine 1 does not include any.

[0086] In the case represented in figure 1, the rear axle 62 is provided with lifting means arranged to allow a variation of a distance between the chassis 5 and the wheels 42 supported by the axle 62. In other words, they allow a variation in height of the axle 62, therefore of the rear of the machine 1, making it possible to modify the inclination of the arm 3. In particular, when the arm 3 is deployed, it is useful to lower the rear of the machine 1 because the arm 3 has a tendency to bend due to its weight. The lifting means comprise a pivot connection 625 in each leg 622 of the axle 62, the two parts of the legs 622 articulating, on either side of the pivot connection 625. A hydraulic cylinder is arranged or coupled at the pivot connection 625 to allow the variation of the above-mentioned distance.

[0087] There figure 4illustrates part of an execution of a method for treating similar concrete surfaces S aligned successively in a guidance direction g. In this case, a rotary sensor is arranged at the wheels 41, 42 and coupled to the central computer module 8 to measure a distance traveled by the wheels 41, 42, and therefore the machine 1.

[0088] The machine 1 is first positioned facing the first concrete surface S to be treated, so that the extension direction d of the arm 3 overcomes the concrete surface S. The wheels 41, 42 of the machine are then oriented in the guiding direction g.

[0089] The concrete surface S is then leveled. To do this, the arm 3 is extended above the concrete surface S and then retracted towards the machine 1 as shown in figure 4The central computer module 8 makes it possible to automatically regulate various aspects of this step, and in particular the inclination of the arm 3 via the hydraulic cylinders coupled at the pivot links 625, the retraction speed of the arm 3, the elevation of the tool 2, etc. as detailed in the description of the invention, and this potentially on the basis of data entered by the operator by means of the control commands 92 or the screen 93 such as the fluidity data of the concrete and / or the desired leveling quality.

[0090] The central computer module 8 makes it possible, on the basis of the data received from the rotary sensors, to control a movement of the machine 1 (whose wheels 41, 42 are already oriented "crab-wise" towards the next concrete surface S) by a predetermined (and / or preprogrammed) distance equal to the width L of the tool 2 from which the desired width L' of a possible extreme covering strip R is removed, this width L' possibly being zero in the case where no such strip is necessary. This width L' is however preferably not zero, particularly in the case of a leveling machine.

[0091] The leveling of the concrete surfaces S is thus made simple and efficient for the operator, thanks to the orientability of the wheels 41, 42, their capacity to support and stabilize the machine 1 in all circumstances, the presence of the central computer module 8 which makes it possible to control the movement of the machine 1 and to regulate different parameters of its operation.

[0092] In brief, the present invention relates to a machine 1 for treating a concrete surface comprising a treatment tool 2 mechanically coupled to one end of a telescopic arm, a chassis 5 in which a compartment for the arm 3 is formed, as well as two axles 61, 62 fixed at two respective end portions 51, 52 of the chassis 5 each supporting at least one wheel 41, 42. The wheels 41, 42 are steerable and their arrangement via the axles 61, 62 and the aforementioned chassis 5 is such that they allow the machine 1 to be supported regardless of the position of the tool 2 and the arm 3.

[0093] The invention has been set forth and described in this document in relation to specific embodiments having a purely illustrative value. These should not be considered as limiting. More generally, it will be obvious to a person skilled in the art that the present invention is not limited to the examples illustrated and / or described above.

Claims

1. Machine (1) for treating a concrete surface comprising: - a tool (2) for treating a concrete surface mechanically coupled to one end of a telescopic mechanical arm (3), so that the tool (2) is movable above the concrete surface in a direction of extension (d) of the arm (3); - a hollow compartment for the arm (3); - wheels (41, 42) coupled to the compartment and arranged to move the machine (1); characterized in that : - the compartment is formed in a frame (5) of the machine (1) extending mainly along the extension direction (d); - the frame (5) comprises two end portions (51, 52) at each of which is fixed at least one axle (61, 62) extending transversely to the extension direction (d) and supporting at least one of the wheels (41, 42); - the wheels (41, 42) are steerable and adapted to support the machine (1) for any position of the tool (2) along the extension direction (d).

2. Machine (1) according to claim 1, having a wheelbase (E) measured in the extension direction (d) between 35% and 65% of a maximum extension length of the arm measured in the extension direction (d).

3. Machine (1) according to claim 1 or 2, wherein each axle (61, 62) comprises: - an axial portion (611, 621) extending mainly transversely to the direction of extension (d), from the chassis (5); - two legs (612, 622) each of which comprises: • an upper end (613, 623) mechanically coupled to one end of the axial portion (611, 621) by means of turning means (7) arranged to allow relative rotation between the axial portion (611, 621) and the leg (612, 622), • a lower end (614, 624) fixed at a hub (43) of one of the wheels (41, 42).

4. Machine (1) according to claim 3, in which the turning means (7) comprise a turning motor mechanically coupled to a slewing ring.

5. Machine (1) according to claim 3 or 4, wherein each leg (612, 622) is arched, the upper (613, 623) and lower (614, 624) ends being aligned in a direction orthogonal to the direction of extension (d).

6. Machine (1) according to any one of the preceding claims, wherein at least one of the axles (62) comprises lifting means arranged to allow a variation of a distance between the chassis (5) and the at least one wheel (42) supported by the axle (62).

7. Machine (1) according to claim 6 when dependent on any one of claims 3 to 5, wherein each leg (622) of the axle (62) comprises a pivot connection (625) around which two parts of the leg (622) are articulated, the lifting means comprising a hydraulic cylinder arranged or coupled at the pivot connection (625).

8. Machine (1) according to any one of the preceding claims, in which each wheel (41, 42) comprises a hub (43) within which is arranged an electric motor for advancing the wheel (41, 42).

9. Machine (1) according to any one of the preceding claims, comprising an electrical power supply coupled to at least one electric motor and to a hydraulic system for powering functionalities of the machine (1), which include any movement of the wheels (41, 42), the arm (3) and the tool (2).

10. Machine (1) according to any one of the preceding claims, comprising an electric motor arranged in the chassis (5) for moving the arm (3) by means of a belt, preferably toothed, engaged at the level of the electric motor.

11. Machine (1) according to any one of the preceding claims, in which the tool (2) is mechanically coupled to the end of the arm (3) via a tool-carrying structure (21) fixed to the end of the arm (3) on either side of which are arranged two elevation cylinders (22) carrying the tool (2) to modify an elevation of the latter, each elevation cylinder (22) being equipped with a position sensor (23).

12. Method for regulating a speed of movement of the arm (3) of a machine (1) according to claim 11 when it depends on claim 10, the machine (1) further comprising a toothed belt rotation sensor arranged at the level thereof, the method comprising a regulation of the speed of movement of the arm (3) in a closed loop based on data measured by the position (23) and rotation sensors.

13. Method for regulating an elevation of the tool (2) of a machine (1) according to claim 11, the method comprising regulating the elevation of the tool (2) in a closed loop based on concrete fluidity data and data measured by the position sensors (23).

14. A method for treating a succession of similar concrete surfaces (S) aligned along a guide direction (g), by means of a machine (1) according to any one of claims 1 to 11, the machine (1) further comprising at least one rotary sensor arranged at at least one of the wheels (41, 42) for measuring a distance traveled by this wheel (41, 42), the method comprising the following steps: (0) positioning the machine (1) facing the first concrete surface (S) to be treated of the succession, so that the extension direction (d) overcomes the concrete surface (S), the wheels (41, 42) of the machine being oriented in the guide direction (g); (i) treating the concrete surface (S) by means of the machine (1);(ii) moving the machine (1) by a predetermined distance (L-L') so that the direction of extension (d) overcomes the next concrete surface (S) to be treated in the succession, which comprises an extreme covering strip (R) with the concrete surface (S) treated in step (i) extending parallel to the direction of extension (d); (iii) iterating steps (i) and (ii); step (ii) being regulated by means of a central computer module of the machine (1) electronically and / or electromechanically coupled to the wheels (41, 42) and on the basis of data received from the at least one rotary sensor.; 15. A method of manufacturing a concrete surface comprising using a machine (1) according to any one of claims 1 to 11 to treat the concrete surface.