JPH05504Y2 - - Google Patents

Description

[Detailed Description of the Invention] <<Industrial Application Field>> Although the present invention can be applied to floors, it particularly relates to a wall surface grinding device for processing a wall surface into a flat surface.

《Conventional technology》 Previously, unevenness in concrete was smoothed out by hand. For the floor surface, efforts have been made to create a flat surface for pouring concrete by mixing a mixture into the concrete that increases fluidity. However, it was not appropriate to use concrete mixed with flow agents for walls, and the surface was then leveled by hand and finished mortar was applied to obtain a smooth, flat surface.

《Problem that the invention aims to solve》 Manual sanding was time consuming and the surface became rough. The present invention has been developed in view of the above circumstances, and its purpose is to provide a wall surface grinding device that can automatically grind and polish the unevenness of a wall surface to obtain a flat and beautiful surface.

<Means for Solving the Problems> In order to achieve the above object, the wall surface grinding device of the present invention includes a traveling cart that moves by itself on the floor, and a running cart that is installed on the cart and that connects through a plurality of joints. a multi-jointed arm that can rotate, bend and extend; a square housing that is attached to the tip of the multi-jointed arm and that controls elevation and depression angles, left and right angles, and up and down angles; a spirit level attached to the housing; It consists of a rotary grinding file attached to the housing with the same inclination, and a servo device that controls the elevation/depression angle, left/right angle, and up/down angle of the housing based on information indicating the inclination of the spirit level.

《Operation》 It moves by itself to the required location and stops automatically when it finishes grinding the uneven surface to a flat surface. The work of adjusting the angle of the file to flatten uneven surfaces is performed by automatically measuring values using a spirit level and feeding them back to a servo device for automatic positioning.

<<Example>> Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a schematic side view of a wall grinding device 1 according to the present invention, in which a rotatable multi-joint arm 4 is attached to a traveling cart 3 equipped with an outrigger 2 on one side, and a grinding file 5 is attached to the tip of the arm 4. A ground housing 6 to be attached is attached.

The traveling cart 3 is also equipped with a control device 7 that maintains the filing housing 6 at a predetermined angle with respect to the surface to be ground.

An adjuster star 9 descending from the bottom of the truck 3 to the floor 8 is used to adjust and fix the inclination angle of the truck 3 together with the outriggers 2 and to stably hold the mill housing 6. Furthermore, the trolley 3 has 10 running wheels.
is provided so that the vehicle can travel while correcting the distance from the wall to a constant distance using an ultrasonic sensor 11.

As shown in FIG. 2, the multi-joint arm has a swivel base 12 at its base, and is swivelingly driven by a servo motor whose rotation speed is controlled in a step manner. The vertical rotation joints 13, 13a, and 13b are three joints, and there is a left-right rotation joint 14 at the tip, and the mill housing 6 is attached to this left-right rotation joint 14 via a rotation control shaft 15. U-shaped frame member 16 for
is attached so that it can rotate freely left and right.

As shown in FIG. 3, the frame member 16 has a rotary grinder 5
A motor 17 and a drive mechanism 18 that rotationally drive the motor 17 and a drive mechanism 18, and limit switches 19, 19a, and 1 that protrude from the outside in the upper, lower, left, and right directions as a safety measure for setting the movement limit position.
A file housing 6 including 9b and 19c is pivotally supported by a servo shaft 20 that can be rotated in the front and rear directions.

FIG. 4 schematically shows the drive mechanism 18. A pair of grinding files 5-5 are arranged symmetrically, and the rotational loci of the blades during grinding overlap at one point. The directions of rotation are opposite to each other to avoid a large influence of the reaction force during grinding on the traveling carriage 3. A motor 17 rotates one of the chisels 5. The rotating shaft 21 of each file 5-5 is a sprocket 22
-22 is attached, and the chain 23 is connected to the above sprocket 22-2 with two idler sprockets 24.
2 are rotated in opposite directions.

The operation of the above main configuration is controlled by the control device 7 as described below. A level gauge 25 for measuring horizontal and vertical degrees is attached to the cart 3 so as to be visible. As a result, the inclination of the traveling carriage 3 is adjusted and installed as horizontally as possible at a required position using the adjuster star 9 and the outrigger 2. The required position is on the floor surface 8 near the surface to be ground of the wall surface 26. The wall surface grinding device 1 has a sonic sensor 11 provided on the cart 3, which measures the distance to the wall surface 26, and can move while maintaining an appropriate distance position from the wall surface 26 using the running wheels 10. In this way, the multi-joint arm 4
is set at approximately the center position of the wall surface to be ground, and initialization is performed using this set position as the starting point. At this time, as shown in Figure 5, the setting device 27
Set the cutting thickness t and the cutting range (up and down, left and right) E. Each joint 13, 1 according to the set data
4 and the movement angle and displacement angle period of the swivel table 12 are determined. At this time, the inclination angle of the ground housing 6 must be maintained at a predetermined constant angle (X, Y, Z).

A tilt angle sensor (a type of level) 28 is housed inside the square housing 6, which allows the wall surface 2 to be
Obtain the elevation/depression angle Z, horizontal angle X, and vertical angle Y for 6. The elevation/depression angle Z is determined by the servo shaft 20, the left/right angle X by the left/right rotation joint 14, and the up/down angle Y by the rotation control shaft 15. Each of these joints 14 to axes 15, 20
are driven by servo motors 29X, 29Y, and 29X that always aim at constant angles X, Y, and Z (27'). The ground housing 6 is detected by the sensor 28 in advance.
The horizontal and vertical position signals are fixed, and the grinding operation aiming at a perfect horizontal and vertical plane is executed until the displacement angles ΔX, ΔY, and ΔZ with respect to the target angle become zero.

However, if it is desired to grind at an arbitrary angle, it is sufficient to change the target angle using the setter 27. Figure 6 shows the general flow. The setting device 27 allows the cutting thickness t, cutting range E, and cutting angles X, Y, and Z to be specified. The differences △X, △Y, △Z between the specified cutting angles X, Y, Z and the actual inclination angle are determined by the sensor 28 and setting device 2.
7 is calculated by the comparison calculator 30, and the output device 31 drives each servo motor 29. The driving results are fed back to the sensor 28, forming a servo system. Further, the output of the setting device 27 is input to the drive system 4a of the multi-joint arm 4. This drive system controls the rotation angle of each swivel table 12 and the joints 13 and 1.
The swivel base 12, the joints 13, 13a, 1 are constantly and continuously compared with the arm tip position calculated from the rotation angle of the rotation angles 3a and 13b and the set value of the setting device 27.
3b.

A flat surface with the required angle is automatically obtained as described above.

In order to improve the working environment and work efficiency, it is preferable to spray water at the grinding position of the grinding file 5 (this may be a grindstone depending on the object to be ground).
This is because dust scattering caused by grinding is prevented and the grinding surface is cooled.

For this purpose, a water tank 31 is installed on the traveling cart 3, a submersible pump 32 is installed in the tank, and a hose 33 with an injection nozzle attached to the tip is used to connect the grinding file 5 to the surface to be ground. The water discharged from the pump 32 is guided and supplied to the pump 32.

<<Effects>> As described in detail above, according to the wall surface grinding device of the present invention, since there is a traveling cart that moves on the floor by itself, it can easily move to the desired wall surface, and also stops the cart and performs turning, bending, stretching, etc. Combined with the multi-jointed arm that allows for flexible processing, it is possible to freely process a certain range of wall surfaces. At the tip of this multi-joint arm, a mill housing that controls the elevation angle, left/right angle, and up/down angle is attached. The reference position is a constant angle indicated by the level, and the level is used as a servo device to ensure that the inclination angle of the housing always reaches the set reference angle, so it automatically adjusts the unevenness of the wall. It can be finished to a flat surface.
It is significantly superior to manual labor in terms of construction time, construction accuracy, and safety. In other words, manual work at high places is undesirable from a safety perspective, and since grinding, polishing, and measurement cannot be performed at the same time, the level of flatness must depend on the skill and intuition of the worker. It is.

However, in the present invention, the wall surface is finished flat while constantly grasping the inclination angle of the grinding file and automatically correcting it to the standard inclination angle, thereby exhibiting excellent power in terms of work efficiency and precision.

[Brief explanation of the drawing]

FIG. 1 is a side view of a wall surface grinding device according to an embodiment of the present invention, FIG. 2 is a perspective view thereof, FIG. 3 is a plan view of a grinding file housing, and FIG. 4 is an explanatory diagram of a grinding file drive mechanism. FIG. 5 is a schematic plan view for explaining the moving direction of the grinding file, and FIG. 6 is a block diagram for explaining the control system. 1...Wall surface grinding device, 2...Outrigger, 3
... Traveling trolley, 4 ... Multi-joint arm, 5 ... Grinding file, 6 ... Grind housing, 7 ... Control device, 8 ...
...Floor surface, 9...Adjuster, 10...Running wheel, 1
DESCRIPTION OF SYMBOLS 1...Sensor, 12...Swivel base, 13...Vertical direction rotation joint, 14...Action direction rotation joint, 15
... Rotation control axis, 16 ... Frame member, 17 ... Motor, 18 ... Drive mechanism, 19 ... Limit switch, 20 ... Servo axis, 21 ... Rotation axis, 2
2...Sprocket, 23...Chain, 24...
...Idler sprocket, 25...Level, 26
... Wall surface, 27 ... Setting device, 28 ... Angle sensor, 29 ... Servo motor, 30 ... Arithmetic unit.

Claims (1)

[Scope of Claim for Utility Model Registration] (1) A traveling trolley that moves by itself on a floor surface, a multi-joint arm that is provided on the trolley and is capable of rotating, bending and extending through a plurality of joints; A ground housing that is attached to the tip of the articulated arm and controls the elevation/depression angle, left/right angle, and up/down angle; a spirit level attached to the housing; and a rotary grinder attached to the housing with the same inclination as the level. A wall surface grinding device comprising: a file; and a servo device that controls elevation and depression angles, left and right angles, and up and down angles of the housing based on information indicating the inclination of the spirit level. (2) The utility model according to claim 1, characterized in that the filers are arranged in the mounting housing so that at least a pair of the filers having opposite rotation directions partially overlap their grinding trajectories. Wall grinding device.