JPS6047158A - Automatic running floor finishing apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention This invention is a self-propelled vehicle that runs on a flat floor surface such as concrete.
Automated moving floor with 14 surfaces]

Traditionally, concrete floors of buildings were finished flat using a plastering trowel.However, it was inefficient to do this manually, so mechanical finishing was used. Equipment is provided.

As a known finishing device, a plastering trowel, which is rotationally driven by an electric motor or the like, is fixed to a handle that is operated by an operator, but it has the following drawbacks.

However, with the above-mentioned finishing device, the operator moves over the floor to finish the flat surface, so it is necessary to constantly operate the handle to ensure proper contact between the plastering trowel and the floor. .

However, it is extremely difficult to operate the handle in this manner, and if the handle is operated incorrectly, the plastering trowel may dig deep into the floor surface, causing damage to the floor surface.
A large amount of resistance is generated between the rotating plastering trowel and the floor surface, which may cause a large amount of force to be applied to the worker, making it impossible to control the equipment or other inconveniences.

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

Furthermore, since plastering work for buildings is generally carried out depending on the strength of the floor concrete, working hours are long and most of the work is done at night, creating harsh working conditions for workers, so improvements are strongly desired. It had been.

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

In order to achieve the above objects, the present invention provides an automatic traveling floor finishing device that includes a traveling vehicle that travels on a floor surface by a drive device, and a floor finishing device that is towed by the traveling vehicle and driven to swing. This floor finishing device is equipped with rotating blades that are driven to rotate and shape the floor surface into a predetermined flat surface, and the contact angle of the rotating blades with the floor surface is variable, allowing the vehicle to move within a preset area. a coordinate recognition device that recognizes the work area and determines a travel route for the vehicle within the set work area, and controls the drive device so that the vehicle moves along this travel route. The present invention is characterized in that it further includes a control device that also controls the swinging of the floor finishing device, the rotation of the swirling blade, and the contact angle.

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

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

The automatic traveling floor finishing device shown in the same figure is used in a weak state in which the concrete spherical surface is slightly hardened, and a traveling vehicle 10 traveling on the floor surface is restrained by the driving device. A floor finishing device 2 that is also driven to swing
It is roughly composed of 0.

The running vehicle 10 has a running section 12.12 formed of a pair of cover structures below the running vehicle 10.
12 are driven by separately provided drive motors 1.
4.1°4, and this drive control is performed by a control computer, which will be described later.

The covering structure of the traveling section 12.12 is arranged so as not to damage the weak concrete surface by supporting the weight of the traveling vehicle 10 over a wide area.

The above-mentioned floor finishing @20 includes a double ring frame 22a arranged substantially horizontally at a predetermined distance from the floor surface, and an inverted U-shaped frame 22a extending over the frame 22a and projecting upward. A protection frame 22 formed of a ring frame 22b, a shaft 24 arranged and supported vertically at the center of the ring frame 22a, and a plurality of swirling blades 26 that contact the floor surface at a predetermined angle and are driven to rotate. 26...
It is roughly composed of.

As shown in FIG. 3, a first rotating drum 27 is fixed near the upper end of the shirts 1 to 24, and this rotating drum 27 is connected to the inverted U-shaped shape by a first belt 28. A first pulley 31 is connected via a brake 30 to a rotating shaft of an electric motor 29 fixed to the frame 22b.
is connected to.

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

Below the second rotary tram 34 fixed to the cylindrical body 33, slave I and IJ gears 38 having tooth surfaces carved on the periphery are fixed, and at the lower end of the cylindrical body 33, a lower surface is formed. A first bevel gear 39 whose south face is carved is fixed, and this first bevel gear 39 has a tooth surface facing opposite to a second bevel gear 40 fixed to the lower end of the shaft 1 to 24. In addition, between the bevel gears 39 and 40 are small diameter bevel gears/11.41 fixed to the shaft ends of the swirling blades 26, 26, and so on.
. . . are held at equal intervals in the circumferential direction.

A small-diameter driving gear 42 meshes with the driven gear 38,
The rotating shaft of the driving gear 42 has the above-mentioned inverted U-shaped room 22b.
A clutch brake 4:43 supported by a contact angle variable motor 44 is connected to the clutch brake 4:43.

The above-mentioned swing-only 26, 26...... have the above-mentioned umbrellas (m) 41, 41... attached to one end thereof, and a shaft 45 bent into a crank shape, and the other end thereof. The shafts 45 are fixed near the lower end of the cylindrical body 33 via small-diameter bearings 47, respectively. The plastering trowel/1 is supported by a supporting member 48 having a substantially U-shaped cross section.
6.46... supports the weight of the finishing device 20 by the reaction force of contact with the floor surface.

When the first electric motor 29 is driven M, its rotation is caused by the rotation of the first pulley 31. First belt 28. First rotating drum 27. Shirts 1-24. At the same time as the transmission is transmitted to the second bevel gear 40, the clutch 36 is connected and the second pulley 37. Second bells 1 to 35, second rotating drum 34
．． Cylindrical body 33. The first bevel gear 39 and the transmission Δ, the first jt
) and the second full set of teeth 11i39.40 rotate in the same direction at the same time.

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

Therefore, the swirling blades 26, 26, to which the small diameter bevel gears 4.1.4.1, . It is rotated in the same direction as the cylindrical body 33, and the floor surface can be shaped into a desired flat surface. To change the contact angle between the plastering trowels 4,6,46... and the floor surface, the electric motor 29 is stopped, the clutch 36 is released, and the clutch brake 43 is connected. The contact angle variable motor 44 is driven. The rotation of the motor 44 is transmitted to the driving and driven gears 42, 38, the body 33, and the first bevel gear 39. The cylinder body 33 is attached to the shaft 24 via the bearing 32, and the second bevel gear 40 is fixed to the −F end of the shaft 24, by rotating the second bevel gear 40, only the first bevel gear 39 can be rotated.

Therefore, due to this, the small diameter bevel gears 41, 41...
... are rotated in any direction by the contact angle variable motor 44, and the respective plastering trowels 46, 46...
The contact angle can be changed in the same direction and at the same angle.

As described above, each motor 29.44 is controlled by a control computer to be described later.

On the other hand, as shown in FIG. 3, the traveling vehicle 10 has an hl [
It is equipped with a rotation arm \60 (see Fig. 4).

One end of the swing arm 60 is connected to an output shaft 63 of a reducer 62 attached to the traveling vehicle 1o, and an input shaft 65 of the reducer 62 is connected to a swing horn drive via a brake 6/I and a clutch 6G. A one-knob motor 72 is connected to the other human power shaft 65' of the reducer 62 via a slip joint 70. In this way, a plurality of drive motors 68, 72 are The reason for this arrangement is to take into consideration the heavy load at the time of starting the floor finishing device 2o which swings with the normal rotation 0C, and because it can be driven only by the main motor 78 after the -U swing starts. , use energy effectively.

A square locking member 74 that protrudes downward is fixed to the other end of the rotation arm 60, and one end of this locking member 7/l is fixed to the ring frame 20a of the floor launching device 2o. The connecting member 76 is formed into a 111-shape as a whole.
It is fitted into a box-shaped part 80 with a spring moon 78 installed in the upper end, and as the traveling vehicle 10 moves in the iY direction, the floor surface is pulled by the device 20 and the main motor 68 is driven. This is driven to swing around the connecting portion between the swing arm 60 and the speed reducer 62 as a fulcrum.

Furthermore, ultrasonic sensors (not shown in the drawings) that emit ultrasonic waves and receive and detect reflected waves from obstacles, etc. are installed at the four corners of the traveling vehicle 10 facing downward. Four ultrasonic sensors (J--81) having similar functions are attached to the frame 22a, and are arranged around the outer ring frame 22a and the outer surface of the vehicle 10. It is equipped with a contact sensor (J-82 (specifically, a tape switch, a proximity switch, etc.) (see Figure 6), and these switches are used to rotate within the rotation range of !!26 (see Figure 6). In addition to protecting the floor from obstacles, it is also designed to prevent damage to structures (columns, etc.) and the human body.The control of the floor finishing equipment with the mechanical configuration described above must first be performed on the floor. As a method for specifying the area where finishing work is to be performed, for example, a receiving unit 84 is attached to the traveling vehicle 10, and a wireless signal is applied to it from the transmitting unit 86, so that the traveling vehicle 10 is directed as shown by the thick line arrow in FIG. It may actually be driven around the work area or it may be entered directly into the keyboard 90 of the control computer 88.

The work area 92 identified in this way is
The coordinate recognition device 96 is based on the starting point 94 to which 0 moves.
Thereby, the values are converted into numerical values of plane coordinates and input and stored in the control computer 88.

The coordinate recognition device 96 is a pulse generator 16 connected to the rotating shaft of the drive motor 14 of the traveling vehicle 10.
16 and the input input from the known gas sea 1-gyro
It consists of a gyrocator computer that converts the trajectory traveled and the current position into plane coordinates with the starting point 94 as the origin.

Based on the data of the work area 92 identified in this way, the control computer 88 determines the traveling route of the vehicle 10 within the work area of the swing wing 26, as shown by the thin arrow 1 in FIG. It is calculated by taking into account the rotational diameter of the plastering trowel 46, etc., and the drive motors 14 and 14 of the traveling section 12 are controlled so that the traveling vehicle 10 moves along this determined route, and the swing blades 26 are Rotationally driven electric motor 29
A motor 44 that adjusts the rotational drive and rotational speed of the plastering iron 46 as well as the contact angle between the plastering iron 46 and the floor surface. A main motor 68 that swings the swing arm 60. Controls the sub motor 72.

[, Let the traveling vehicle 10 travel as described above, turn rj
J26 is rotated and the floor surface is shaped with the plastering trowel 46, and the finished area is input to the control computer 88 using the coordinate recognition device 96 and stored, so that the area that has already been finished as a flat surface can be There will never be a running club again.

If there is an obstacle 98 such as a pillar on the traveling route, the contact sensor 82 installed on the traveling vehicle 10 and the protective frame 22 will detect its presence and direction by coming into contact with it. is detected and this data is input to the control computer 88 to control: The computer 8 sets and overturns a travel route to avoid the obstacle 98.

If the obstacle 08 does not protrude above the floor surface, such as a hatch in the floor surface, the ultrasonic sensor 1 attached to the vehicle 10 detects this presence. In order to detect the direction, the control computer 88 similarly sets a travel route to avoid this.

The size, position, etc. of the obstacle 98 are input to the control computer 88 via the coordinate recognition device 96, and as described above, the area where the floor surface has already been carved is stored. , compares these with the specified work area 92, travels through all areas within the work area 92, confirms that floor finishing has been completed, and completes -C travel, completing the finishing work.

Now, in the automatic traveling floor finishing device having the above-mentioned configuration, floor finishing is performed while traveling by the traveling vehicle 10 controlled by the control computer 88 and the swing blades 26, so if the traveling vehicle 10 is Even though a slight dent occurs in the floor surface of the running part 12, the floor surface C can be flattened by the rotating plastering trowel 46 after running.

In addition, the plastering trowel 46 is driven by a computer-controlled electric motor 29, and the rotational speed can be controlled by taking into account the strength of the floor surface, the size of unevenness, etc., and the contact angle is also variable, so it can be operated by hand. The result is an even finish that is incomparable to that of a plastering trowel, and all you have to do is specify the work area and the rest is done automatically, eliminating the need for any skill.

Furthermore, the automatic floor finishing work means that
It is possible to eliminate constraints such as work time or the size of finished area, and to dramatically improve work efficiency.

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

[Brief explanation of drawings]

FIG. 1 is an overall perspective view of an embodiment of the present invention, FIG. 2 is a schematic diagram of a traveling vehicle, FIG. 3 is a cross-sectional view of a rotating mechanism with a rotating blade, FIG. 4 is an explanatory diagram of a rotating arm, and FIG. FIG. 6 is an explanatory diagram showing the working area and travel route, FIG. 6 is an explanatory diagram showing sensor positions on the protective frame, and FIG. 7 is a block diagram of the control system. 10... Traveling vehicle 12... Running part 14.
... Drive motor 16 ... Pulse generator 20 ... Floor finishing device, 20a ... Ring frame 22 ... Protection frame 22a ... Reverse character Frame 24...Shaft 26...
...Swivel blade 29...Electric motor 33...
...Cylinder body 36...Clutch 39...
First bevel gear 40...Second bevel gear 42...
... Drive gear 44 ... Motor for variable contact angle 45 ... Shaft 46 ... Plastering trowel 60.
...Swivel arm 62 ...Reduction gear 64.
... Brake 66 ... Clutch 68
...Main motor 70 ... Slip joint 72 ... Sub motor 74 ... Locking part 76 ... Connection material 78 ...・Spring month 8
0... Box-shaped part 81... Ultrasonic sensor 82... Contact sensor +j-82... Receiving unit 86... Transmitting unit 88 ...Control computer 90...
Keyboard 92... Work area 94...
・Starting point 96...Coordinate recognition device 98...
...Applicant with obstruction Person Hayashi Corporation Agent Person Patent attorney - Kensuke Shiro Figure 1 0 ( , 2 Figure 3 Figure 4 Figure 5 Figure 6

Claims (2)

[Claims] (1) A traveling vehicle that runs on a floor surface by a drive device,
and a floor finishing device that is towed by the traveling vehicle and driven to swing. The contact angle with the floor surface is variable, and the vehicle is equipped with a coordinate recognition device that recognizes a preset area as the work area, and a coordinate recognition device that determines the travel route of the vehicle within the preset work area. a control device that controls the driving device so that the traveling vehicle moves according to the traveling route, and also controls the swinging of the floor finishing device, the rotation of the swirling blade, and the contact angle. This is an automatic traveling floor finishing device. (2) The control I device is installed in the traveling vehicle or the floor finishing device (=J installed sensor 1~) when it detects an obstacle such as pillar 9 stairs, etc. 2. The automatic moving floor finishing device according to claim 1, wherein the automatic moving floor finishing device is configured to determine a running route.