Green Cutting Device

Abstract

To provide a green cutting device capable of performing high-quality green cutting with a compact device. [Solution] The vehicle device 2 is formed to be able to move freely in a narrow area and has a main frame 21 that forms the vehicle body and a pair of left and right crawlers 22a, 22b attached to its sides; an accessory device 3 that is connected to the top of the vehicle device 2 and has a connection part 33 consisting of a boom 31 and / or arm 32; a working device 5 that has a rod part 51 connected to the connection part 33 via a slide mechanism 4 that can slide freely relative to the boom 31 and / or arm 32 at the connection part 33 and has a brush part at the tip of the rod part 51 that scrapes off the surface of concrete that has not sufficiently hardened; and a control unit 6 (6a, 6b) that controls the driving operation of the vehicle device 2, the moving operation of the connection part 33 and the working device 5 connected to the connection part 33, and / or the driving operation of the brush part 52.

Description

[Technical Field]

[0001] The present invention relates to a green cut device for performing green cut on concrete. [Background technology]

[0002] Green cutting is performed in the construction of dams and other structures. Green cutting is the process of removing laitance from the surface of poured concrete by scraping the surface using brushes and high-pressure water before the concrete hardens. Because green cutting must be performed before the concrete hardens, the timing for the work is extremely limited. Furthermore, without this work, it is not possible to pour the upper layers of concrete, which has a significant impact on the progress of the work. In other words, because green cutting is a very important task, the skills and time available to the workers are major challenges.

[0003] Techniques relating to green cutting are disclosed, for example, in Patent Documents 1 and 2. The technique shown in Patent Document 1 has a driver's seat provided on top of a base supported by four casters provided on the front, back, left and right, a brush holder that holds four wire brushes, one pair at the front and one pair at the bottom of the base, and each wire brush is driven and controlled so that adjacent wire brushes on the front, back, left and right sides rotate in opposite directions, two operating rods are provided in front of the base's driver's seat, and the tilt angle of the front wire brush is adjusted to control the travel of the green cutting device, and the rotation of each wire brush is started and the rotation speed is controlled by operating the accelerator levers on the operating rods.

[0004] In the technology shown in Patent Document 2, the cleaning brush is made up of four rotating brushes, and the debris collection mechanism is made up of a collection brush, a conveyor, and a collection tank. The debris removed from the concrete joint surface by the cleaning brush is sent towards the collection brush, where it is thrown onto the conveyor. The debris thrown onto the conveyor is then transported directly to the collection tank and stored inside the tank through a collection port. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 10-306583 [Patent Document 2] Japanese Patent Application Publication No. 10-275172 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the techniques disclosed in Patent Documents 1 and 2 both require an operator to ride on board to perform the operations, and therefore cannot solve the problem of securing workers as described above.

[0007] Furthermore, both technologies are based on the premise that a worker will operate the equipment or vehicle while on board, and in particular, in the case of Patent Document 2, the equipment becomes extremely large due to its multiple functions. As mentioned above, green cutting must be performed before the concrete hardens, so there is a problem in that the smoothness and horizontality of the concrete surface can be affected by the large equipment moving over the surface.

[0008] Furthermore, when working in remote areas such as dams, the increase in size of the equipment has a significant impact on transportation efficiency.

[0009] The present invention has been made to solve the above-mentioned problems, and aims to provide a green cutting device that can perform high-quality green cutting with a compact device without requiring a person to board. [Means for solving the problem]

[0010] The green cutting device of the present invention is formed so as to be able to move freely in a narrow area and comprises a vehicle device having a main frame forming a vehicle body and a pair of left and right crawlers attached to the sides of the main frame; an accessory device connected to the upper part of the vehicle device and having a connection part consisting of a boom and / or arm; a working device having a rod part connected to the connection part via a slide mechanism that can slide freely relative to the boom and / or arm at the connection part and having a brush part at the tip of the rod part for scraping off the surface of concrete that has not sufficiently hardened; and a control means for controlling the driving operation of the vehicle device, the moving operation of the connection part and the working device connected to the connection part, and / or the driving operation of the brush part.

[0011] In this way, the green cutting device of the present invention is equipped with a vehicle device that is formed to be able to move freely in narrow areas and has a main frame that forms the vehicle body and a pair of left and right crawlers attached to the sides of the main frame, an accessory device that is connected to the top of the vehicle device and has a connection part consisting of a boom and / or arm, a working device that has a rod part that is connected to the connection part via a slide mechanism that can slide freely relative to the boom and / or arm at the connection part and has a brush part at the tip of the rod part that scrapes off the surface of concrete that has not sufficiently hardened, and a control means that controls the driving operation of the vehicle device, the movement operation of the connection part and the working device connected to the connection part, and / or the driving operation of the brush part, so that green cutting can be performed efficiently using a very compact and lightweight device without the need for an operator to board.

[0012] In addition, by connecting the rod part of the working device and the connection part of the accessory device via a sliding mechanism that can slide freely, the pressure of the brush part against the concrete surface can be adjusted to an approximately constant level using the weight of the working device, thereby improving the quality of green cutting. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is an overall perspective view of a green cutting device according to a first embodiment of the present invention. [Figure 2] 1 is a side view of a green cutting device according to a first embodiment of the present invention. [Figure 3] 1 is a front view of a green cutting device according to a first embodiment of the present invention. [Figure 4] 1 is a top view (turned to the left) of a green cutting device according to a first embodiment of the present invention. [Figure 5] 1 is a top view (center) of a green cut device according to a first embodiment of the present invention. [Figure 6] 1 is a top view (turned to the right) of a green cutting device according to a first embodiment of the present invention. [Figure 7] FIG. 10 is a perspective view showing the configuration of a linear rail and a spring portion attached to an arm in the slide mechanism. [Figure 8] FIG. 10 is a perspective view showing the structure of a guide block attached to a rod portion in the slide mechanism. [Figure 9] 10 is a side view showing the inside of the slide mechanism with the linear rail and guide block fitted together. FIG. [Figure 10] FIG. 10 is a perspective view showing a structure in which a mechanical stopper is provided at the tip of the arm in the slide mechanism. [Figure 11] FIG. 10 is a perspective view showing a state in which a fixture for fixing the working device to the arm is attached. [Figure 12] 12 is a side view of the state of fixation by the fixture of FIG. 11. FIG. [Figure 13] 1 is a block diagram showing a functional configuration of a green cutting device according to a first embodiment of the present invention. [Figure 14] 3 is a flowchart showing the operation of the green cutting device according to the first embodiment of the present invention. [Figure 15] 10A and 10B are diagrams showing the state from the initial state to the state where the brush unit is placed at the working position. [Figure 16] 10A and 10B are schematic diagrams showing an example of a scraping state caused by rotation and rotation of a brush part. [Figure 17] 10 is an example of a heat map showing the work status in a work area in a green cut management system according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] (First embodiment of the present invention) The green cut device according to this embodiment will be described with reference to Figures 1 to 16. Figure 1 is an overall perspective view of the green cut device according to this embodiment, Figure 2 is a side view of the green cut device according to this embodiment, Figure 3 is a front view of the green cut device according to this embodiment, and Figures 4 to 6 are top views of the green cut device according to this embodiment.

[0015] The green cutting device 1 is formed so as to be able to move freely in a narrow area and comprises a vehicle device 2 having a main frame 21 forming a vehicle body and a pair of left and right crawlers 22a, 22b mounted on the side of the main frame 21; an accessory device 3 connected to the upper part of the vehicle device 2 and having a connection part 33 consisting of a boom 31 and an arm 32; a working device 5 having a rod part 51 connected to the arm 32 via a slide mechanism 4 that can slide freely relative to the arm 32 at the connection part 33 and having a brush part 52 at the tip of the rod part 51 for scraping off the surface of concrete that has not sufficiently hardened; and a control unit 6 (control unit 6a, control unit 6b) (not shown in Figures 1 to 6) that controls the driving operation of the vehicle device 2, the moving operation of the connection part 33 and the working device 5 connected to the connection part 33, and / or the driving operation of the brush part 52.

[0016] The vehicle device 2 is capable of traveling on uneven ground by using the crawlers 22a, 22b, and is therefore capable of traveling on poor ground conditions, such as construction sites where stones, gravel, and other construction materials are scattered, or on unhardened concrete surfaces. The crawlers 22a, 22b can have different tracks depending on the usage environment, and the number and diameter of the drive wheels are set appropriately depending on the usage environment. The crawlers 22a, 22b are attached to the sides of the main frame 21, and naturally, the bottom surfaces of the crawlers 22a, 22b are positioned lower than the bottom surface of the main frame 21 to prevent the main frame 21 from rubbing against the ground.

[0017] The main frame 21 mainly houses a power supply unit 63, a control unit 6a, and a communication unit 62 (see FIG. 13 described later). While the detailed configurations of these will be described later, the power supply unit 63 is equipped with a secondary battery (e.g., a lithium-ion battery) that can be charged with power from an external generator or commercial power source and can supply power to the drive system (crawlers 22a, 22b, boom 31 and arm 32, brush unit 52, etc.) and the control system (control units 6a, 6b, etc.). As described above, the control units 6 (control units 6a, 6b) mainly control the drive operation of the vehicle device 2, the movement operation of the connection unit 33 and the working device 5 connected to the connection unit 33, and / or the drive operation of the brush unit 52. The communication unit 62 communicates information with external devices and receives signals from external devices and transmits signals to external devices. The main frame 21 also has a connection mechanism 23 (not shown) for detachably connecting the accessory devices 3 required for the work, allowing the accessory devices 3 to be freely attached / detached depending on the work to be performed.

[0018] It is desirable that the main frame 21 has a waterproof function that allows it to be washed with a high-pressure washer. It is also desirable that the secondary battery of the power supply unit 13 can be fully charged with AC 100V in several tens of minutes to several hours, and can operate for at least 2 to 4 hours when fully charged.

[0019] Furthermore, by changing the belts on the crawlers 22a, 22b depending on the work site, the crawlers 22a, 22b can move efficiently with surface shapes that suit the site environment. Furthermore, when using multiple different belts, it is desirable to make the belt lengths common (constant) by adjusting the vertical heights and front-to-rear lengths of the crawlers 22a, 22b in consideration of belt manufacturing efficiency.

[0020] Furthermore, the vehicle device 2 is lightweight and compact, and can be operated without the need for a license like heavy machinery. It can also be operated remotely from a distance (for example, about 10 m) without an operator on board, allowing for extended work hours. And, as mentioned above, because it is battery-powered, it can reduce CO2 emissions and can be charged in areas with AC 100V power, making it easy to use.

[0021] The accessory device 3 has a main body 34 connected to the upper surface of the main frame 21 of the vehicle device 2 via a connection mechanism 23 (not shown). A boom 31 extends from the main body 34, and the tip of the boom 31 is connected to an arm 32 to form a connection part 33. The mechanism and operation of this connection part 33 are the same as those of booms and arms commonly used in construction machinery, and therefore a detailed description will be omitted. However, similar to known technology, by controlling a hydraulic cylinder, it is possible to drive the main body 34 in the up-down direction and the front-back direction as viewed from the vehicle device 2. In addition, the main body 34 itself can rotate at a predetermined angle in the horizontal direction (left-right direction as viewed from the vehicle device 2) on the vehicle device 2 (see FIGS. 4 to 6).

[0022] As will be described in more detail later, when a manual green cutting machine is used as the working device 5, the angle α of the rod portion 51 and the brush portion 52 is fixed while the green cutting machine is operating, and therefore the angle β of the boom 31 and the arm 32 may be fixed (i.e., during green cutting work, the working device 5 does not move forward or backward as viewed from the vehicle device 2, but only moves upward and downward).

[0023] The working device 5 comprises a rod portion 51 connected to the arm 32 of the connection portion 33, and a brush portion 52 disposed at the tip of the rod portion 51. This working device 5 may be a commonly used handheld green cutting machine as is, or may use a rod portion 51 and brush portion 52 dedicated to the green cutting device according to this embodiment. Here, a configuration in which a commonly used handheld green cutting machine is used as the working device 5 will be described.

[0024] As described above, rod portion 51 of working device 5 is connected to arm 32 via slide mechanism 4, which allows rod portion 51 to freely slide relative to arm 32 of connecting portion 33 in the direction indicated by arrow a in Fig. 2. Brush portion 52 is connected to the tip of rod portion 51, and by rotating a brush formed of wire or the like, the surface of the concrete that has not hardened sufficiently is scraped off and laitance is removed.

[0025] Here, a specific example of the slide mechanism 4 will be described in detail with reference to Figures 7 to 9. Figure 7 is a perspective view showing the configuration of the linear rail and spring portion attached to the arm 32, Figure 8 is a perspective view showing the structure of the guide block attached to the rod portion 51, and Figure 9 is a side view showing the inside of the slide mechanism 4 when the linear rail and the guide block are fitted together.

[0026] 7, linear rails 41 are fixedly attached to both side surfaces of the tip portion of the arm 32. Furthermore, spring portions 42 (elastic members) having elastic force at least in the longitudinal direction of the arm 32 are fixedly attached to the underside of the arm 32. The linear rails 41 and the spring portions 42 are fixed to the arm 32 by, for example, bolts or welding.

[0027] On the other hand, guide blocks 43 as shown in Fig. 8 are fixedly attached to the rod portion 51. The guide blocks 43 slide by fitting into linear rails 41 attached to both sides of the arm 32. Both inner side surfaces of the guide block 43 have guide portions 44 that fit into the linear rails 41, and a stopper 45 is attached to the inner bottom surface of the guide block 43, which comes into contact with the tip end of the spring portion 42 described above and engages with and buffers the sliding movement of the linear rail 41. As shown in Fig. 9, the rod portion 51 is fixedly attached via a saddle band 46 or the like to the outer bottom surface of the guide block 43, i.e., the side opposite to the surface where the stopper 45 is attached.

[0028] The arm 32 shown in FIG. 7 and the guide block 43 shown in FIG. 8 are fitted together to form the slide mechanism 4 shown in FIG. 9. As described above, the guide portion 44 of the guide block 43 slides in the fitted state with the linear rail 41, causing the arm 32 and the rod portion 51 (i.e., the working device 5) to slide in the longitudinal direction. The slide mechanism 4 shown in FIG. 9 forms a relief structure for when the brush portion 52 moves up and down relative to unevenness. That is, the brush tip of the brush portion 52 is supported in contact with the concrete surface to be scraped, and the position of the arm 32 (i.e., the connection portion 33) is adjusted so that the slide mechanism 4 is maintained in an intermediate position (an intermediate position excluding the state in which the linear rail 41 and the guide block 43 are slid most to one side and the other side). In this way, by allowing the working device 5 to move in either direction during sliding movement, the working device 5 will generally contact the concrete surface due to its own weight. As a result, when the arm 32 moves horizontally as the main body 34 of the accessory device 3 is rotated, the concrete surface can be scraped off stably with a constant ground pressure even if the concrete surface is uneven.

[0029] Furthermore, at or near the end positions of the slide mechanism 4 (the positions where the linear rail 41 and guide block 43 are slid the furthest to one side or the furthest to the other side), the sliding movement of the rod portion 51 is stopped by the stopper 45 via the spring portion 42. In other words, even if the concrete surface is very uneven and the working device 5 fluctuates greatly in the up and down direction, the elastic force of the spring portion 42 absorbs the sliding movement of the rod portion 51, suppressing impacts between rigid parts and minimizing mechanical damage, etc.

[0030] 10, for example, a mechanical stopper 47 may be provided at the tip of the arm 32, which abuts against the guide portion 44 to prevent the guide portion 44 from sliding. FIG. 10(A) shows a state in which the guide block 43 has slid to the frontmost side (toward the boom 31), and FIG. 10(B) shows a state in which the guide block 43 has slid to the tip side and is stopped by the mechanical stopper 47. As shown in FIG. 10(B), the mechanical stopper 47 stops the movement of the guide portion 44, thereby reliably preventing the working device 5 from coming off the slide mechanism 4. The mechanical stopper 47 may be provided instead of the stopper 45 shown in FIG. 8 (the stopper 45 located on the boom 31 side), or both the mechanical stopper 47 and the stopper 45 may be provided.

[0031] Furthermore, as described above, the guide block 43 and the rod portion 51 are firmly fixed together by the saddle band 46, but when the arm 32 of the connection portion 33 moves left and right in the horizontal direction, friction between the brush portion 52 and the concrete surface can inevitably cause twisting between the rod portion 51 and the arm 32. If twisting occurs between the rod portion 51 and the arm 32, the brushes of the brush portion 52 may not be able to contact the concrete surface evenly, which could result in a decrease in the quality of the scraping.

[0032] To prevent this, as shown in FIG. 8, multiple guide portions 44 (two in FIG. 8) may be arranged side by side in the sliding direction. Another preventive measure is to use a fixture 7 to secure the rod portion 51 and the arm 32 so that they do not twist, as shown in FIGS. 11 and 12. FIG. 11 is a perspective view of the fixture 7 that secures the working device 5 to the arm 32, and FIG. 12 is a side view of the fixture 7 in its secured state. The fixture 7 includes a support portion 72 that is secured to a handle 71 of the working device 5 via a saddle band, and roller portions 73 that grip the arm 32 from the side of the arm 32 so as to sandwich the arm 32 between them via a connecting member 74 that extends from the support portion 72 toward the side of the arm 32. This fixture 7 maintains the sliding movement of the rod portion 51 and the arm 32 by rotation of the roller portions 73, while preventing displacement in the twisting direction.

[0033] Next, the control of the green cutting device 1 will be described. FIG. 13 is a block diagram showing the functional configuration of the green cutting device 1 according to this embodiment. As described above, the green cutting device 1 includes the vehicle device 2, the attachment device 3, and the work device 5. As shown in FIG. 13, these devices may be configured to perform desired operations when an operator operates the controller 61, or they may automatically execute pre-programmed operations. Alternatively, they may be equipped with artificial intelligence such as AI and execute operations appropriate to the work environment based on a pre-trained learning model. Here, a configuration in which pre-programmed operations are executed based on commands from the controller 61 will be described. Also, FIG. 13 illustrates a case in which the drive control of the vehicle device 2 and the drive control of the attachment device 3 and the work device 5 are controlled by different control units (control unit 6a, control unit 6b), but a single control unit 6 may also be used to control the drive of the vehicle device 2, the attachment device 3, and the work device 5. In FIG. 13, dashed lines represent control lines, and solid lines represent power lines.

[0034] In FIG. 13, the vehicle device 2 includes a communication unit 62 that receives a control signal sent from a controller 61 in response to an operator's operation and inputs the control signal to a control unit 6a, a pair of left and right crawlers 22a, 22b, a control unit 6a that controls the movement operation of the vehicle device 2 by controlling the driving of each of the crawlers 22a, 22b, and a power supply unit 63 that consists of a rechargeable secondary battery (e.g., a lithium ion battery) and supplies power to the crawlers 22a, 22b, the control unit 6a, and the accessory device 3 and working device 5 described below.

[0035] Although not shown in FIG. 13, a motor driver for driving each motor of the crawlers 22a, 22b is provided between the crawlers 22a, 22b and the power supply unit 63, and a conversion device such as a DC / DC converter for converting the power of the power supply unit 63 into power for control is provided between the control unit 6a and the power supply unit 63.

[0036] 13 , the attachment device 3 includes a main body 34, a connection unit 33 consisting of a boom 31 and an arm 32, and a control unit 6b that controls the rotational movement of the main body 34, the movement of the connection unit 33, and the movement of the working device 5, which will be described later. Power is supplied to the motor for rotating the main body 34, to the hydraulic cylinders that operate the boom 31 and the arm 32, and to the control unit 6b from a power supply unit 63 of the vehicle device 2. The control unit 6b is linked to the control unit 6a of the vehicle device 2, and may enable drive control of the main body 34 and the connection unit 33 in accordance with the movement of the vehicle device 2, and vice versa, i.e., drive control of the vehicle device 2 by the control unit 6a in accordance with the movement of the main body 34 and the connection unit 33.

[0037] Although not shown in Figure 13, there is a conversion device between the main body 34 and the power supply unit 63 that converts the power of the power supply unit 63 into power for rotating the main body 34, and there are a cylinder driver for the boom 31 and a cylinder driver for the arm 32 between the connection unit 33 and the power supply unit 63, and there is a conversion device such as a DC / DC converter between the control unit 6b and the power supply unit 63 that converts the power of the power supply unit 63 into power for control.

[0038] 13, the working device 5 includes a brush unit 52, which is supplied with power from a power supply unit 63 of the vehicle device 2, and the operation of the brush unit 52 is controlled by a control unit 6b of the accessory device 3. Although not shown in FIG. 13, a conversion device such as an inverter or converter is provided between the brush unit 52 and the power supply unit 63 to convert the power of the power supply unit 63 into power for driving the brush unit 52.

[0039] It should be noted that the block diagram shown in FIG. 13 is merely an example showing a functional configuration, and does not represent the device configuration of the green cutting device 1.

[0040] Next, the operation of the green cutting device 1 by the control units 6a and 6b will be described. Fig. 14 is a flowchart showing the operation of the green cutting device 1 according to this embodiment, and Fig. 15 is a diagram showing the process from the initial state to placing the brush unit 52 at the work position. In Fig. 14, first, the green cutting device 1 waits in the initial state (S1). The initial state here refers to a state in which the brush unit 52 is not in contact with the concrete surface to be scraped, but the vehicle device 2 is placed at the initial position of the area where work will be performed (see Fig. 15(A)).

[0041] When the operator operates the controller 61 and inputs a command to start work to the control unit 6a, the control unit 6b controls the connection unit 33 (the boom 31 and the arm 32) based on the command from the control unit 6a, and positions the brush unit 52 so that it touches the concrete surface to be worked on (S2). Here, as described above, the heights of the boom 31 and the arm 32 are adjusted so that the position where the arm 32 and the rod unit 51 are connected is located midway along the slide mechanism 4. More specifically, the heights of the boom 31 and the arm 32 are gradually lowered from their initial positions (see FIG. 15(B)), and the heights of the boom 31 and the arm 32 are finally adjusted to a position where the tip of the brush unit 52 is in substantially full contact with the concrete surface and the ground contact pressure on the concrete surface is approximately the weight of the working device 5 (strictly speaking, the arm 32 is unlikely to be perpendicular to the concrete surface and, due to factors such as the coefficient of friction in the slide mechanism 4, the weight is approximately equal to the ground contact pressure) (see FIG. 15(C)).

[0042] Once the brush unit 52 has been positioned and the operator operates the controller 61, a start command is input to the control unit 6a, and based on the command from the control unit 6a, the control unit 6b starts the rotation of the brush unit 52 (S3). At the same time, the control unit 6b starts the rotation of the main body unit 34 (S4). The rotation only needs to be horizontal; even if the concrete surface is uneven, it is not necessary to consider the vertical movement of the connection unit 33 or the work device 5. When the main body unit 34 reaches the turning point of the rotation, the control unit 6b reverses the rotation direction of the main body unit 34. At the same time, the control unit 6a controls the crawlers 22a and 22b to move the position of the vehicle device 2 forward or backward by a predetermined distance (for example, a distance equivalent to approximately the radius or diameter of the brush unit 52) ​​(S5).

[0043] Since it is not desirable for the vehicle device 2 to travel through areas that have been scraped by green cutting, it is desirable for the vehicle device 2 to move backward, i.e., to the side where the green cutting has not occurred, in S5. Also, as described above, in processes S3 to S5, the angle α between the rod portion 51 and the brush portion 52 of a handheld green cutting machine is typically fixed and locked. Therefore, if the positioning of the brush portion 52 is properly completed in S2, it is desirable for the angle β of the boom 31 and the arm 32 to be fixed and locked in processes S3 to S5.

[0044] The control unit 6a determines whether the planned green cutting of the work area has been completed, i.e., whether the vehicle device 2 has moved to the position set as the planned completion position (S6), and if the vehicle device 2 has not moved to the planned completion position, continues the operations of S4 and S5 (repeated operation of the states of Fig. 5 → Fig. 4 → Fig. 6 → Fig. 4 → Fig. 5). If the vehicle device 2 has moved to the planned completion position, the brush unit 52 is returned to the height of its initial state and returned to a predetermined standby position (S7), ending the green cutting process.

[0045] In addition, the determination of whether the vehicle device 2 has moved to the position where it is scheduled to be completed may be made, for example, by determining whether the vehicle device 2 has received a command to complete the work by the operator operating the controller 61, or the control unit 6a may determine whether the vehicle device 2 has moved to a predetermined position by being equipped with a GPS function, or the control unit 6a may determine whether the crawlers 22a, 22b have driven a predetermined number of rotations in a predetermined direction.

[0046] Here, an example of a specific control method by control unit 6b will be described. The movement speed of vehicle device 2 by control unit 6a, the rotation speed of main body unit 34 by control unit 6b, the rotation speed of brush unit 52, the position of brush unit 52 by connection unit 33, etc. are basically fixed to preset specified values, but since the quality of the green cutting may become uneven or deteriorate depending on the hardening state and unevenness of the concrete to be worked on, it may be preferable to be able to vary these by control unit 6b.

[0047] FIG. 16 is a schematic diagram showing an example of scraping and scrubbing state due to rotation and rotation of the brush unit 52. FIG. 16(A) shows a case where the contact surface of the brush unit 52 with the concrete surface is inclined toward the tip of the arm 32, i.e., the side farther from the vehicle device 2 (shown by the diagonal lines in FIG. 16(A)). FIG. 16(B) shows a case where the contact surface of the brush unit 52 with the concrete surface is inclined toward the boom 31 of the arm 32, i.e., the side closer to the vehicle device 2 (shown by the diagonal lines in FIG. 16(B)). Note that in reality, the brush unit 52 performs a circular motion due to the rotation of the main body 34, so the brush marks are formed in an arc shape, but are shown here as straight lines for ease of understanding. It is also assumed that the brush of the brush unit 52 rotates clockwise.

[0048] As shown in Figure 16(A), when the contact surface is tilted upward (toward the diagonal lines) when viewed from the front, the rotation speed to the right is accelerated and the rotation speed to the left is decelerated. On the other hand, as shown in Figure 16(B), when the contact surface is tilted downward (toward the diagonal lines) when viewed from the front, the rotation speed to the right is decelerated and the rotation speed to the left is accelerated. In such a case, when decelerating, the motor output of the brush unit 52 decreases relative to the motor input, and the rotation slows, which may result in unstable quality. For this reason, an encoder is attached to the motor output shaft of the brush unit 52 to measure the number of rotations and provide feedback to the control unit 6a and / or control unit 6b.

[0049] The control unit 6b receives feedback from the encoder and performs control such as accelerating the rotation speed, increasing the rotation speed of the brush unit 52, temporarily moving the brush of the brush unit 52 away from the concrete surface (raising the boom 31 and arm 32), and then returning the brush unit 52 to the ground contact state as shown in S2 of Figure 14.

[0050] In addition to this, for example, when the brush unit 52 cuts an uneven green, the power output of the working device 5 changes depending on the state of the unevenness. Therefore, the current value of the working device 5 may be measured, and based on the measured current value, the control unit 6b may determine whether or not it has exceeded a preset threshold value, and if it has exceeded the threshold value, the control unit 6b may raise the boom 31 and the arm 32 to reduce the frictional resistance of the brush unit 52, thereby preventing overcutting (a state in which too much of the concrete surface is scraped away) or stopping of the working device 5 due to an overcurrent.

[0051] As described above, the green cutting device 1 of this embodiment is configured to be able to move freely in a narrow area, and is equipped with a vehicle device 2 having a main frame 21 that forms the vehicle body and a pair of left and right crawlers 22a, 22b provided on the side of the main frame 21, an accessory device 3 that is connected to the upper part of the vehicle device 2 and has a connection part 33 consisting of a boom 31 and / or arm 32, a working device 5 that has a rod part 51 connected to the connection part 33 via a slide mechanism 4 that can slide freely relative to the boom 31 and / or arm 32 at the connection part 33, and has a brush part 52 at the tip of the rod part 51 that scrapes off the surface of concrete that has not sufficiently hardened, and a control unit 6a and a control unit 6b that control the driving operation of the vehicle device 2, the movement operation of the connection part 33 and the working device 5 connected to the connection part 33, and / or the driving operation of the brush part 52. Therefore, green cutting can be performed efficiently using a very compact and lightweight device without an operator on board. Furthermore, by connecting the rod portion 51 of the working device 5 and the connection portion 33 of the accessory device 3 via a slide mechanism 4 that can slide freely, the pressure of the brush portion 52 against the concrete surface can be adjusted to an approximately constant value using the weight of the working device 5, thereby improving the quality of the green cutting.

[0052] Furthermore, if necessary, the control unit 6b of the green cutting device 1 positions the working device 5 in a state in which the lower end surface of the brush part 52 abuts against the surface of the concrete and the rod part 51 can move in either direction relative to the slide mechanism 4, and begins scraping.Therefore, even if the concrete surface is uneven, the slide mechanism 4 prevents the working device 5 from moving up and down, allowing green cutting to be performed with an approximately constant ground pressure.

[0053] Furthermore, if necessary, the green cutting device 1 has a slide mechanism 4 which includes a plurality of guide portions 44 arranged on either the connection portion 33 or the rod portion 51, a linear rail 41 arranged on the other of the connection portion 33 or the rod portion 51, which engages with the guide portions 44 and is capable of sliding linearly in the longitudinal direction, a stopper 45 for limiting the linear movement of the linear rail 41 in the longitudinal direction, and a spring portion 42 which abuts against the stopper 45 to stop the sliding movement of the linear rail 41 when the linear rail 41 slides more than a predetermined distance, thereby allowing smooth sliding movement between the connection portion 33 and the working device 5, and even if the sliding movement fluctuates greatly due to a sudden change in the concrete surface, the spring portion 42 absorbs the impact and prevents damage to equipment due to collisions between rigid parts.

[0054] Furthermore, as needed, the control unit 6b of the green cutting device 1 controls the movement of the working device 5 so that the brush part 52 of the working device 5 is horizontal and rotates left and right as seen from the vehicle device 2, so that green cutting can be performed with simple operation control. In other words, even if the concrete surface is uneven, the sliding mechanism 4 allows the working device 5 to move freely up and down, so that the connecting part 33 can achieve green cutting with a constant ground pressure simply by rotating horizontally left and right.

[0055] Furthermore, if necessary, the green cut device 1 has the brush unit 52 which scrapes the surface of the concrete by rotating the brush, and the control unit 6b varies and controls the positioning, rotation speed, and / or rotation speed of the brush unit 52 in the work device 5 depending on the contact condition of the brush with the concrete surface, so that if the contact condition between the brush of the brush unit 52 and the concrete surface is not appropriate, feedback can be provided to the control unit 6b to improve it.

[0056] Furthermore, if necessary, the green cutting device 1 is equipped with a measuring means for measuring the current value of the brush part 52, and when the current value of the brush part 52 is equal to or greater than a predetermined specified value, the control part 6b raises the connection part 33 to reduce the load on the brush part 52. Therefore, even if the ground pressure on the concrete surface by the brush part 52 becomes large, this can be detected from the current value of the brush part 52 and the appropriate ground pressure (i.e., a state in which the unnecessary load due to frictional resistance on the brush part is reduced) can be maintained to prevent overcutting or the work device 5 from stopping due to overcurrent.

[0057] (Other embodiments) A green cut management system according to this embodiment will be described. In this embodiment, descriptions that overlap with those in the first embodiment will be omitted.

[0058] The green cutting management system includes a green cutting device 1 and a management device. The management device is a device equipped with a commonly used computer, such as a personal computer or tablet, and performs various calculation functions by loading an operating system and various programs stored in a ROM or hard disk into RAM and executing them with a CPU. Furthermore, the management device enables wired or wireless communication between devices as needed, and can input and output information by connecting to devices such as a keyboard, touch panel, and display. This configuration is merely an example and can be modified as needed.

[0059] The management device has a time measurement unit that measures the completion time when concrete pouring is completed and the elapsed time since the completion time. For example, the timing when concrete pouring is completed is input by an operator or automatically detected, and the time is stored and the elapsed time is measured. In addition, a thermometer that measures the outside air temperature in the area where the green cutting work is performed is installed, and this thermometer measures the change in outside air temperature from the completion time and inputs it into a temperature acquisition unit of the management device. The change in outside air temperature can be obtained, for example, by temperature information periodically sent from the thermometer via wireless communication.

[0060] The management device calculates the accumulated temperature over the elapsed time from the elapsed time measured by the time measurement unit and the temperature information input to the temperature acquisition unit, and determines the hardening state of the concrete at the calculated accumulated temperature based on pre-registered information on the relationship between the accumulated temperature and the hardening state of the concrete.

[0061] The management device also acquires control information transmitted from the green cutting device 1. The control information includes at least information on the ground pressure applied to the brush unit 52, and may also include, for example, the start time when the green cutting device 1 began green cutting work, the rotation speed and rotation angle of the main body unit 34, the traveling speed of the vehicle device 2, and position information (travel path) of the green cutting device 1 over time. In particular, by acquiring the start time, it is possible to determine the time from the completion of concrete pouring until the start of green cutting work, making it possible to estimate the status of the green cutting work with high accuracy.

[0062] The management device quantifies the work status for each work area based on various control information acquired from the green cutting device 1. For example, a work area that has been brushed for a long time with strong ground pressure will have a large work volume value, and a work area that has been brushed for a short time with weak ground pressure will have a small work volume value.

[0063] The management device creates a heat map (see Figure 17) of the entire work area by matching the calculated work volume numerical value with the identified hardening state of the poured concrete for each work location, and outputs it to a display or the like.

[0064] In this way, the green cut management system of this embodiment can visualize areas that are under-processed, areas that are adequately processed, areas that have been over-processed, etc. throughout the entire green cut work area, which can be used to record work content and improve quality.

[0065] Furthermore, although the above-mentioned sliding mechanism smooths the ground pressure on the concrete by the green cut device 1 to a certain extent, there are cases where it is unable to follow the concrete surface due to large surface irregularities, laitance that has already been removed, the water used in processing, etc., and the heat map makes it possible to check at a glance areas that have not been processed properly.

[0066] Furthermore, by visualizing the work status using a heat map, it is possible to reliably grasp the processing status even in situations where it is difficult to check the surface condition due to factors such as removed laitance or moisture. [Explanation of symbols]

[0067] 1 Green cutting device 2 Vehicle equipment 3. Accessory equipment 4 Slide mechanism 5. Work equipment 6(6a,6b) Control section 7 Fixtures 21 Mainframe 22a, 22b Crawler 23 Connection mechanism 31 Boom 32 Arm 33 Connection 34 Main body 41 Linear Rail 42 Spring part 43 Guide Block 44 Guide section 45 Stopper 46 Saddle Band 47 Mechanical Stopper 51 Rod section 52 Brush section 61 Controller 62 Communications Department 63 Power supply section 71 Handheld handle 72 Support part 73 Roller section 74 Connecting member

Claims

1. a vehicle device that is formed to be able to move freely in a narrow area and has a main frame that forms a vehicle body and a pair of left and right crawlers that are provided on the side surfaces of the main frame; an accessory device connected to an upper portion of the vehicle device and having a connection portion consisting of a boom and / or arm; a working device having a rod portion connected to the connecting portion via a slide mechanism and having a brush portion at the tip of the rod portion for scraping off the surface of concrete that has not sufficiently hardened; a control means for controlling the driving operation of the vehicle device, the moving operation of the connection unit and the working device connected to the connection unit, and / or the driving operation of the brush unit; The slide mechanism is a plurality of guide members disposed on either the connecting portion or the rod portion; a linear rail disposed on the other of the connecting portion or the rod portion, fitted to the guide member, and slidable linearly in the longitudinal direction; a stopper for limiting linear movement of the linear rail in the longitudinal direction; an elastic member that abuts against the stopper to stop the sliding movement of the linear rail when the linear rail has slid a predetermined distance or more; A green cutting device characterized by:

2. The green cutting device according to claim 1, A green cutting device characterized in that the control means positions the working device in a state where the lower end surface of the brush portion abuts the surface of the concrete and the rod portion can move in either direction relative to the slide mechanism, and then starts the scraping.

3. The green cutting device according to claim 1 or 2, The green cutting device is characterized in that the control means controls the movement of the working device so that a brush part of the working device is horizontal and turns left and right when viewed from the vehicle device.

4. The green cutting device according to claim 3, The brush section scrapes off the surface of the concrete by rotating the brush, A green cutting device characterized in that the control means varies and controls the positioning, rotation speed, and / or rotation speed of the brush part of the working device depending on the contact state of the brush with the concrete surface.

5. The green cutting device according to claim 4, a measuring means for measuring a current value of the brush portion; The green cutting device is characterized in that the control means raises the connection part to reduce the load on the brush part when the current value is equal to or greater than a predetermined value.

6. A green cut management system using the green cut device according to claim 1, a hardening calculation means for calculating the hardening state of the concrete from the time elapsed since the concrete pouring was completed and the accumulated temperature based on the outside air temperature measured according to the elapsed time; a control information acquisition means for acquiring at least the ground contact pressure of the brush part from among the control information of the green cutting device; a work calculation means for quantifying a work state in a work area of ​​green cutting based on the control information acquisition means; A green cut management system characterized by comprising a mapping means for mapping the degree of hardening calculated by the hardening calculation means in correspondence with the numerical value of the work state calculated by the work calculation means.

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