JPS6315425B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic moving floor finishing device that finishes a flat surface while moving on a floor surface such as concrete.

Conventionally, floors such as concrete floors of buildings were finished flat using plastering trowels, but it was inefficient to do this manually, so mechanical finishing equipment was provided. ing.

As a known finishing device, one in which a plastering trowel rotatably driven by an electric motor or the like is fixed to the tip of a handle operated by an operator has been proposed, but it has the following drawbacks.

That is, in the above-mentioned finishing device, since a worker moves the finishing device over the floor surface to finish a flat surface, it is necessary to constantly operate the handle so that the plastering trowel and the floor surface come into contact with each other in an appropriate state.

However, operating the handle in this way is extremely difficult, and if the handle is operated incorrectly, the plastering trowel may dig deep into the floor and cause damage to the floor, as well as the rotating plastering trowel and floor surface. There were disadvantages such as a large resistance was generated between the machine and the operator, and a large force was applied to the operator, making it impossible to control the equipment.

Furthermore, in order to prepare the floor surface to a desired flat surface, the operator is required to have a high level of skill due to the difficulty of operating the handle, and there is also the problem that training takes a long time.

Furthermore, since plastering work for buildings is generally carried out depending on the strength of the concrete floor, working hours are long and much of the work is done at night, creating harsh working conditions for workers, which requires improvement. It was strongly requested.

This invention was made in order to solve the above-mentioned conventional problems, and its purpose is to eliminate the need for operator skill and difficulty in operation, and to improve the finishing work area in advance. An object of the present invention is to provide an automatic traveling floor finishing device that shapes and finishes a floor surface while moving along a route that is automatically determined by inputting the following information.

In order to achieve the above object, the present invention provides an automatic traveling floor finishing device that includes a traveling vehicle that travels on a weak concrete floor surface by a drive device; , a floor finishing device that is oscillated by a oscillating mechanism provided at one end of the turning arm,
The swinging mechanism has a main drive motor and a sub-drive motor that is driven only during startup, and the floor finishing device has a main drive motor and an auxiliary drive motor that is driven only at the time of starting. A rotating blade is provided with a small-diameter bevel gear held between the small-diameter bevel gears, and is fixed to the small-diameter bevel gear and shapes the floor surface into a predetermined flat surface, and a gear fixed to the outside of the double cylinder body is rotatably driven; The vehicle has a contact angle changing mechanism that changes the contact angle of the swirling blade with the floor surface, and the traveling vehicle has a coordinate recognition device that recognizes a preset area as a work area, and a coordinate recognition device that recognizes a preset area as a work area, and a coordinate recognition device that allows the vehicle to travel within the set work area. Determining the traveling route of the vehicle, controlling the drive device so that the traveling vehicle moves along this traveling route, and also controlling the swinging of the floor finishing device, the rotation of the swirling blade, and the contact angle. The invention is characterized in that it has a control device for controlling.

Hereinafter, preferred embodiments of the present invention will be described in detail based on the accompanying drawings.

1 to 7 show an embodiment of an automatic moving floor finishing device according to the present invention.

The automatic traveling floor finishing device shown in the same figure is used in a weak state where the concrete floor surface is slightly hardened. The floor finishing device 20 is roughly constituted by a floor finishing device 20 which is checked by the floor finishing device 20 and is driven to swing.

The running vehicle 10 has a pair of running sections 12, 12 having a cover structure below, and the running sections 12, 12 are driven by drive motors 14, 14 provided separately, respectively. This drive control is performed by a control computer, which will be described later.

The covering structure of the traveling parts 12, 12 is similar to that of the traveling vehicle 10.
By supporting its own weight over a wide area, consideration has been given to preventing damage to the concrete surface.

The floor finishing device 20 includes a double ring frame 22a arranged substantially horizontally at a predetermined distance from the floor surface, and an inverted U-shaped frame extending upward to connect the frame 22a. 22b
a shaft 24 arranged and supported vertically at the center of the ring frame 22a, and a plurality of swirling blades 26, 26, which are driven to rotate in contact with the floor surface at a predetermined angle. It is roughly composed of.

As shown in FIG. 3, a first rotating drum 27 is fixedly installed near the upper end of the shaft 24, and this rotating drum 27 is also connected to the first belt 28, and is connected to the inverted U-shaped frame 22b. The first pulley 31 is connected via a brake 30 to a rotating shaft of an electric motor 29 fixed to the rotary shaft of the electric motor 29 .

Further, a hollow cylindrical body 33 is disposed on the outside of the shaft 24 via a pair of bearings 32, 32 arranged at a predetermined interval in the vertical direction, and a hollow cylindrical body 33 is disposed at the upper end of the cylinder body 33. A second rotating drum 34 is fixed to face the first rotating drum 27, and this rotating drum 34 is connected to the rotating shaft of the electric motor 29 by a clutch 36 with a second belt 35. It is connected to a second pulley 37 connected thereto.

A second rotating drum 3 fixed to the cylindrical body 33
Below 4 is a driven gear 3 with tooth surfaces carved on its periphery.
8 is fixed, and a first bevel gear 39 having a tooth surface carved on the lower surface is fixed to the lower end of the cylinder 33, and this first bevel gear 39 is connected to the shaft 2.
The tooth surface faces the second bevel gear 40 fixed to the lower end of the rotating blades 26, 40, and between the bevel gears 39, 40 there is a small diameter bevel fixed to the shaft end of each of the swirling blades 26, 26... Gears 41, 41... are sandwiched at equal intervals in the circumferential direction.

A small-diameter driving gear 42 meshes with the driven gear 38, and a clutch brake 43 and a contact angle variable motor 44 supported by the inverted U-shaped frame 22b are connected to the rotating shaft of the driving gear 42. There is.

The swirling blades 26, 26... have the bevel gears 41, 41... fixed to one end, respectively, a shaft 45 bent into a crank shape, and a flat plate-like thin plaster plate fixed to the other end. The shaft 45 is supported by a supporting member 48, which is fixed near the lower end of the cylinder 33 and has a substantially U-shaped cross section, through a small diameter bearing 47, respectively. , plastering trowels 46, 46, . . . support the weight of the finishing device 20 by the reaction force of contact with the floor surface.

When the first electric motor 29 is driven, its rotation is transmitted to the first pulley 31, the first belt 28, the first rotating drum 27, the shaft 24, and the second bevel gear 40, and at the same time, the rotation is transmitted to the clutch. If 36 is connected, it will be transmitted to the second pulley 37, second belt 35, second rotating drum 34, cylinder 33, and first bevel gear 39, and the first and second bevel gears 39, 40 rotate simultaneously in the same direction.

Therefore, the small diameter bevel gears 41, 41, . . . held between the bevel gears 39, 40 rotate while maintaining their relative positional relationship.

Therefore, the swirling blades 26, 26... to which the small-diameter bevel gears 41, 41... are fixed are rotated in the same direction as the shaft 24 and the cylinder 33 while maintaining their relative positional relationship, and rotate the floor surface as desired. It can be shaped into a flat surface. To change the contact angle between the plastering trowels 46, 46... and the floor surface, the electric motor 29 is stopped, the clutch 36 is released, the clutch brake 43 is connected, and the contact angle variable motor 44 is connected. to drive. The rotation of the motor 44 is transmitted to the driving and driven gears 42 and 38, the cylinder 33, and the first bevel gear 39, and the cylinder 33 is connected to the bearing 32.
, and since the second bevel gear 40 is fixed to the lower end of the shaft 24, only the first bevel gear 39 is rotated without rotating the second bevel gear 40. can be rotated.

Therefore, due to this, the small diameter bevel gears 41, 4
1... is rotated in any direction by a contact angle variable motor 44, and the respective plastering trowels 46, 46
The contact angle of ... can be changed in the same direction and at the same angle. The contact angle is changed within a range of 180° on the floor surface, and is set in consideration of the turning direction of the finishing device 20.

The control of each motor 29, 44 as described above is performed by a control computer, which will be described later.

On the other hand, as shown in FIG. 3, the traveling vehicle 10 is equipped with a swing arm 60 that pulls the floor finishing device 20 and is driven to swing (see FIG. 4).

One end of the swing arm 60 is connected to an output shaft 63 of a reducer 62 attached to the traveling vehicle 10, and a main motor 68 for driving the swing arm is connected to an input shaft 65 of the reducer 62 via a brake 64 and a clutch 66. At the same time, a sub-motor 72 is connected to the other input shaft 65' of the reducer 62 via a slip joint 70. This is a consideration for the heavy load at the time of starting up the floor finishing device 20 which is held and swung, and is also used when changing the swiveling direction to make the swiveling movement smooth.

A rectangular locking member 74 that protrudes downward is fixed to the other end of the swing arm 60, and one end of the locking member 74 is fixed to the ring frame 20a of the floor finishing device 20, and the length of the locking member 74 is approximately L as a whole. It is fitted into a box-shaped part 80 with a spring material 78 installed at the upper end of a connecting member 76 shaped like a letter, and pulls the floor finishing device 20 as the vehicle 10 travels.
By driving the main motor 68, the main motor 68 is driven to swing around the connecting portion between the swing arm 60 and the speed reducer 62 as a fulcrum.

Furthermore, ultrasonic sensors (not shown) are installed downward at the four corners of the traveling vehicle 10 to emit ultrasonic waves and receive and detect reflected waves from obstacles, etc. Four ultrasonic sensors 81 having similar functions are attached to the frame 22a, and
The outer ring frame 22a and the outer surface of the vehicle 10 are provided with a contact sensor 82 (specifically, a tape switch, a proximity switch, etc.) disposed so as to circulate (see FIG. 6). These sensors 81 and 82 prevent obstacles from entering the rotation range of the swing wing 26, and prevent harm to structures (pillars, etc.) and the human body. To control a floor finishing device having the above-described mechanical configuration, first, an area in which floor finishing work is to be performed is specified.

As the identification means, for example, a receiving unit 84 is attached to the traveling vehicle 10, and a radio signal is given to it from the transmitting unit 86, so that the traveling vehicle 10 is identified as the fifth one.
You can actually drive around the work area as shown by the thick arrow in the figure, or you can use a corner of the work area as a starting point and calculate the plane coordinates of the work area based on this point. The traveling direction and the like may be directly input from the keyboard 90 of the control computer 88.

The work area 92 thus specified is converted into numerical values of plane coordinates by the coordinate recognition device 96 using the starting point 94 to which the traveling vehicle 10 moves as a reference, and is input and stored in the control computer 88.

As the coordinate recognition device 96, the traveling vehicle 10
The trajectory traveled based on the input signals from the pulse generators 16, 16 connected to the rotation shaft of the drive motor 14 and a known gas rate gyroscope;
It consists of a locator computer that converts its current position into plane coordinates with the starting point 94 as the origin.

Based on the data of the work area 92 identified in this manner, the control computer 88 determines the traveling route of the traveling vehicle 10 within the work area, as shown by the thin arrow in FIG. The rotation diameter of the trowel 46 is calculated, and the drive motors 14, 14 of the traveling section 12 are controlled so that the traveling vehicle 10 moves along this determined route, and the rotating blade 26 is rotated. Drive electric motor 2
9 rotation drive and rotation speed as well as plastering trowel 4
A motor 44 that adjusts the contact angle between the rotating arm 60 and the floor surface, a main motor 68 that swings the swing arm 60, and a sub motor 72 are controlled.

Further, as described above, the traveling vehicle 10 is driven, the swing blade 26 is rotated, and the floor surface is shaped with the plastering trowel 46, and the finished area is inputted to the control computer 88 by the coordinate recognition device 96. Since it is memorized, there is no need to run again over an area that has already been finished as a flat surface.

If there is an obstacle 98 such as a pillar on the traveling route, the contact sensor 82 attached to the traveling vehicle 10 and the protective frame 22 detects the presence and direction of the obstacle by coming into contact with it.
This data is input to the control computer 88, and the control computer 88 sets a travel route to avoid the obstacle 98.

If the obstacle 98 does not protrude above the floor surface, such as a hatch opened in the floor surface, the ultrasonic sensor attached to the vehicle 10 detects its presence and direction. The control computer 88 similarly sets a travel route to avoid this.

The size, position, etc. of the obstacle 98 are input to the control computer 88 via the coordinate recognition device 96, and the area where the floor surface has already been finished is stored as described above. It compares with the specified work area 92, travels through all areas within the work area 92, and finishes traveling after confirming that the floor surface finishing has been completed, thereby completing the finishing work.

Now, in the automatic traveling floor finishing device having the above-mentioned configuration, the floor is finished while traveling by the traveling vehicle 10 and the swing blade 26 controlled by the control computer 88, so if the traveling part 12 of the traveling vehicle 10 is However, even if a slight dent occurs in the floor surface, it can be made flat with the plastering trowel 46, which rotates after running.

In addition, the plastering trowel 46 is driven by a computer-controlled electric motor 29, and its rotational speed can be controlled by taking into account the strength of the floor surface, the size of unevenness, etc., and the contact angle is also variable, so it can be operated by hand. The result is a uniform finish that is incomparable to that of a plastering trowel, and all you have to do is specify the work area and the rest is done automatically, so no skill is required.

Furthermore, automatically performing the floor surface finishing work can eliminate constraints such as work time or the size of the finished area, and can dramatically improve work efficiency.

As described above in detail in the embodiments, the automatic traveling floor finishing device according to the present invention is capable of finishing a desired flat surface without any manual labor after the work area for floor finishing has been specified. It becomes possible to significantly improve work efficiency.

[Brief explanation of the drawing]

FIG. 1 is an overall perspective view of an embodiment of the present invention;
Fig. 2 is a schematic diagram of the running vehicle, Fig. 3 is a sectional view of the rotation mechanism of the swing blade, Fig. 4 is an explanatory diagram of the swing arm,
Figure 5 is an explanatory diagram of the work area and travel route, Figure 6
The figure is an explanatory diagram showing the sensor position of the protective frame.
FIG. 7 is a block diagram of the control system. 10... Running vehicle, 12... Running part, 14...
Drive motor, 16...Pulse generator, 20...
...Floor finishing device, 20a...Ring frame, 2
2... Protection frame, 22a... Inverted L-shaped frame, 24... Shaft, 26... Swivel wing, 29...
...Electric motor, 33... Cylindrical body, 36... Clutch, 39... First bevel gear, 40... Second bevel gear, 42... Driving gear, 44... Contact angle variable motor, 45... ...Axis, 46...Plastering trowel, 60...
Swivel arm, 62...Reducer, 64...Brake, 66...Clutch, 68...Main motor,
70...Slip joint, 72...Sub motor, 74
... Locking member, 76 ... Connection material, 78 ... Spring material, 80 ... Box-shaped part, 81 ... Ultrasonic sensor,
82... Contact sensor, 82... Receiving unit,
86... Transmission unit, 88... Control computer, 90... Keyboard, 92... Work area, 9
4... Starting point, 96... Coordinate recognition device, 98...
Obstacle.

Claims (1)

[Claims] 1 A running vehicle runs on a concrete floor in a weak state by a drive device, and a swinging mechanism that is indexed to the running vehicle via a swing arm and provided at one end of the swing arm is driven to swing. The swinging mechanism has a main drive motor and a sub-drive motor that is driven only during startup,
The floor finishing device includes a small-diameter bevel gear sandwiched between a pair of bevel gears fixed to the lower end of a double cylindrical body that rotates synchronously. and a contact angle changing mechanism that rotates a gear fixed to the outside of the double cylinder to change the contact angle of the swirler with the floor surface,
The traveling vehicle is equipped with a coordinate recognition device that recognizes a preset area as a work area, and a coordinate recognition device that determines a traveling route for the traveling vehicle within the set working area, and the traveling vehicle moves along the traveling route. 1. An automatic traveling floor finishing device comprising: a control device that controls the drive device and also controls the swinging of the floor finishing device, the rotation of the swirling blades, and the contact angle.