EP2997328B1 - Device for levelling fillings and construction materials - Google Patents

Device for levelling fillings and construction materials Download PDF

Info

Publication number
EP2997328B1
EP2997328B1 EP14738351.7A EP14738351A EP2997328B1 EP 2997328 B1 EP2997328 B1 EP 2997328B1 EP 14738351 A EP14738351 A EP 14738351A EP 2997328 B1 EP2997328 B1 EP 2997328B1
Authority
EP
European Patent Office
Prior art keywords
scraping bar
height
handle
reference plane
respect
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP14738351.7A
Other languages
German (de)
French (fr)
Other versions
EP2997328A2 (en
Inventor
Egon DÖBERL
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP2997328A2 publication Critical patent/EP2997328A2/en
Application granted granted Critical
Publication of EP2997328B1 publication Critical patent/EP2997328B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring
    • E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
    • E04F21/241—Elongated smoothing blades or plates, e.g. screed apparatus
    • E04F21/244—Elongated smoothing blades or plates, e.g. screed apparatus with means to adjust the working angle of the leveling blade or plate
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/10—Devices for levelling, e.g. templates or boards

Definitions

  • the invention relates to a device for leveling of fillings and building materials.
  • Such a device is often referred to as a leveling device and serves to smooth a surface in such a way that a flat, as exactly horizontal surface is formed. This is done in practice long, straight slats which are pulled over the floor. Therefore, these leveling devices are also referred to as pullers. In order to create an exactly horizontal surface by this removal, various devices and methods are used.
  • Building materials in the form of beds are used, for example, for the thermal insulation of floors in house construction. Another application is the insulation of a swimming pool down.
  • a well-insulating, lightweight material in the form of small pieces is often mixed with cement or other hardening material (binder) and applied or applied in the space or surface to be insulated. Dry fillings are also used (without cement or binder) for dry screed systems.
  • Lightweight plastics such as foam or polystyrene are particularly suitable as insulating materials of the bed, but also organic or mineral insulating materials in particulate form are conceivable, such as e.g. Expanded glass or swelling stone body.
  • the main field of application of the subject invention is the leveling of "Styroporbeton” or comparable developments such as Thermotec® of Thermotecmaschines GmbH.
  • the invention can of course generally for the production of flat / horizontal surfaces of loose materials (insulation materials, sand, gravel ...) or of viscous, self-curing suspensions (lightweight concrete, concrete screed %) are used.
  • the DE 29922048 (U1 ) shows a device for plane installation of dry fillings.
  • a support is mounted on a bottom plate at the bottom of the room (preferably in the middle). This is vertically aligned manually manually.
  • the tools used are a laser target plate for scanning the meter crack and a rotary laser, which is set to the meter crack.
  • a ruler is manually height adjustable. The ruler is designed in two parts and can be manually adjusted in length during removal to reach all corners of the room. At the front end of the ruler is a spirit level dragonfly to control the horizontal alignment of the ruler and correct manually if necessary.
  • the disadvantage is that before removing a support must be mounted in the room and the device must be aligned manually. What needs to be repeated in each room, or in a large room must be repeated several times, when the size of the room exceeds the reach (full length) of the ruler.
  • Another disadvantage is that the device must be removed after completion of leveling again. As a result, the space at which the support was mounted remains free of bulk material and must be manually filled and smoothed.
  • the DE 10 2006 058 246 A1 shows an improved in some aspects device for leveling bulk material.
  • a support is mounted in the room, preferably on the ground with tension to the ceiling, but also an assembly on the wall is being considered, which although a restriction of the work area result has, but no gap remains where the device is otherwise mounted on the ground.
  • the support is manually aligned with the aid of measuring devices and adjusting devices.
  • Attached to the post is a bipartite, torsion-resistant arm that can be swiveled around the device. At the free end of the arm a peeling sword is rotatably supported by a vertical downwardly extending stem.
  • a height adjustment device is provided in order to keep constant during the removal of the height at which the withdrawal element is located. This is achieved by measuring the height and automatic height correction by an electrically operated spindle which adjusts the position of the stem relative to the arm.
  • the CH 693638 A5 shows a device in which a trigger beam is supported at its two ends by a respective support device.
  • the orientation of the trigger beam is done by separately controlled height adjustment of its two ends to the support devices. Disadvantages are the limited freedom of movement of the supporting device and the trigger beam, the increased weight of the device and the need to guide the supporting devices on the ground.
  • the US 20050265785 A1 shows a construction machine, which is equipped with a puller.
  • the trigger beam is mounted at its two ends adjustable in height on a support beam.
  • the support beam is rigidly connected to the boom of the construction machine.
  • the disadvantage is the limited freedom of movement of the trigger beam, the high weight of the device and the associated limited application area.
  • the US 2010/010183369 A1 shows a device for leveling, which has a mounted on a mobile frame scraper.
  • a peel strip is mounted at its two ends in each case with a handle on the mobile frame, wherein each of the two styles is height adjustable. If the height adjustment devices of the two stems are controlled independently of each other, the Abziehmann can be aligned horizontally.
  • the disadvantage is the limited freedom of movement of the peel strip, the high weight of the device and the associated limited application area.
  • the device has only a central handle, which only has a device for height adjustment.
  • the inclination and the angle of the peel strip are not taxable or regulated in this embodiment.
  • the peel strip is always aligned parallel to the mobile frame.
  • the inclination and the angle of the peel strip are therefore disadvantageous not independently controlled by the mobile frame.
  • the disadvantage is therefore inevitably a mobile frame needed, which is aligned even parallel to the ground. Uneven ground, which lead to an inclination of the chassis, can not be compensated.
  • the US 2004/0071509 A1 shows a puller in which the height - the inclination and the angle of the puller bar are measured and presented to the operator so that it can respond to deviations.
  • the puller bar is rigidly connected to one or two controls for pulling the puller over the surface to be leveled.
  • the disadvantage is that the device itself must be aligned horizontally and to the correct height by the operator.
  • the WO 2007/116044 A1 discloses a similar device having a stem attached centrally to the wiper strip with a sensor unit for detecting the height and an actuator for adjusting the height.
  • the object underlying the invention is to provide a device with which it succeeds after application a bed of lightweight material to easily create an exactly horizontal surface.
  • the leveling work should be able to be performed by a person with significantly less effort and physical effort compared to known manual methods, without having to perform consuming and time-consuming assembly or surveying.
  • the peeling element consists of an elongated peel strip and a preferably variable in length stem which is preferably designed as a telescopic rod.
  • This telescopic rod is preferably connected at its lower end via a hinge with the peel strip.
  • This joint is adjusted via an actuator or more actuators in such a way that the Abziehmann is always exactly aligned horizontally.
  • the necessary data is obtained from these actuators by suitable sensors which detect the spatial orientation of the wiper strip.
  • a control loop is formed, in which the signal of the sensors serves as a manipulated variable for the actuators.
  • the telescopic pole There is another sensor on the telescopic pole that is capable of detecting the altitude at which it is located. This sensor is used to control an actuator, which determines the length of the telescopic rod. The goal is to keep the honing strip at a constant height. So if the stem is held higher by the user, the height at which the sensor is located at the upper end of the telescopic rod changes. The information of the sensor is used to change the length of the telescopic rod by the actuator in the telescopic rod. So if the stem is held higher, the length of the telescopic pole is extended by the actuator to the same extent. As a result, the Abziehmann always remains at the same height.
  • sensors for inertial navigation can be used.
  • IMU inertial measurement units
  • three orthogonally arranged acceleration sensors also referred to as translation sensors
  • three orthogonally arranged yaw rate sensors also called gyroscopic sensors
  • rotation rate sensors and optical gyroscope ring laser gyro or fiber optic gyroscope
  • MEMS micro-electro-mechanical systems
  • the senor on the wiper strip may consist of one or more electronic inclinometers, such as electronic spirit levels.
  • electronic inclinometers such as electronic spirit levels.
  • the same or similar inertial sensors as in the sensor at the top of the stem can be used.
  • Inertialsensor in the Abziehelf, which serves to control / regulation of both actuators, ie for the actuator to change the angular position between stem and Abziehelf and for the actuator for changing the length of the stem.
  • Such measurement systems may be, for example, optical, using one or more light sources such as light-emitting diodes, laser diodes, lasers or rotary lasers, and one or more photosensitive sensors (e.g., photodiode, photodetector).
  • light sources such as light-emitting diodes, laser diodes, lasers or rotary lasers
  • photosensitive sensors e.g., photodiode, photodetector
  • Time-of-flight measurements e.g., by ultrasound or light beam
  • a transmitter / receiver arrangement at the top of the stem and detecting the deviation from the vertical of the stem by a arranged in this electronic spirit level.
  • such an implementation works only in rooms with a horizontal, level ceiling.
  • the light source is arranged on the handle or on the stripper and the sensor or sensors for detecting the spatial position of the light source are arranged in space.
  • the light source can be arranged in the room and the light-sensitive sensor on the stem or the Abziehelf the Abziehelements be arranged.
  • the subject invention is characterized firstly by the fact that the spatial orientation of the peel strip 1 is detected. More specifically, it is sufficient that its horizontal orientation and the height h on which it is located with respect to a reference plane are detected by sensors. Second, by having one or more actuators 5, which serve to control and / or regulate the horizontal orientation and the height h of the puller strip 1.
  • Fig. 2 shows the stripper 1 in a first and a second position.
  • the spatial position and orientation of the peel strip 1 can be detected in a reference / world coordinate system (x, y, z) and / or in a relative coordinate system (x ', y', z ') or (x ", y", z)
  • the xy plane of the world coordinate system is usually oriented horizontally and the z axis is vertical, the xy plane can be real, eg. the floor or the ceiling of a room can be given by means (eg projection by a rotating laser 6.2.1) or purely virtual.
  • the plane x'-y ' is formed by the underside of the peel strip 1, that is, the surface which rests on the ground during leveling.
  • the plane x'-y 'always aligns parallel to the xy plane.
  • the xy plane also serves as the horizontal reference plane for controlling the height h of the pull bar 1. Therefore, it is sufficient to set a reference plane before leveling. Since this is usually aligned horizontally, it is sufficient to detect the inclination of the plane x'-y 'and to control or regulate so that it is zero, that is, the plane x'-y' is also horizontal.
  • the height difference between this plane and the plane x'-y ' is measured and kept constant by the controller. If the height h is to be relatively detected, e.g. by an inertial sensor, the plane x-y can be virtually specified. This can be done by keeping the peel strip at the desired height and referencing the plane x'-y 'thus present as a reference plane x-y. During leveling, the height difference between the two levels is kept at zero.
  • a possible implementation of the peeling element is shown.
  • the peel strip 1 and the stem 3 are connected to each other via a joint 2, which has at least 2 degrees of freedom.
  • it may be formed as a ball joint or as two successively arranged at an angle of 90 ° to each other pivot joints.
  • This makes it possible to change the horizontal orientation of the peel strip 1, regardless of the vertical orientation of the handle 3, or keep it constant horizontally.
  • the stem 3 is made variable in its length.
  • the handle 3 is designed as a telescopic tube, wherein the lower part of the stem 3 has a smaller diameter and in the upper part of the stem 3, which has a larger diameter added is.
  • the upper part of the stem 3 In the upper part of the stem 3 is a linear drive, which moves the lower part of the stem 3 from the upper part of the stem 3 out or into it.
  • the upper part of the stem For this relative movement of the two handle parts causes a change in height of the puller strip 1, the upper part of the stem must be kept.
  • the support must oppose to the movement of the upper part of the stem 3 a force (counterforce) which is higher than the force which is applied to move the Abziehelf 1 together with the lower part of the stem 3 vertically to the leveling surface.
  • the holding of the upper part of the stem 3 can be done by a person, or preferably by a carrying device. If the peeling element is held directly by a person, this has the disadvantage that the weight of the peeling element acts on the arms of the person. In addition to the weight force, the person must also apply the counterforce, which can act alternately with or against the weight force.
  • Fig. 3 shows the advantageous holding the Abziehelements on a support device.
  • the support device consists of a support arm 8 and a harness 9.
  • the harness serves to transmit the weight of the Abziehelements and the support arm 8 to the body of a person.
  • the harness 9 may be attached in the form of a vest on the upper body, or in the hip or thigh area.
  • the support arm 8 is in the example after Fig. 3 designed as a parallel static articulated arm. In the middle vertically pivotable part of the articulated arm, a spring is mounted, whose bias corresponds to the weight of the Abziehelements. The spring force thus counteracts the weight.
  • the pull-off element can be operated by the person to whom the carrying harness 9 is fastened, with the arms, without having to hold the pull-off element.
  • the support arm 8 is connected to the harness 9 via a hinge with the harness 9.
  • the axis of rotation of the joint is vertical, so that the Abziehelement can pivot relative to the person in the horizontal plane.
  • Another hinge is located at the front end of the support arm 8, where the connecting element 7 engages in these.
  • the axis of rotation is again vertically aligned, so that the Abziehelement is pivotable about this axis in the horizontal plane. If this hinge is close to the stem 3, or the stem 3 passes through the hinge through the Abziehelement can be quasi or exactly rotated about the vertical axis of the stem 3. The same is achieved if on the side of the connecting element 7, in which the stem 3 is received, a rotary joint with a vertical axis of rotation is present.
  • the puller can also be carried by a robot.
  • a support arm 8 is preferably mounted on a controllable mobile robot platform. Since the peeling element according to the invention including actuators and sensors can be made very easily, preferably below 5 kg, more preferably below 3 kg, a lighter, smaller robot can be used, which can be used in the interior of buildings.
  • Fig. 4 the principle is shown how the Abziehmann 1 is held in the horizontal, when a joint 2 between Abziehmann 1 and 3 stem is present.
  • the joint 2 is formed in this case by two hinges, each of these hinges is adjustable with a motor.
  • the motor can be designed as a direct drive, servo or stepper motor. It is important that a highly dynamic drive is used to perform high-frequency, smallest correction movements.
  • the signal of the sensors 6.1 is processed.
  • these are electronic spirit levels.
  • One of these spirit levels is arranged in the direction of the x-axis, the other in the direction of the y-axis (not shown, runs perpendicular to the paper plane).
  • Is used by the spirit level which in Direction of the x-axis is arranged, detects a deviation from the horizontal, the motor whose axis of rotation in the y-direction, driven to compensate for this deviation. If the spirit level, which is arranged in the direction of the y-axis, detects a deviation from the horizontal, the motor, whose axis of rotation runs in the x-direction, is controlled in order to compensate for this deviation.
  • other sensors 6.1 can be used to detect these deviations.
  • the sensor 6.2 for the height detection is mounted in this case in the pull bar 1.
  • This may be an inertial sensor, or an optical or acoustic receiver which is capable of determining its position with respect to a reference system.
  • the actuator 4 is controlled to keep the height h of the stripper 1 constant.
  • the actuator 4 can be designed as a linear drive, linear motor, rack drive, toothed belt drive or the like. Important is in turn a high dynamics of the drive.
  • Fig. 5 shows another concept of the subject invention.
  • a support device support arm on a vest, a robot or on a mounted support
  • the stem 3 is not connected via a hinge 2 with the peeling element 1, but fixedly attached at an angle of 90 ° to this.
  • the connecting element 7 is articulated. In the example, this articulated connection is formed by a joint 7.1 and a joint 7.2.
  • the alignment of the stem 3 with respect to the vertical can be changed or constant by means of the joints 7.1 and 7.2 being held.
  • the joints 7.1 and 7.2 can in turn be designed as a ball joint.
  • the joints 7.1 and 7.2 are automatically adjustable by suitable actuators.
  • a variant is shown in which the handle 3 is not designed as a telescopic rod.
  • the actuator 4 is here part of the connecting element 7 and serves to the stem 3 relative to the connecting element 7 to move up and down. It is also conceivable that the actuator 4 engages the support arm 8. With respect to the height then the connecting element 7 is rigidly connected to the stem 3.
  • the change in height of the Abziehmann 1 is then carried out by changing the position of the connecting element 7 relative to the support arm 8, by adjusting the height of the support arm 8 itself or by changing the height of the support arm 8 with respect to the support harness 9.
  • the sensor 6.1 is in the example Fig. 5 attached to the connecting element 7, while the sensor 6.2 is attached to the stem.
  • the sensor 6.1 is in this case rod-shaped and protrudes from the end of the stem 3 vertically upwards. On its vertical lateral surface, photodetectors are arranged so that they detect incident light of the rotary laser 6.2.1 from all directions and over the entire length range of the rod.
  • a simple sensor arrangement can be achieved if the rod is formed as a dimensionally stable optical waveguide which has a fluorescent layer and thus converts incident light into long-wave light and passes it on to its ends, wherein a photodetector is attached to one or both ends. If the rotating laser 6.2.1 is mounted above the head height of the person operating and also the staff projects beyond the person, it is achieved that the person does not inadvertently interrupt the beam path from the rotation laser 6.2.1 to the sensor 6.2 while the space is being traversed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Description

Die Erfindung betrifft eine Vorrichtung zur Nivellierung von Schüttungen und Baustoffen.The invention relates to a device for leveling of fillings and building materials.

Eine solche Vorrichtung wird oft als Nivelliergerät bezeichnet und dient dazu eine Fläche zu glätten und zwar derart, dass eine ebene, möglichst exakt horizontale Fläche gebildet wird. Dafür dienen in der Praxis lange, gerade Latten welche über den Boden gezogen werden. Daher werden diese Nivelliergeräte auch als Abziehgeräte bezeichnet. Damit durch diese Abziehen auch wirklich eine exakt horizontale Fläche geschaffen wird, finden verschiedene Vorrichtungen und Verfahren Verwendung.Such a device is often referred to as a leveling device and serves to smooth a surface in such a way that a flat, as exactly horizontal surface is formed. This is done in practice long, straight slats which are pulled over the floor. Therefore, these leveling devices are also referred to as pullers. In order to create an exactly horizontal surface by this removal, various devices and methods are used.

Baustoffe in Form von Schüttungen kommen beispielsweise für die Wärmeisolierung von Böden beim Hausbau zum Einsatz. Eine weitere Anwendung ist die Dämmung eines Swimmingpools nach unten. Dabei wird oft ein gut dämmendes, leichtes Material in Form von kleinen Stücken mit Zement oder einem anderen aushärtendem Material (Bindemittel) vermengt und in den zu isolierenden Raum oder Fläche ein- bzw. aufgebracht. Es werden auch Trockenschüttungen verwendet (ohne Zement bzw. Bindemittel) für Trocken-Estrich-Systeme. Als Dämmmaterialien der Schüttung kommen insbesondere leichte Kunststoffe wie Schaumstoff oder Styropor in Frage, aber auch organische oder mineralische Dämmstoffe in stückiger Form sind denkbar, wie z.B. Blähglas oder Blähgesteinskörper.Building materials in the form of beds are used, for example, for the thermal insulation of floors in house construction. Another application is the insulation of a swimming pool down. In this case, a well-insulating, lightweight material in the form of small pieces is often mixed with cement or other hardening material (binder) and applied or applied in the space or surface to be insulated. Dry fillings are also used (without cement or binder) for dry screed systems. Lightweight plastics such as foam or polystyrene are particularly suitable as insulating materials of the bed, but also organic or mineral insulating materials in particulate form are conceivable, such as e.g. Expanded glass or swelling stone body.

Der Hauptanwendungsbereich der gegenständlichen Erfindung ist das Nivellieren von "Styroporbeton" oder vergleichbaren Weiterentwicklungen wie beispielsweise Thermotec® der Thermotec Vertriebs GmbH. Die Erfindung kann aber natürlich im Allgemeinen zur Herstellung von ebenen/horizontalen Flächen von losen Materialeien (Dämmstoffe, Sand, Schotter...) oder von zähflüssigen, selbstaushärtenden Suspensionen (Leichtbeton, Betonestrich...) dienen.The main field of application of the subject invention is the leveling of "Styroporbeton" or comparable developments such as Thermotec® of Thermotec Vertriebs GmbH. However, the invention can of course generally for the production of flat / horizontal surfaces of loose materials (insulation materials, sand, gravel ...) or of viscous, self-curing suspensions (lightweight concrete, concrete screed ...) are used.

Bisher werden solche Tätigkeiten oft mit einfachen Linealen oder Leisten durchgeführt. Nachteilig ist, dass die Vermessung und Ausrichtung dabei sehr mühsam und zeitaufwendig ist und dass ohne hinreichende maßliche Orientierung oft nicht die nötige Genauigkeit erreicht wird. Daher wurden Systeme entwickelt, bei denen eine Abziehleiste an einer im Raum montierten Stütze drehbar montiert ist.So far, such activities are often performed with simple rulers or bars. The disadvantage is that the measurement and alignment is very laborious and time-consuming and that without sufficient dimensional orientation often not the necessary accuracy is achieved. Therefore, systems have been developed in which a peel strip is rotatably mounted on a support mounted in space.

Die DE 29922048 (U1 ) zeigt eine Vorrichtung zum planebenen Einbau von Trockenschüttungen. Zuerst wird am Boden des Raumes (bevorzugt in der Mitte) eine Stütze auf einer Bodenplatte montiert. Diese wird vertikal manuell exakt ausgerichtet. Als Hilfsmittel dienen dabei eine Laserzielplatte zum Abtasten des Meterrisses und ein Rotationslaser, welcher auf den Meterriss eingestellt ist. An der Stütze ist ein Lineal (Abziehleiste) manuell höhenverstellbar angebracht. Das Lineal ist zweiteilig Ausgeführt und kann während des Abziehens manuell in seiner Länge verstellt werden, um alle Ecken des Raumes zu erreichen. Am vorderen Ende des Lineals befindet sich eine Wasserwaagen-Libelle um die horizontale Ausrichtung des Lineals zu kontrollieren und gegebenenfalls manuell zu korrigieren.The DE 29922048 (U1 ) shows a device for plane installation of dry fillings. First, a support is mounted on a bottom plate at the bottom of the room (preferably in the middle). This is vertically aligned manually manually. The tools used are a laser target plate for scanning the meter crack and a rotary laser, which is set to the meter crack. On the support a ruler (honing strip) is manually height adjustable. The ruler is designed in two parts and can be manually adjusted in length during removal to reach all corners of the room. At the front end of the ruler is a spirit level dragonfly to control the horizontal alignment of the ruler and correct manually if necessary.

Nachteilig ist, dass vor dem Abziehen eine Stütze im Raum montiert werden muss und die Vorrichtung manuell ausgerichtet werden muss. Was in jedem Raum wiederholt werden muss, bzw. in einem großen Raum mehrmals vollzogen werden muss, wenn die Größe des Raumes die Reichweite (volle Länge) des Lineals überschreitet. Ein weiterer Nachteil ist, dass die Vorrichtung nach vollendeter Nivellierung wieder entfernt werden muss. Dadurch bleibt der Platz an dem die Stütze montiert war frei von Schüttgut und muss manuell aufgefüllt und geglättet werden.The disadvantage is that before removing a support must be mounted in the room and the device must be aligned manually. What needs to be repeated in each room, or in a large room must be repeated several times, when the size of the room exceeds the reach (full length) of the ruler. Another disadvantage is that the device must be removed after completion of leveling again. As a result, the space at which the support was mounted remains free of bulk material and must be manually filled and smoothed.

Die DE 10 2006 058 246 A1 zeigt eine in manchen Belangen verbesserte Vorrichtung zum Nivellieren von Schüttgut. Dabei wird auch eine Stütze im Raum montiert, vorzugsweise am Boden mit Verspannung zur Decke, jedoch ist auch eine Montage an der Wand angedacht, was zwar eine Einschränkung des Arbeitsbereichs zur Folge hat, aber keine Lücke bleibt, wo die Vorrichtung ansonsten am Boden montiert ist. Die Stütze wird mit Hilfe von Messeinrichtungen und Justiervorrichtungen manuell exakt ausgerichtet. An der Stütze ist ein zweigliedriger, verwindungssteifer Arm angebracht, der rund um die Vorrichtung geschwenkt werden kann. Am freien Ende des Arms ist ein Abziehschwert über einen senkrechten nach unten verlaufenden Stiel drehbar gelagert. Durch Montage der Stütze in der Raummitte kann ein Arbeitsbereich von ca. 30m2 abgedeckt werden. Optional ist eine Höhenverstellvorrichtung vorgesehen, um während des Abziehens die Höhe auf der sich das Abziehelement befindet konstant zu halten. Dies wird durch Messen der Höhe und automatische Höhenkorrektur durch eine elektrisch betriebene Spindel, welche die Position des Stiels bezüglich des Armes einstellt, erreicht.The DE 10 2006 058 246 A1 shows an improved in some aspects device for leveling bulk material. In this case, a support is mounted in the room, preferably on the ground with tension to the ceiling, but also an assembly on the wall is being considered, which although a restriction of the work area result has, but no gap remains where the device is otherwise mounted on the ground. The support is manually aligned with the aid of measuring devices and adjusting devices. Attached to the post is a bipartite, torsion-resistant arm that can be swiveled around the device. At the free end of the arm a peeling sword is rotatably supported by a vertical downwardly extending stem. By installing the support in the middle of the room, a working area of approx. 30m 2 can be covered. Optionally, a height adjustment device is provided in order to keep constant during the removal of the height at which the withdrawal element is located. This is achieved by measuring the height and automatic height correction by an electrically operated spindle which adjusts the position of the stem relative to the arm.

Nachteilig ist wiederum die nötige Montage und Ausrichtungsarbeit und der begrenzte Arbeitsbereich. Ein Vorteil gegenüber der DE 10 2006 058 246 A1 ist, dass die Arbeitshöhe automatisch angepasst werden kann. Nachteilig bleibt, dass die horizontale Ausrichtung der Abziehleiste manuell erfolgt.The disadvantage, in turn, the necessary assembly and alignment work and limited workspace. An advantage over the DE 10 2006 058 246 A1 is that the working height can be adjusted automatically. The disadvantage remains that the horizontal alignment of the peel strip is done manually.

Die CH 693638 A5 zeigt eine Vorrichtung bei welcher ein Abzugsbalken an seinen beiden Enden von je einer Abstützvorrichtung getragen wird. Die Ausrichtung des Abzugsbalkens erfolgt durch getrennt gesteuerte Höhenverstellung seiner beiden Enden an den Abstützvorrichtungen. Nachteilig sind die eingeschränkte Bewegungsfreiheit der Abstützvorrichtung und des Abzugsbalkens, das erhöhte Gewicht der Vorrichtung und die Notwendigkeit der Führung der Abstützvorrichtungen am Boden.The CH 693638 A5 shows a device in which a trigger beam is supported at its two ends by a respective support device. The orientation of the trigger beam is done by separately controlled height adjustment of its two ends to the support devices. Disadvantages are the limited freedom of movement of the supporting device and the trigger beam, the increased weight of the device and the need to guide the supporting devices on the ground.

Die US 20050265785 A1 zeigt eine Baumaschine, welche mit einer Abziehvorrichtung ausgestattet ist. Der Abzugsbalken ist dabei an seinen beiden Enden höhenverstellbar an einem Stützbalken gelagert. Der Stützbalken ist mit dem Ausleger der Baumaschine starr verbunden. Nachteilig sind die eingeschränkte Bewegungsfreiheit des Abzugsbalkens, das hohe Gewicht der Vorrichtung und der damit verbundene eingeschränkte Einsatzbereich.The US 20050265785 A1 shows a construction machine, which is equipped with a puller. The trigger beam is mounted at its two ends adjustable in height on a support beam. The support beam is rigidly connected to the boom of the construction machine. The disadvantage is the limited freedom of movement of the trigger beam, the high weight of the device and the associated limited application area.

Die US 2010/010183369 A1 zeigt eine Vorrichtung zur Nivellierung, welche eine an einem fahrbaren Rahmengestell montierte Abziehleiste aufweist. In einer ersten offenbarten Ausführungsvariante ist eine Abziehleiste an ihren beiden Enden jeweils mit einem Stiel am fahrbaren Rahmengestell montiert, wobei jeder der beiden Stile höhenverstellbar ist. Wenn die Höhenverstell-Vorrichtungen der beiden Stiele unabhängig voneinander angesteuert werden, kann die Abziehleiste horizontal ausgerichtet werden. Nachteilig sind die eingeschränkte Bewegungsfreiheit der Abziehleiste, das hohe Gewicht der Vorrichtung und der damit verbundene eingeschränkte Einsatzbereich.The US 2010/010183369 A1 shows a device for leveling, which has a mounted on a mobile frame scraper. In a first disclosed embodiment, a peel strip is mounted at its two ends in each case with a handle on the mobile frame, wherein each of the two styles is height adjustable. If the height adjustment devices of the two stems are controlled independently of each other, the Abziehleiste can be aligned horizontally. The disadvantage is the limited freedom of movement of the peel strip, the high weight of the device and the associated limited application area.

In einer weiteren Ausführungsvariante der US 2010/010183369 A1 , dargestellt in deren Fig. 11, weist die Vorrichtung nur einen zentralen Stiel auf, wobei dieser lediglich eine Vorrichtung zur Höhenverstellung aufweist. Die Neigung und der Winkel der Abziehleiste sind bei dieser Ausführungsvariante nicht steuer- oder regelbar. Die Abziehleiste ist dabei immer parallel zum fahrbaren Rahmengestell ausgerichtet. Die Neigung und der Winkel der Abziehleiste sind daher nachteilig nicht unabhängig vom fahrbaren Rahmengestell steuerbar. Nachteilig wird daher zwangsläufig ein fahrbares Rahmengestell benötigt, welches selbst parallel zum Boden ausgerichtet ist. Bodenunebenheiten, welche zu einer Schrägstellung des Fahrgestells führen, können nicht ausgeglichen werden.In a further embodiment of the US 2010/010183369 A1 , shown in their Fig. 11, the device has only a central handle, which only has a device for height adjustment. The inclination and the angle of the peel strip are not taxable or regulated in this embodiment. The peel strip is always aligned parallel to the mobile frame. The inclination and the angle of the peel strip are therefore disadvantageous not independently controlled by the mobile frame. The disadvantage is therefore inevitably a mobile frame needed, which is aligned even parallel to the ground. Uneven ground, which lead to an inclination of the chassis, can not be compensated.

Die US 2004/0071509 A1 zeigt eine Abziehvorrichtung, bei welcher die Höhe- die Neigung und der Winkel der Abziehleiste gemessen werden und dem Bediener dargestellt werden, damit dieser auf Abweichungen reagieren kann. Die Abziehleiste ist starr mit ein oder zwei Bedienelementen zum Ziehen der Abziehvorrichtung über die zu ebnende Fläche verbunden. Nachteilig ist, dass die Vorrichtung durch den Bediener selbst horizontal und auf die richtige Höhe ausgerichtet werden muss. Die WO 2007/116044 A1 offenbart eine ähnliche Vorrichtung mit einem an der Abziehleiste zentral befestigten Stiel mit einer Sensoreinheit zur Erfassung der Höhe und einen Aktuator zum Verstellen der Höhe. Die der Erfindung zu Grunde liegende Aufgabe besteht darin, eine Vorrichtung zu schaffen, mit der es gelingt nach dem Aufbringen einer Schüttung von leichtem Material auf einfache Weise eine exakt horizontale Fläche herzustellen. Dabei soll die Nivellierungsarbeit von einer Person mit deutlich weniger Aufwand und körperlicher Anstrengung gegenüber bekannten manuellen Verfahren durchgeführt werden können, ohne dabei aufwendige und zeitintensive Montage- oder Vermessungsarbeiten durchführen zu müssen.The US 2004/0071509 A1 shows a puller in which the height - the inclination and the angle of the puller bar are measured and presented to the operator so that it can respond to deviations. The puller bar is rigidly connected to one or two controls for pulling the puller over the surface to be leveled. The disadvantage is that the device itself must be aligned horizontally and to the correct height by the operator. The WO 2007/116044 A1 discloses a similar device having a stem attached centrally to the wiper strip with a sensor unit for detecting the height and an actuator for adjusting the height. The object underlying the invention is to provide a device with which it succeeds after application a bed of lightweight material to easily create an exactly horizontal surface. The leveling work should be able to be performed by a person with significantly less effort and physical effort compared to known manual methods, without having to perform consuming and time-consuming assembly or surveying.

Für das Lösen der Aufgabe wird vorgeschlagen, ein Abziehelement mit Hilfe von Sensoren und Aktuatoren so auszugestalten, dass es unabhängig von den Bewegungen des Bedieners immer auf derselben horizontalen Ebene gehalten wird.For solving the problem it is proposed to design a pull-off element with the aid of sensors and actuators in such a way that it is always held on the same horizontal plane independently of the movements of the operator.

Das Abziehelement besteht dabei aus einer langestreckten Abziehleiste und einem bevorzugt in seiner Länge veränderlichen Stiel der bevorzugt als Teleskopstange ausgebildet ist. Diese Teleskopstange ist an ihrem unteren Ende bevorzugt über ein Gelenk mit der Abziehleiste verbunden. Dieses Gelenk wird über einen Aktuator oder mehrere Aktuatoren verstellt und zwar derart, dass die Abziehleiste immer exakt horizontal ausgerichtet ist. Die nötigen Daten erhalten diese Aktuatoren von geeigneten Sensoren, welche die räumliche Ausrichtung der Abziehleiste erfassen. Es wird also ein Regelkreis gebildet, bei dem das Signal der Sensoren als Stellgröße für die Aktuatoren dient.The peeling element consists of an elongated peel strip and a preferably variable in length stem which is preferably designed as a telescopic rod. This telescopic rod is preferably connected at its lower end via a hinge with the peel strip. This joint is adjusted via an actuator or more actuators in such a way that the Abziehleiste is always exactly aligned horizontally. The necessary data is obtained from these actuators by suitable sensors which detect the spatial orientation of the wiper strip. Thus, a control loop is formed, in which the signal of the sensors serves as a manipulated variable for the actuators.

An der Teleskopstange befindet sich ein weiterer Sensor, der dazu in der Lage ist die Höhe zu erfassen, auf der er sich befindet. Dieser Sensor dient zur Steuerung bzw. Regelung eines Aktuators, welcher die Länge der Teleskopstange bestimmt. Ziel ist es dabei, die Abziehleiste auf konstanter Höhe zu halten. Wird also der Stiel vom Benutzer höher gehalten, so ändert sich die Höhe, auf der sich der Sensor am oberen Ende der Teleskopstange befindet. Die Information des Sensors wird dazu genutzt, um durch den Aktuator in der Teleskopstange die Länge der Teleskopstange zu verändern. Wenn der Stiel also höher gehalten wird, wird durch den Aktuator die Länge der Teleskopstange im gleichen Maß verlängert. Dadurch bleibt die Abziehleiste immer auf derselben Höhe.There is another sensor on the telescopic pole that is capable of detecting the altitude at which it is located. This sensor is used to control an actuator, which determines the length of the telescopic rod. The goal is to keep the honing strip at a constant height. So if the stem is held higher by the user, the height at which the sensor is located at the upper end of the telescopic rod changes. The information of the sensor is used to change the length of the telescopic rod by the actuator in the telescopic rod. So if the stem is held higher, the length of the telescopic pole is extended by the actuator to the same extent. As a result, the Abziehleiste always remains at the same height.

Durch die beiden Aktuator/Sensor Kombinationen wird erreicht, dass, unabhängig von der Ausrichtung des Stiels bezüglich der Vertikale und bezüglich der Höhe auf der er gehalten wird, die Abziehleiste immer auf eine, bezüglich des Raumes konstant hohe, horizontale Ebene ausgerichtet ist.By the two actuator / sensor combinations is achieved that, regardless of the orientation of the stem relative to the vertical and with respect to the height at which it is held, the Abziehleiste is always aligned with respect to the space constantly high, horizontal plane.

Das gegenständliche Nivelliergerät bietet gegenüber dem Stand der Technik mehrere Vorteile.

  • Zeitersparnis, da aufwendige Vermessungsarbeiten und/oder Montagearbeiten entfallen. Tests haben gezeigt, dass gegenüber herkömmlichen Verfahren eine Bearbeitungszeit von zumindest der Hälfte erreicht wird.
  • Kostenersparnis, da eine Person die Nivellierungsarbeit durchführen kann und durch die deutlich reduzierte Arbeitsdauer zusätzlich Lohnkosten eingespart werden können.
  • Arbeitskomfort und gesundheitliche Aspekte, da die Nivellierungsarbeit im Stehen ausgeführt werden kann und Arbeiten in gebückter Haltung oder auf den Knien entfallen.
The subject leveling device offers several advantages over the prior art.
  • Saving time, since complex surveying and / or assembly work accounts. Tests have shown that a processing time of at least half is achieved compared to conventional methods.
  • Cost savings, as a person can perform the leveling work and can be saved by the significantly reduced working time in addition to labor costs.
  • Work comfort and health aspects, as the leveling work can be carried out standing up and eliminating work in a stooping position or on the knees.

In einer besonders bevorzugten Ausführungsform, wird zur Halterung des Abziehelements zusätzlich ein Tragelement samt Tragweste eingesetzt. Beim Tragelement kann es sich vorzugsweise um einen parallelstatischen Gelenkarm handeln. Solche Tragelemente in Verbindung mit einer Tragweste sind nach dem Stand der Technik bekannt und werden bei Filmkameras eingesetzt um eine ruhige Kameraführung zu ermöglichen. Diese Vorrichtung aus Kamera mit Tragarm und Tragweste ist auch als Steadycam bekannt. Der Aufbau eines solchen Systems ist beispielsweise aus der US 5360196 (A ) bekannt. Der Einsatz dieser Tragvorrichtung in Zusammenhang mit einem Nivellierungsgerät ist hingegen neu und bietet folgende Vorteile.

  • Erhöhter Komfort, da das Gewicht des Abziehelements nicht von den Armen des Benutzers getragen wird, sondern vom Tragarm der Tragvorrichtung. Das Gewicht des Abziehgerätes und des Tragarms wird über die Tragweste auf die Schultern und das Becken des Benutzers verteilt, wodurch eine Ermüdung der Armmuskulatur verhindert wird.
  • Bessere, erleichterte Ausrichtung des Abziehelements. Da der Oberkörper des Benutzers auch in Bewegung immer annähernd senkrecht steht, steht auch der Stiel des Abziehgeräts immer annähernd senkrecht. So entstehen nur geringere Abweichungen der Abziehleiste von der horizontalen Lage und das Stellglied zwischen Stiel und Abziehleiste muss nur geringere Winkelabweichungen ausgleichen.
  • Verlangsamung der Vertikalbewegung. Durch die Ausführung des Tragarms als parallelstatischer Gelenkarm wird erreicht, dass das Abziehelement vertikalen Bewegungen des Benutzers nur langsam folgt. Dadurch ergeben sich geringere Anforderungen an die Schnelligkeit des Stellglieds für die Längenänderung des Stiels bzw. der Teleskopstange.
In a particularly preferred embodiment, a support element including carrying vest is additionally used for holding the Abziehelements. The support element may preferably be a parallel-static articulated arm. Such support elements in conjunction with a carrying vest are known in the art and are used in film cameras to allow a smooth camera guide. This device with camera with support arm and vest is also known as Steadycam. The structure of such a system is for example from the US 5360196 (A ) known. The use of this support device in conjunction with a leveling device, however, is new and offers the following advantages.
  • Increased comfort because the weight of the puller is not carried by the user's arms but by the support arm of the carrier. The weight of the puller and the support arm is over the vest on the shoulders and distributes the user's pelvis, preventing fatigue of the arm muscles.
  • Better, easier alignment of the puller. Since the user's upper body is always almost vertical even when in motion, the handle of the puller is always almost vertical. This results in only minor deviations of the peel strip from the horizontal position and the actuator between the handle and peel strip only has to compensate for smaller angular deviations.
  • Slowing down the vertical movement. By carrying out the support arm as a parallel-static articulated arm is achieved that the puller follows vertical movements of the user only slowly. This results in lower demands on the speed of the actuator for the change in length of the stem or the telescopic rod.

Für die Ausgestaltung des Sensors am Stiel bestehen mehrere Möglichkeiten, beispielsweise können Sensoren zur Trägheitsnavigation (Inertialnavigation) eingesetzt werden. Ein Beispiel dafür sind inertiale Messeinheiten (englisch inertial measurement unit, IMU), bei welchen drei orthogonal angeordnete Beschleunigungssensoren (auch als Translationssensoren bezeichnet) und drei orthogonal angeordnete Drehratensensoren (auch als Gyroskopische Sensoren bezeichnet) auf einer Plattform (Trägheitsplattform) angeordnet sind. Als Drehratensensoren können auch optische Kreisel (Ring-Laser-Kreisel oder faseroptischen Kreisel) eingesetzt werden. Besonders vorteilhaft aufgrund ihrer geringen Größe und ihres geringen Stromverbrauchs sind Mikro-ElektroMechanische Systeme (MEMS), welche die Integration von Inertialsensoren auf Mikrochip-Ebene ermöglichen.For the design of the sensor on the stem there are several possibilities, for example, sensors for inertial navigation (inertial navigation) can be used. An example of this is inertial measurement units (IMU), in which three orthogonally arranged acceleration sensors (also referred to as translation sensors) and three orthogonally arranged yaw rate sensors (also called gyroscopic sensors) are arranged on a platform (inertial platform). As rotation rate sensors and optical gyroscope (ring laser gyro or fiber optic gyroscope) can be used. Particularly advantageous because of their small size and low power consumption are micro-electro-mechanical systems (MEMS), which allow the integration of microchip inertial sensors.

Der Sensor an der Abziehleiste kann beispielsweise aus einem oder mehreren elektronischen Neigungsmessern bestehen, wie z.B. elektronische Wasserwaagen. Natürlich können auch dieselben oder ähnliche Inertialsensoren wie beim Sensor am oberen Ende des Stiels verwendet werden.For example, the sensor on the wiper strip may consist of one or more electronic inclinometers, such as electronic spirit levels. Of course, the same or similar inertial sensors as in the sensor at the top of the stem can be used.

Natürlich ist es auch möglich, nur einen Inertialsensor (inertiale Messeinheit) in der Abziehleiste vorzusehen, der zur Steuerung/Regelung beider Stellglieder dient, also für das Stellglied zur Änderung der Winkelstellung zwischen Stiel und Abziehleiste und für das Stellglied zur Änderung der Länge des Stiels.Of course, it is also possible to provide only one Inertialsensor (inertial measurement unit) in the Abziehleiste, which serves to control / regulation of both actuators, ie for the actuator to change the angular position between stem and Abziehleiste and for the actuator for changing the length of the stem.

Auch ist es möglich, für die horizontale Ausrichtung zwei im Winkel von 90° zueinander angeordnete elektrische Wasserwaagen vorzusehen und nur für das Erfassen der Vertikalbewegung einen Inertialsensor einzusetzen.It is also possible to provide for the horizontal alignment two at an angle of 90 ° to each other arranged electric spirit levels and to use an inertial sensor only for detecting the vertical movement.

Daraus resultiert ein System, bei welchem für die horizontale Ausrichtung absolute Messwerte vorliegen und für die Einstellung der Vertikalposition relative. Sollen auch für die Vertikalposition absolute Messdaten erfasst werden, so muss anstelle des Inertialsensors ein anderes Messsystem eingesetzt werden.This results in a system in which there are absolute measured values for the horizontal orientation and relative for the adjustment of the vertical position. If absolute measurement data are to be recorded for the vertical position as well, then another measuring system must be used instead of the inertial sensor.

Solche Messsysteme können zum Beispiel optisch sein, unter Verwendung von einer oder mehrerer Lichtquellen wie Leuchtdioden, Laserdioden, Lasern oder Rotationslasern und einem oder mehreren lichtempfindlichen Sensor (Z.B. Photodiode, Photodetektor).Such measurement systems may be, for example, optical, using one or more light sources such as light-emitting diodes, laser diodes, lasers or rotary lasers, and one or more photosensitive sensors (e.g., photodiode, photodetector).

Als Verfahren kommen auch Laufzeitmessungen (z.B. mittels Ultraschall oder Lichtstrahl) in Betracht, z.B. Laufzeitmessung zur Decke eines Raumes durch eine Sender/Empfänger Anordnung an der Spitze des Stiels und Erfassen der Abweichung von der Vertikale des Stiels durch eine in diesem angeordnete elektronische Wasserwaage. Natürlich funktioniert so eine Umsetzung nur in Räumen mit einer horizontalen, ebenen Decke.Time-of-flight measurements (e.g., by ultrasound or light beam), e.g. Runtime measurement to the ceiling of a room by a transmitter / receiver arrangement at the top of the stem and detecting the deviation from the vertical of the stem by a arranged in this electronic spirit level. Of course, such an implementation works only in rooms with a horizontal, level ceiling.

Es sind auch Systeme denkbar, bei welchen die Lichtquelle am Stiel oder an der Abziehleiste angeordnet ist und der oder die Sensoren zum Erfassen der räumlichen Lage der Lichtquelle im Raum angeordnet sind. Umgekehrt kann natürlich auch die Lichtquelle im Raum angeordnet sein und der lichtempfindliche Sensor am Stiel oder der Abziehleiste des Abziehelements angeordnet sein.Systems are also conceivable in which the light source is arranged on the handle or on the stripper and the sensor or sensors for detecting the spatial position of the light source are arranged in space. Conversely, of course, the light source can be arranged in the room and the light-sensitive sensor on the stem or the Abziehleiste the Abziehelements be arranged.

Diese hier beschriebenen, nach dem Stand der Technik für sich ohnedies bekannten Messvorrichtungen dienen zur Veranschaulichung der Erfindung und können natürlich in beliebiger für den Fachmann naheliegender Art und Weise kombiniert werden oder durch andere nach dem Stand der Technik bekannten Messeinrichtungen, welche zum Erfassen der räumlichen Lage und Position einer Vorrichtung dienen, ersetz oder ergänzt werden.These prior art measuring devices described herein are illustrative of the invention and may, of course, be combined in any manner well-known to those skilled in the art, or by other prior art known measuring devices for detecting the spatial location and position of a device serve, be replaced or supplemented.

Die Erfindung wird an Hand von Zeichnungen veranschaulicht:

Fig. 1:
Zeigt die bevorzugte Ausgestaltung des erfindungsgemäßen Abziehelements.
Fig. 2:
Zeigt das Prinzip nach welchem das Abziehen erfolgt.
Fig. 3:
Zeigt die bevorzugte Ausgestaltung der erfindungsgemäßen Abziehelements mit Verwendung einer Tragvorrichtung und Darstellung eines möglichen Sensorprinzips.
Fig. 4:
Zeigt das Prinzip der gelenkigen Verbindung zwischen Stiel und Abziehleiste und die Ansteuerung der Aktuatoren.
Fig. 5:
Zeigt eine zweite bevorzugte Variante des Erfindungsgemäßen Abziehelements.
The invention is illustrated by means of drawings:
Fig. 1:
Shows the preferred embodiment of the peeling element according to the invention.
Fig. 2:
Shows the principle according to which the stripping takes place.
3:
Shows the preferred embodiment of the peeling element according to the invention with the use of a support device and representation of a possible sensor principle.
4:
Shows the principle of the articulated connection between the handle and the extraction strip and the actuation of the actuators.
Fig. 5:
Shows a second preferred variant of the inventive stripping.

Die gegenständliche Erfindung ist erstens dadurch geprägt, dass die räumliche Orientierung der Abziehleiste 1 erfasst wird. Genauer gesagt ist es ausreichend, dass ihre horizontale Ausrichtung und die Höhe h, auf welcher sie sich bezüglich einer Bezugsebene befindet, durch Sensoren erfasst werden. Zweitens dadurch dass ein oder mehrere Aktuatoren 5 vorhanden sind, welche dazu dienen die horizontale Ausrichtung und die Höhe h der Abziehleiste 1 zu steuern und/oder zu regeln.The subject invention is characterized firstly by the fact that the spatial orientation of the peel strip 1 is detected. More specifically, it is sufficient that its horizontal orientation and the height h on which it is located with respect to a reference plane are detected by sensors. Second, by having one or more actuators 5, which serve to control and / or regulate the horizontal orientation and the height h of the puller strip 1.

Fig. 2 zeigt die Abziehleiste 1 in einer ersten und einer zweiten Position. Die räumliche Position und Ausrichtung der Abziehleiste 1 kann in einem Bezugs-/Weltkoordinatensystem (x, y, z) erfasst werden und/oder in einem relativen Koordinatensystem (x',y',z') bzw. (x", y", z"). Die x-y Ebene des Weltkoordinatensystems ist in der Regel horizontal ausgerichtet und die z Achse vertikal. Die x-y Ebene kann dabei real vorhanden sein, zb. der Boden oder die Decke eines Raumes, durch Hilfsmittel vorgegeben werden (zb. Projektion durch einen Rotationslaser 6.2.1) oder rein virtuell sein. Die Ebene x'-y' wird durch die Unterseite der Abziehleiste 1 gebildet, sprich von der Fläche die während des Nivellierens am Boden aufliegt. Während des Nivellierens wird durch die Ebene x'-y' immer parallel zur Ebene x-y ausgerichtet. Die x-y Ebene dient auch als horizontale Bezugsebene zur Steuerung / Regelung der Höhe h der Abziehleiste 1. Daher ist es ausreichend vor dem Nivellieren eine Bezugsebene vorzugeben. Da diese in der Regel horizontal ausgerichtet ist, reicht es aus die Neigung der Ebene x'-y' zu erfassen und so zu steuern bzw. zu regeln, dass diese null beträgt, sprich die Ebene x'-y' auch horizontal ist. Fig. 2 shows the stripper 1 in a first and a second position. The spatial position and orientation of the peel strip 1 can be detected in a reference / world coordinate system (x, y, z) and / or in a relative coordinate system (x ', y', z ') or (x ", y", z) The xy plane of the world coordinate system is usually oriented horizontally and the z axis is vertical, the xy plane can be real, eg. the floor or the ceiling of a room can be given by means (eg projection by a rotating laser 6.2.1) or purely virtual. The plane x'-y 'is formed by the underside of the peel strip 1, that is, the surface which rests on the ground during leveling. During leveling, the plane x'-y 'always aligns parallel to the xy plane. The xy plane also serves as the horizontal reference plane for controlling the height h of the pull bar 1. Therefore, it is sufficient to set a reference plane before leveling. Since this is usually aligned horizontally, it is sufficient to detect the inclination of the plane x'-y 'and to control or regulate so that it is zero, that is, the plane x'-y' is also horizontal.

Ist die Bezugsebene x-y real vorhanden, so wird die Höhendifferenz zwischen dieser Ebene und der Ebene x'-y' gemessen und durch die Steuerung/Regelung konstant gehalten. Soll die Höhe h relativ erfasst werden, z.B. durch einen Inertialsensor, so kann die Ebene x-y virtuell vorgegeben werden. Dies kann erfolgen indem die Abziehleiste auf die gewünschte Höhe gehalten wird und die so vorliegende Ebene x'-y' als Bezugsebene x-y referenziert wird. Während des Nivellierens wird die Höhendifferenz zwischen den beiden Ebenen auf null gehalten.If the reference plane x-y real is present, the height difference between this plane and the plane x'-y 'is measured and kept constant by the controller. If the height h is to be relatively detected, e.g. by an inertial sensor, the plane x-y can be virtually specified. This can be done by keeping the peel strip at the desired height and referencing the plane x'-y 'thus present as a reference plane x-y. During leveling, the height difference between the two levels is kept at zero.

In Fig. 1 wird eine mögliche Umsetzung des Abziehelements gezeigt. Dabei sind die Abziehleiste 1 und der Stiel 3 über ein Gelenk 2 miteinander verbunden, welches zumindest 2 Freiheitsgrade aufweist. Beispielsweise kann es als ein Kugelgelenk oder als zwei nacheinander im Winkel von 90° zueinander angeordneten Drehgelenken ausgebildet sein. Damit lässt sich die horizontale Ausrichtung der Abziehleiste 1 unabhängig von der vertikalen Ausrichtung des Stiels 3 verändern, bzw. konstant waagrecht halten. Um die Höhe h der Abziehleiste 1 verändern zu können, ist der Stiel 3 in seiner Länge veränderlich ausgeführt. In Fig. 1 ist der Stiel 3 als Teleskoprohr ausgeführt, wobei der untere Teil des Stiels 3 einen geringeren Durchmesser hat und im oberen Teil des Stiels 3, welcher einen größeren Durchmesser hat, aufgenommen ist. Im oberen Teil des Stiels 3 befindet sich ein Linearantrieb, welcher den unteren Teil des Stiels 3 aus dem oberen Teil des Stiels 3 heraus bzw. in ihn hinein bewegt. Damit diese Relativbewegung der beiden Stielteile eine Höhenveränderung der Abziehleiste 1 bewirkt, muss der obere Teil des Stiels gehalten werden. Die Halterung muss der Bewegung des oberen Teils des Stiels 3 eine Kraft (Gegenkraft) entgegen setzen, die höher ist als die Kraft, welche zum Bewegen der Abziehleiste 1 samt dem unteren Teil des Stiels 3 vertikal zur nivellierenden Fläche aufgebracht wird. Das Halten des oberen Teils des Stiels 3 kann durch eine Person erfolgen, oder bevorzugt durch eine Tragvorrichtung. Wird das Abziehelement direkt von einer Person gehalten, hat dies den Nachteil, dass die Gewichtskraft des Abziehelements auf die Arme der Person wirkt. Die Person muss zusätzlich zur Gewichtskraft auch die Gegenkraft aufbringen, welche wechselweise mit oder gegen die Gewichtskraft wirken kann.In Fig. 1 a possible implementation of the peeling element is shown. The peel strip 1 and the stem 3 are connected to each other via a joint 2, which has at least 2 degrees of freedom. For example, it may be formed as a ball joint or as two successively arranged at an angle of 90 ° to each other pivot joints. This makes it possible to change the horizontal orientation of the peel strip 1, regardless of the vertical orientation of the handle 3, or keep it constant horizontally. In order to change the height h of the peel strip 1, the stem 3 is made variable in its length. In Fig. 1 the handle 3 is designed as a telescopic tube, wherein the lower part of the stem 3 has a smaller diameter and in the upper part of the stem 3, which has a larger diameter added is. In the upper part of the stem 3 is a linear drive, which moves the lower part of the stem 3 from the upper part of the stem 3 out or into it. For this relative movement of the two handle parts causes a change in height of the puller strip 1, the upper part of the stem must be kept. The support must oppose to the movement of the upper part of the stem 3 a force (counterforce) which is higher than the force which is applied to move the Abziehleiste 1 together with the lower part of the stem 3 vertically to the leveling surface. The holding of the upper part of the stem 3 can be done by a person, or preferably by a carrying device. If the peeling element is held directly by a person, this has the disadvantage that the weight of the peeling element acts on the arms of the person. In addition to the weight force, the person must also apply the counterforce, which can act alternately with or against the weight force.

Fig. 3 zeigt die vorteilhaft Halterung des Abziehelements an einer Tragvorrichtung. Die Tragvorrichtung besteht aus einem Tragarm 8 und einem Traggeschirr 9. Das Traggeschirr dient dazu die Gewichtskraft des Abziehelements und des Tragarms 8 auf den Körper einer Person zu übertragen. Das Traggeschirr 9 kann in Form einer Tragweste am Oberkörper angebracht sein, oder auch im Hüft- oder Oberschenkelbereich. Der Tragarm 8 ist im Beispiel nach Fig. 3 als parallelstatischer Gelenkarm ausgebildet. Im mittleren vertikal schwenkbaren Teil der Gelenkarms ist eine Feder angebracht, deren Vorspannung der Gewichtskraft des Abziehelements entspricht. Die Federkraft wirkt also der Gewichtskraft entgegen. Somit kann das Abziehelement durch die Person, an welcher das Traggeschirr 9 befestigt ist, mit den Armen bedient werden, ohne dass diese das Abziehelement halten müssen. Fig. 3 shows the advantageous holding the Abziehelements on a support device. The support device consists of a support arm 8 and a harness 9. The harness serves to transmit the weight of the Abziehelements and the support arm 8 to the body of a person. The harness 9 may be attached in the form of a vest on the upper body, or in the hip or thigh area. The support arm 8 is in the example after Fig. 3 designed as a parallel static articulated arm. In the middle vertically pivotable part of the articulated arm, a spring is mounted, whose bias corresponds to the weight of the Abziehelements. The spring force thus counteracts the weight. Thus, the pull-off element can be operated by the person to whom the carrying harness 9 is fastened, with the arms, without having to hold the pull-off element.

Der Tragarm 8 ist mit dem Traggeschirr 9 über ein Drehgelenk mit dem Traggeschirr 9 verbunden. Die Drehachse des Gelenks verläuft vertikal, damit lässt sich das Abziehelement relativ zur Person in der horizontalen Ebene schwenken. Ein weiteres Drehgelenk befindet sich am vorderen Ende des Tragarms 8, wo das Verbindungselement 7 in diesen eingreift. Die Drehachse ist wiederum vertikal ausgerichtet, sodass das Abziehelement um diese Achse in der horizontalen Ebene schwenkbar ist. Wenn dieses Drehgelenk nahe am Stiel 3 ist, oder der Stiel 3 durch das Drehgelenk hindurch verläuft kann das Abziehelement quasi oder exakt um die senkrechte Achse des Stiels 3 gedreht werden. Selbiges wird erreicht, wenn an der Seite des Verbindungselements 7, in welcher der Stiel 3 aufgenommen wird, ein Drehgelenk mit senkrechter Drehachse vorhanden ist.The support arm 8 is connected to the harness 9 via a hinge with the harness 9. The axis of rotation of the joint is vertical, so that the Abziehelement can pivot relative to the person in the horizontal plane. Another hinge is located at the front end of the support arm 8, where the connecting element 7 engages in these. The axis of rotation is again vertically aligned, so that the Abziehelement is pivotable about this axis in the horizontal plane. If this hinge is close to the stem 3, or the stem 3 passes through the hinge through the Abziehelement can be quasi or exactly rotated about the vertical axis of the stem 3. The same is achieved if on the side of the connecting element 7, in which the stem 3 is received, a rotary joint with a vertical axis of rotation is present.

Das Abziehelement kann auch von einem Roboter getragen werden. Dazu ist bevorzugt ein Tragarm 8 auf einer steuerbaren mobilen Roboterplattform montiert. Da das erfindungsgemäße Abziehelement inklusive Aktoren und Sensoren sehr leicht ausgeführt werden kann, vorzugsweise unter 5 kg, besonders bevorzugt unter 3 kg, kann ein leichter, kleiner Roboter verwendet werden, welcher im Innenraum von Gebäuden verwendet werden kann.The puller can also be carried by a robot. For this purpose, a support arm 8 is preferably mounted on a controllable mobile robot platform. Since the peeling element according to the invention including actuators and sensors can be made very easily, preferably below 5 kg, more preferably below 3 kg, a lighter, smaller robot can be used, which can be used in the interior of buildings.

In Fig. 3 wird ein Sensorprinzip gezeigt, bei welchem ein im Raum angebrachter Rotationslaser 6.2.1 zur Anwendung kommt. Der Rotationslaser 6.2.1 ist bevorzugt horizontal selbstnivellierend ausgeführt. Die Verfahrensschritte zum Durchführen der Nivellierung stellen sich in diesem Fall wie folgt dar:

  • Aufstellen des Rotationslasers 6.2.1 an einem beliebigen Punkt im Raum, auf einer beliebigen oder ausgemessenen Höhe. Dazu kann ein Stativ mit Dreibein dienen.
  • Selbstnivellieren des Rotationslasers 6.2.1 auf die Horizontale.
  • Anlegen des Traggeschirrs 9 mit Tragarm 8 und Abziehelement 1.
  • Festlegen der Höhendifferenz, welche die Abziehleiste 1 zur durch den Rotationslaser 6.2.1 vorgegebenen Ebene x-y einnehmen soll.
  • Bei beliebiger Höhe des Lasers kann die Abziehleiste auf die gewünschte Höhe h gehalten werden und die Höhendifferenz zur Ebene x-y als Referenzwert festgelegt werden.
  • Bei ausgemessener Höhe des Lasers kann ein Absolutwert für die Höhendifferenz vorgegeben werden. Z.B. die Höhendifferenz soll exakt 100cm betragen.
  • Abschreiten des Raumes unter Handhabung (schwenken/drehen der Abziehleiste 1 in der horizontalen Ebene) des Abziehelements.
  • Während des Abschreitens wird die Abziehleiste 1 durch die Aktuatoren 5 in der Horizontalen gehalten und durch den Aktuator 4 wird die Höhendifferenz der Abziehleiste 1 zur Bezugsebene, welche vom Rotationslaser aufgespannt wird, konstant gehalten. Die Aktuatoren 5 werden unter Verarbeitung der Daten/Signale des oder der Sensors 6.1 angesteuert bzw. geregelt. Der Aktuator 4 wird unter Verarbeitung der Daten/Signale des oder der Sensors 6.2 angesteuert bzw. geregelt. Als Sensoren 6.1 können beispielsweise zwei im Winkel von 90° zueinander angeordnete elektronische Wasserwaagen, oder eine inertiale Messeinheit eingesetzt werden. Als Sensor 6.2 wird ein optischer Empfänger verwendet, welcher dazu in der Lage ist die Höhendifferenz zur vom Rotationslaser 6.2.1 aufgespannten Bezugsebene x-y festzustellen.
In Fig. 3 a sensor principle is shown in which a mounted in space rotating laser 6.2.1 is used. The rotary laser 6.2.1 is preferably carried out horizontally self-leveling. The method steps for performing the leveling in this case are as follows:
  • Setting up the rotary laser 6.2.1 at any point in the room, at any or measured height. This can be a tripod with a tripod serve.
  • Self-leveling of the rotary laser 6.2.1 on the horizontal.
  • Application of the harness 9 with support arm 8 and peeling 1.
  • Setting the height difference, which is the take-off strip 1 to occupy the predetermined by the rotation laser 6.2.1 level xy.
  • At any height of the laser, the peel bar can be kept at the desired height h and the height difference to the xy plane can be set as the reference value.
  • If the height of the laser is measured, an absolute value for the height difference can be specified. For example, the height difference should be exactly 100cm.
  • Walk the room with handling (pivoting / turning the screed 1 in the horizontal plane) of the puller.
  • During Abschreitens the Abziehleiste 1 is held by the actuators 5 in the horizontal and by the actuator 4, the height difference of the Abziehleiste 1 is maintained constant to the reference plane, which is spanned by the rotary laser. The actuators 5 are controlled or processed by processing the data / signals of the sensor or 6.1. The actuator 4 is controlled or processed by processing the data / signals of the sensor or 6.2. As sensors 6.1, for example, two at an angle of 90 ° to each other arranged electronic spirit levels, or an inertial measuring unit can be used. As sensor 6.2, an optical receiver is used, which is able to determine the height difference to the plane defined by the rotation laser 6.2.1 reference plane xy.

In Fig. 4 wird das Prinzip gezeigt wie die Abziehleiste 1 in der Waagrechten gehalten wird, wenn ein Gelenk 2 zwischen Abziehleiste 1 und Stiel 3 vorhanden ist. Das Gelenk 2 ist in diesem Fall durch zwei Drehgelenke gebildet, wobei jedes dieser Drehgelenke mit einem Motor verstellbar ist. Der Motor kann als Direktantrieb, Servo- oder Schrittmotor ausgeführt sein. Wichtig ist, dass ein hoch dynamischer Antrieb eingesetzt wird um hochfrequenten kleinsten Korrekturbewegungen vollführen zu können. Zum Ansteuern der Motoren wird das Signal der Sensoren 6.1 verarbeitet. Beispielsweise sind diese elektronische Wasserwaagen. Eine dieser Wasserwaagen ist in Richtung der x-Achse angeordnet, die andere in Richtung der y-Achse (nicht gezeigt, verläuft senkrecht zur Papierebene). Wird von der Wasserwaage, die in Richtung der x-Achse angeordnet ist, eine Abweichung von der Horizontalen detektiert, wird der Motor, dessen Drehachse in y-Richtung verläuft, angesteuert um diese Abweichung auszugleichen. Wird von der Wasserwaage, die in Richtung der y-Achse angeordnet ist, eine Abweichung von der Horizontalen detektiert, wird der Motor, dessen Drehachse in x-Richtung verläuft, angesteuert um diese Abweichung auszugleichen. Natürlich können wiederum auch andere Sensoren 6.1 eingesetzt werden um diese Abweichungen zu detektieren.In Fig. 4 the principle is shown how the Abziehleiste 1 is held in the horizontal, when a joint 2 between Abziehleiste 1 and 3 stem is present. The joint 2 is formed in this case by two hinges, each of these hinges is adjustable with a motor. The motor can be designed as a direct drive, servo or stepper motor. It is important that a highly dynamic drive is used to perform high-frequency, smallest correction movements. For driving the motors, the signal of the sensors 6.1 is processed. For example, these are electronic spirit levels. One of these spirit levels is arranged in the direction of the x-axis, the other in the direction of the y-axis (not shown, runs perpendicular to the paper plane). Is used by the spirit level, which in Direction of the x-axis is arranged, detects a deviation from the horizontal, the motor whose axis of rotation in the y-direction, driven to compensate for this deviation. If the spirit level, which is arranged in the direction of the y-axis, detects a deviation from the horizontal, the motor, whose axis of rotation runs in the x-direction, is controlled in order to compensate for this deviation. Of course, in turn, other sensors 6.1 can be used to detect these deviations.

Der Sensor 6.2 für die Höhendetektion ist in diesem Fall in der Abziehleiste 1 angebracht. Dieser kann ein Inertialsensor sein, oder ein optischer bzw. akustischer Empfänger der dazu in der Lage ist seine Position bezüglich eines Referenzsystems zu bestimmen. Durch Verarbeitung der Signale dieses Sensors 6.2 wird der Aktuator 4 gesteuert um die Höhe h der Abziehleiste 1 konstant zu halten. Der Aktuator 4 kann als Linearantrieb, Linearmotor, Zahnstangenantrieb, Zahnriemenantrieb oder dergleichen ausgeführt sein. Wichtig ist wiederum eine hohe Dynamik des Antriebs.The sensor 6.2 for the height detection is mounted in this case in the pull bar 1. This may be an inertial sensor, or an optical or acoustic receiver which is capable of determining its position with respect to a reference system. By processing the signals of this sensor 6.2, the actuator 4 is controlled to keep the height h of the stripper 1 constant. The actuator 4 can be designed as a linear drive, linear motor, rack drive, toothed belt drive or the like. Important is in turn a high dynamics of the drive.

Fig. 5 zeigt ein anderes Konzept der gegenständlichen Erfindung. Bei diesem ist es nötig, dass das Abziehelement durch eine Tragvorrichtung (Tragarm an einer Tragweste, einem Roboter oder an einer montierten Stütze) gehalten wird. Dabei ist der Stiel 3 nicht über ein Gelenk 2 mit dem Abziehelement 1 verbunden, sondern fix in einem Winkel von 90° an diesem angebracht. Um das Abziehelement in waagrechter Position zu halten, ist es daher notwendig, den Stiel 3 in senkrechter Position zu halten. Dadurch ergibt sich eine Vereinfachung hinsichtlich der Sensorik. Um den Stiel in senkrechter Position zu halten, ist das Verbindungselement 7 gelenkig ausgeführt. Im Beispiel wird diese gelenkige Verbindung durch ein Gelenk 7.1 und ein Gelenk 7.2 gebildet. Analog zum Gelenk 2, welches die Ausrichtung der Abziehleiste 1 bezüglich der Horizontalen verändern bzw. konstant halten konnte, kann durch die Gelenke 7.1 und 7.2 die Ausrichtung des Stiels 3 bezüglich der Vertikalen verändert bzw. konstant gehalten werden. Die Gelenke 7.1 und 7.2 können wiederum auch als ein Kugelgelenk ausgeführt sein. Die Gelenke 7.1 und 7.2 sind durch geeignete Aktuatoren automatisch verstellbar. Fig. 5 shows another concept of the subject invention. In this case, it is necessary that the Abziehelement by a support device (support arm on a vest, a robot or on a mounted support) is held. Here, the stem 3 is not connected via a hinge 2 with the peeling element 1, but fixedly attached at an angle of 90 ° to this. In order to keep the puller in a horizontal position, it is therefore necessary to keep the handle 3 in a vertical position. This results in a simplification in terms of the sensor. In order to keep the stem in a vertical position, the connecting element 7 is articulated. In the example, this articulated connection is formed by a joint 7.1 and a joint 7.2. Analogous to the joint 2, which could change or keep constant the orientation of the peel strip 1 with respect to the horizontal, the alignment of the stem 3 with respect to the vertical can be changed or constant by means of the joints 7.1 and 7.2 being held. The joints 7.1 and 7.2 can in turn be designed as a ball joint. The joints 7.1 and 7.2 are automatically adjustable by suitable actuators.

In Fig. 5 wird zusätzlich eine Variante gezeigt, bei der der Stiel 3 nicht als Teleskopstange ausgeführt ist. Der Aktuator 4 ist hier Teil des Verbindungselements 7 und dient dazu den Stiel 3 relativ zum Verbindungselement 7 auf und ab zu bewegen. Denkbar ist es auch, dass der Aktuator 4 am Tragarm 8 angreift. Bezüglich der Höhe ist dann das Verbindungselement 7 starr mit dem Stiel 3 verbunden. Die Höhenänderung der Abziehleiste 1 erfolgt dann durch Änderung der Position des Verbindungselements 7 relativ zum Tragarm 8, durch Höhenverstellung des Tragarms 8 selbst oder durch Höhenänderung des Tragarms 8 bezüglich des Traggeschirrs 9. Der Sensor 6.1 ist im Beispiel nach Fig. 5 am Verbindungselement 7 angebracht, während der Sensor 6.2 am Stiel angebracht ist. Denkbar ist es auch, beide Sensoren 6 am Verbindungselement anzubringen. Der Sensor 6.1 ist in diesem Fall stabförmig ausgebildet und ragt vom Ende des Stiels 3 senkrecht nach oben. An seiner senkrechten Mantelfläche sind Photodetektoren so angeordnet, dass sie auftreffendes Licht des Rotationslasers 6.2.1 aus allen Richtungen und über den gesamten Längenbereich des Stabes detektieren. Eine einfache Sensoranordnung kann erreicht werden, wenn der Stab als formstabiler Lichtwellenleiter ausgebildet ist, welcher eine fluoreszierende Schicht aufweist und so auftreffendes Licht in langwelliges Licht umwandelt und an seine Enden weiterleitet, wobei an einem oder beiden Enden ein Photodetektor angebracht ist. Wenn der Rotationslaser 6.2.1 über der Kopfhöhe der bedienenden Person angebracht ist und auch der Stab die Person überragt, wird erreicht, dass die Person den Strahlengang vom Rotationslaser 6.2.1 zum Sensor 6.2 während des Abschreitens des Raums nicht unbeabsichtigt unterbricht.In Fig. 5 In addition, a variant is shown in which the handle 3 is not designed as a telescopic rod. The actuator 4 is here part of the connecting element 7 and serves to the stem 3 relative to the connecting element 7 to move up and down. It is also conceivable that the actuator 4 engages the support arm 8. With respect to the height then the connecting element 7 is rigidly connected to the stem 3. The change in height of the Abziehleiste 1 is then carried out by changing the position of the connecting element 7 relative to the support arm 8, by adjusting the height of the support arm 8 itself or by changing the height of the support arm 8 with respect to the support harness 9. The sensor 6.1 is in the example Fig. 5 attached to the connecting element 7, while the sensor 6.2 is attached to the stem. It is also conceivable to attach both sensors 6 to the connecting element. The sensor 6.1 is in this case rod-shaped and protrudes from the end of the stem 3 vertically upwards. On its vertical lateral surface, photodetectors are arranged so that they detect incident light of the rotary laser 6.2.1 from all directions and over the entire length range of the rod. A simple sensor arrangement can be achieved if the rod is formed as a dimensionally stable optical waveguide which has a fluorescent layer and thus converts incident light into long-wave light and passes it on to its ends, wherein a photodetector is attached to one or both ends. If the rotating laser 6.2.1 is mounted above the head height of the person operating and also the staff projects beyond the person, it is achieved that the person does not inadvertently interrupt the beam path from the rotation laser 6.2.1 to the sensor 6.2 while the space is being traversed.

Aus den Figurenbeschreibungen geht hervor, dass verschieden Ausführungsvarianten der Sensoren, Aktuatoren, des Abziehelements, des Verbindungselements und der Gelenke eingesetzt werden können. Dabei versteht es sich, dass die beschriebenen Ausführungsvarianten der Sensoren, Aktuatoren, des Abziehelements, des Verbindungselements und der Gelenke in beliebiger Weise kombiniert werden können, um eine erfindungsgemäßen Vorrichtung zu erhalten. It is clear from the description of the figures that various design variants of the sensors, actuators, the pull-off element, the connecting element and the joints can be used. It is understood that the described embodiments of the sensors, actuators, the Abziehelements, the connecting element and the joints can be combined in any way to obtain a device according to the invention.

Claims (15)

  1. Device for levelling fillings and building materials, comprising a scraping element which consists of an elongated scraping bar (1) and a handle (3) which is fastened centrally to this in the longitudinal direction of the scraping bar (1),
    wherein the device has at least one sensor unit (6) for detecting the horizontal alignment of the scraping bar (1) and the height (h) of the scraping bar (1) with respect to a horizontal reference plane and has at least one actuator (5) for horizontal alignment and at least one actuator (4) for adjusting the height (h) of the scraping bar (1) with respect to the horizontal reference plane.
  2. Device according to Claim 1, characterised in that the scraping bar is connected to the handle (3) by means of a joint (2) which can be adjusted with respect to the horizontal reference plane by means of one or more actuators (5) for the horizontal alignment of the scraping bar (1).
  3. Device according to Claim 1 or 2, characterised in that the length of the handle (3) can be varied and that in terms of adjusting the length of the handle (3) at least one actuator (4) is present for adjusting the height (h) of the scraping bar (1) with respect to horizontal reference plane.
  4. Device according to Claim 3, characterised in that the handle (3) is a telescopic tube and the actuator (4) is a linear drive.
  5. Device according to Claims 1 to 4, characterised in that the sensor unit (6) is an inertial measuring unit.
  6. Device according to Claims 1 to 5, characterised in that a sensor unit (6.1, 6.2) is provided in each case for determining the horizontal alignment of the scraping bar (1) and the height (h) of the scraping bar (1) with respect to a horizontal reference plane, wherein at least one of the two sensor units comprises an electronic water spirit level, an inertial measuring unit, a light-sensitive receiver or an ultrasonic receiver.
  7. Device according to one of Claims 1 to 6, characterised in that the handle (3) is mounted on a support arm (8) by means of a connecting element (7).
  8. Device according to Claim 7, characterised in that the handle (3) is rotatably mounted about its longitudinal axis or an axis in fixed parallel alignment with its longitudinal axis in the connecting element (7), or the connecting element (7) is rotatably mounted about a vertical axis or an axis in fixed parallel alignment with the longitudinal axis of the handle (3) on the support arm (8).
  9. Device according to one of Claims 7 to 8, characterised in that the support arm (8) is a parallel static articulated arm and the support arm (8) is attached to a person by means of a carrying harness (9).
  10. Device according to Claim 7, characterised in that it is rigidly fastened to the scraping bar (1) at an angle of 90° and the connecting element (7) is provided with a joint which is adjustable by the actuator (5) to the horizontal alignment of the scraping bar (1) with respect to the horizontal reference plane.
  11. Device according to one of Claims 7 to 10, characterised in that the actuator (4) for adjusting the height (h) of the scraping bar (1) with respect to the reference plane is arranged in the connecting element (7).
  12. Device according to one of Claims 7 to 10, characterised in that the actuator (4) engages with the support arm (8) for adjusting the height (h) of the scraping bar (1) with respect to the reference plane.
  13. Device according to one of Claims 7 to 12, characterised in that one or more sensor units (6) for detecting the horizontal alignment of the scraping bar (1) and the height (h) of the scraping bar (1) with respect to a horizontal reference plane is arranged in the connecting element (7).
  14. Method for levelling a filling or a building material with a scraping element consisting of a scraping bar (1) and a handle (3) which when viewed in the longitudinal direction of the scraping bar (1) is attached centrally to it, wherein the scraping bar (1) is carried by a person or a mobile robot by the handle (3),
    characterised in that
    at least two actuators (4, 5) are present which are controlled or regulated on the basis of the data from at least one sensor unit (6) in such a way that the scraping bar (1) is aligned horizontally independent of the movements of the person or the mobile robot and is held at a previously determined height (h) with respect to a reference plane.
  15. Method according to Claim 14, characterised in that the scraping element is carried by a person who is equipped with a carrying harness (9) to which a support arm (8) is attached which serves to hold the handle (3).
EP14738351.7A 2013-05-14 2014-05-13 Device for levelling fillings and construction materials Active EP2997328B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50320/2013A AT514294B1 (en) 2013-05-14 2013-05-14 Device for leveling piles and building materials
PCT/AT2014/050116 WO2014183144A2 (en) 2013-05-14 2014-05-13 Device for levelling fillings and construction materials

Publications (2)

Publication Number Publication Date
EP2997328A2 EP2997328A2 (en) 2016-03-23
EP2997328B1 true EP2997328B1 (en) 2017-10-04

Family

ID=51176007

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14738351.7A Active EP2997328B1 (en) 2013-05-14 2014-05-13 Device for levelling fillings and construction materials

Country Status (3)

Country Link
EP (1) EP2997328B1 (en)
AT (1) AT514294B1 (en)
WO (1) WO2014183144A2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109235896A (en) * 2018-09-19 2019-01-18 中国十七冶集团有限公司 Slope multi-purpose tool and construction method are looked in a kind of foamed concrete receipts face
CN110439238A (en) * 2019-08-19 2019-11-12 广东博智林机器人有限公司 Material laying machine people with leveling structure
WO2022001597A1 (en) * 2020-07-01 2022-01-06 广东博智林机器人有限公司 Fluid laying device, floor tile laying robot and slurry laying method

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108286426B (en) * 2017-12-18 2023-10-27 中国矿业大学 Horizontal inclined hole inclinometry platform
DE102018120299A1 (en) 2018-08-21 2020-02-27 Alexej Artamonow Device for leveling casting compounds such as liquid screed, pumped concrete or the like, and measuring device with such a device
CN112922297B (en) * 2021-01-25 2022-11-04 德州职业技术学院 Floor paint self-moving brushing equipment
CN113338581B (en) * 2021-04-20 2022-06-28 上海工程技术大学 Wall plastering machine and wall plastering method

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007116044A1 (en) * 2006-04-10 2007-10-18 Innenausbau Müller GmbH Device and method for levelling dry bulk material

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5360196A (en) 1992-09-15 1994-11-01 Garrett W. Brown Adjustable, iso-elastic support apparatus
US7399139B2 (en) * 1998-10-27 2008-07-15 Somero Enterprises, Inc. Apparatus and method for three-dimensional contouring
DE29922048U1 (en) 1999-12-15 2000-03-02 Behr Herbert Device for installing dry fill for dry screed systems
EP1375751A1 (en) * 2002-06-22 2004-01-02 Wagner + Betontechnik AG Apparatus for making plane surfaces from bulk building material
US6758631B2 (en) * 2002-10-09 2004-07-06 Frankeny, Ii Albert D. Portable screed guidance system
DE102006058246A1 (en) 2006-04-10 2007-10-18 Innenausbau Müller GmbH Loose dry material leveling apparatus, e.g. for expanded concrete granules laid on the ground, has a horizontal pull-out unit in a carrier at a holder on a telescopic arm
US8322946B2 (en) * 2009-01-22 2012-12-04 Lindley Joseph W Automatically adjustable rolling screed

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007116044A1 (en) * 2006-04-10 2007-10-18 Innenausbau Müller GmbH Device and method for levelling dry bulk material

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109235896A (en) * 2018-09-19 2019-01-18 中国十七冶集团有限公司 Slope multi-purpose tool and construction method are looked in a kind of foamed concrete receipts face
CN109235896B (en) * 2018-09-19 2020-12-04 中国十七冶集团有限公司 Multifunctional tool for collecting foamed concrete surface and finding slope and construction method
CN110439238A (en) * 2019-08-19 2019-11-12 广东博智林机器人有限公司 Material laying machine people with leveling structure
WO2022001597A1 (en) * 2020-07-01 2022-01-06 广东博智林机器人有限公司 Fluid laying device, floor tile laying robot and slurry laying method

Also Published As

Publication number Publication date
EP2997328A2 (en) 2016-03-23
AT514294A1 (en) 2014-11-15
WO2014183144A3 (en) 2015-02-19
AT514294B1 (en) 2015-08-15
WO2014183144A2 (en) 2014-11-20

Similar Documents

Publication Publication Date Title
EP2997328B1 (en) Device for levelling fillings and construction materials
EP3207798B1 (en) Device for applying liquid and/or solid active substances, and method for controlling a device of this type
EP3183963B1 (en) Device for dispensing fluid and/or solid agents and method for controlling the device
EP2638358B1 (en) Device for measuring and marking of points along horizontal contour lines
EP3065530B1 (en) Apparatus for discharging liquid and/or solid active substances and method for controlling such an apparatus
DE102014015335B4 (en) Generative manufacturing device and manufacturing process for the layered construction of structures
EP3064061A1 (en) Device for dispensing fluid and/or solid agents and method for controlling the device
DE10240180A1 (en) Device for actuating an articulated mast
EP2557392A1 (en) Measuring device and method with a scalable targeting functionality based on the alignment of a remote control unit
DE19545589A1 (en) Measuring and marking method for distance lines or surfaces or at least partly closed spaces
DE102019122431A1 (en) Method and device for controlling an automated longwall
DE2821113A1 (en) METHOD AND DEVICE FOR MACHINE ADJUSTMENT OF THE INCLINATION OF A ROCK DRILLING DEVICE
WO2007116044A1 (en) Device and method for levelling dry bulk material
DE102006058246A1 (en) Loose dry material leveling apparatus, e.g. for expanded concrete granules laid on the ground, has a horizontal pull-out unit in a carrier at a holder on a telescopic arm
LU102766B1 (en) Fastening device for positioning an optical measuring and/or marking instrument
DE202018100911U1 (en) Device for aligning a surveying device
EP1639809A1 (en) Pivoting head system in particular for film and video cameras
DE19962166A1 (en) Alignment of parallel bodies with rotational symmetry, such as rollers or axles, by use of reference lines tensioned with a tensioning device to provide perpendicular reference lines for use with a target device fitted to a roller
WO2023222445A1 (en) Method for calibrating a construction robot, and construction robot
DE102022127966A1 (en) Method for controlling an articulated arm with a mobile remote control unit spatially remote from the arm and suction dredger
DE2166404C3 (en) Direction control on carriage-guided drilling machines
EP3123867A1 (en) Method and device for simplified alignment of a filling machine for sausage production
DE19545415A1 (en) Application system for applying mortar on foundation surface esp. concrete cover
CH707212B1 (en) A device for producing a planar surface of a layer of a pourable, hardening building material.
DE202010016424U1 (en) Measuring and leveling device, especially for outdoor use

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20151201

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20170724

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 934471

Country of ref document: AT

Kind code of ref document: T

Effective date: 20171015

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502014005688

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: FP

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180104

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180105

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180104

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180204

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502014005688

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

26N No opposition filed

Effective date: 20180705

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180513

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20171004

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20140513

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171004

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IE

Payment date: 20200527

Year of fee payment: 7

Ref country code: NL

Payment date: 20200527

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: BE

Payment date: 20200527

Year of fee payment: 7

REG Reference to a national code

Ref country code: NL

Ref legal event code: MM

Effective date: 20210601

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20210531

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210513

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210601

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210531

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230526

Year of fee payment: 10

Ref country code: DE

Payment date: 20230519

Year of fee payment: 10

Ref country code: CH

Payment date: 20230605

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 20230526

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20230524

Year of fee payment: 10