JPS6047159A - 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 The present invention relates to an automatic moving floor finishing device that finishes a flat surface while moving on a floor surface such as concrete.

Traditionally, concrete floors of buildings were finished flat with a plastering trowel, but it was inefficient to do this manually, so mechanical finishing equipment was provided. ing.

A known finishing device has a plastering trowel fixed to the tip of a handle operated by an operator, but it has the following drawbacks.

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

However, operating the handle in this way is extremely difficult, and if the handle is operated incorrectly, there is a risk that the plastering iron will dig deep into the floor and cause damage to the floor.
A large amount of resistance is generated between the rotating plastering trowel and the floor surface, which causes a large amount of force to be applied to the worker, resulting in inconveniences such as making it impossible to control the device.

Furthermore, in order to prepare the floor surface into 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 was C.

This invention was made to solve the above-mentioned conventional problems, and its purpose is to make it possible to perform finishing work in advance without requiring the operator's skill level or with difficulty in operation. An object of the present invention is to provide an automatic traveling floor finishing device that shapes and finishes a floor surface while moving along a route automatically determined by inputting an area.

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 system that is rotatably attached to the traveling vehicle and driven to rotate around the vehicle. a rotating blade for shaping the floor surface into a predetermined flat surface; the traveling vehicle includes a coordinate recognition device that recognizes a preset area as a work range; and a travel route of the traveling vehicle within the work range. As well as deciding on
A control device that controls the driving device so that the traveling vehicle moves along this traveling route, and also controls the rotational drive of the swirling blade.

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

1 to 5 show an embodiment of an automatic moving floor finishing apparatus according to the present invention.

The automatic traveling floor finishing device shown in the same figure is used to finish a concrete floor surface that has been roughly roughened in advance in a slightly hardened state and into a flat surface.

The automatic traveling floor finishing device is equipped with a driving device that has a running vehicle 10 that freely travels on the floor, and a vehicle that is rotatably attached to the traveling axle 10 and is driven to rotate around the traveling vehicle 10. It is roughly composed of a swirler blade 20.

The traveling vehicle 10 is formed into a flat box shape as a whole, and has a traveling section 12.1 having a pair of cover structures below.
2, and the driving portion 12 is driven by drive motors 14, 14 which are each separately mounted on a shaft.
The control is performed by a control computer which will be described later. This covering structure of the traveling portion 12.12 is similar to that of the traveling vehicle 10.
．． By supporting the weight of the swing blades 20 and the like over a wide area, consideration is given to not damaging the weakly cooled concrete surface.

The swirling blade 20 is composed of a rotating frame 22 bent into a substantially inverted U shape, and a pair of plastering trowels 24° 24 fixed to both ends of the rotating frame 22 so as to be in contact with the floor surface at a predetermined angle,
In this embodiment, 21 [1i1 swing wings 20 are arranged perpendicularly to each other, and each plastering trowel 24, 24...
... are arranged at approximately 90 degree intervals.

The rotating frame 22 has its approximate center centered on the traveling axle 1.
An alignment bearing 28 that is loosely fitted to a support 26 that is erected upwardly on the ceiling of 0 and has screws carved on its circumferential surface.
A receiving member 30 having a concave cross section is fixed to the lower surface of the center portion. A pulley 32 loosely fitted onto the support column 26 is disposed near the lower end of the support column 26, and this pulley 32 connects the rotating shaft of an electric motor 34 fixedly mounted on the top of the vehicle 10 with the bells 1 to 36. At the same time, a projecting piece 38 that fits into the receiver member 30 is fixed to the upper surface of the pulley 32.

The alignment bearing 28 is biased downward by a spring member 42 whose one end is secured to a torque adjusting nut 40 screwed onto the support column 26. The rotating frame 22 is moved up and down via the alignment bearing 28,
Adjusting the fitted state between the receiving member 30 and the projecting piece 38,
The torque transmitted to the rotating frame 22 is adjusted.

As is clear from the above-mentioned configuration, when the electric motor 34 is driven to rotate, the rotation is transmitted from the bell l-36 to the boot 32 to the protrusion 38 to the receiver member 30, which causes the rotating frame 22 and the plastering iron 24 to be rotated. It can be rotated in the circumferential direction.

The rotation control of this electric motor 34 is also based on commands from a control computer, which will be explained later.

The above-mentioned alignment bearing 28 prevents the swinging motion of the traveling vehicle 10 from being transmitted to the rotating frame 22 and the plastering iron 24 via the support column 26, causing the plastering iron 24 to dig deep into the floor surface or, conversely, to separate from the floor surface. It has a function that prevents you from doing so.

A hemispherical protection frame 44 is attached above the torque adjustment nut 40 of the support column 26, and a mounting nut 43 is screwed onto the hemispherical protection frame 44 held between them. The cable for supplying power to the drive motor 14 of the rotary blade 20, the electric motor 34 for rotation of the swing blade 20, etc. is wound around the cable, and tension is applied to absorb the loosening of the cable that occurs as the vehicle travels. It is installed by doing.

In this case, in this embodiment, the tension roller 45 is used, but if the slip ring is placed on the upper end of the branch 26 without using the tension roller 45, the guide frame can be rotatably attached to the periphery of the slip ring. It is also possible to install a power supply cord through this guide frame.

In addition, ultrasonic sensors 48, 48, which emit ultrasonic waves, receive reflected waves from obstacles, etc., and detect them are installed downward at the four corners of the traveling vehicle 10,
The outer peripheral surface of the protective frame 44 is equipped with contact sensors (specifically tape switches, proximity switches, etc.) disposed so as to circulate (see Fig. 4), and these sensors (J-48 , 50 to prevent obstacles from entering the rotation range of the swing wing 20, and to prevent harm to structures (columns, etc.) and people.

The control of a floor finishing device having a mechanical configuration as described above is
First, identify the area where floor finishing work will be performed.

As an identification means, for example, the receiving unit 52 is placed in the running vehicle 10, and a wireless signal is given to it from the transmitting unit 54. may be run around the work area or entered directly into the keyboard 62 of the control computer 60.

The work area 145.61 identified in this way is converted into numerical values of plane coordinates by the coordinate recognition device 64 and controlled based on the starting point 58 where the traveling vehicle 10 moves.
] is input and stored in the computer 6.

The coordinate recognition device 64 includes a pulse generator 16 connected to the rotating shaft of the drive motor 14 of the traveling vehicle 10.
, a trajectory traveled based on pano j signals from gas sea 1 to gyro, and a gyrocator computer that converts the current position of the user into plane coordinates with the starting point 58 as the origin.

Based on the data of the work area identified in this way, the control computer 60 changes the travel route of the traveling vehicle 10 within the work area by turning 9!, as shown by the thin line arrows in FIG.
20 plastering trowels 24, etc., and controls the drive motors 14, 14 of the traveling section 12 so that the traveling vehicle 10 is moved along the determined route. The rotational drive J3 and rotational speed of the electric motor 34 which rotationally drives the swirling blade 20 are controlled.

In addition, as described above, while the vehicle 10 is running, the rotating wing 20
is rotated and the floor surface is shaped with the plastering trowel 24, and the finished area is input to and stored in the control computer 60 using the coordinate recognition device 6/I'U, so that it has already been finished as a flat surface. The area will not be traveled again.

If there is an obstacle 66 such as a pillar on the C1 travel route, the contact sensor 50 attached to the protective frame 44 detects its presence and direction by touching it, and this data is collected. is input to the control computer 60, and the control computer 60 sets a travel route so as to avoid and cover the obstacle 66.

If the above-mentioned obstacle 66 does not protrude above the floor surface, for example, an opening in the floor surface, such as a /j hatch, the traveling vehicle 1
The ultrasonic sensor taken at 0 (J I), J-48,
Detect this presence J3 and its direction! Therefore, the control computer 60 similarly sets a travel route to avoid this.

Then, the size and position of the obstacle 66 are manually inputted to the temperature controlled combination coater 60 via the coordinate recognition device 64.
Since it remembers areas where the floor surface has already been finished as described above, it is identified as these areas. After confirming that the finishing has been completed, the “C run is completed and the finishing work is completed.

Now, in the automatic traveling floor finishing apparatus having the above-mentioned configuration, floor finishing is performed while traveling by the traveling vehicle 10 and the swing blades 20 controlled by a control computer. Therefore, even if a slight dent occurs on the floor surface, it can be made flat with the plastering trowel 24 which rotates after running.

In addition, the plastering trowel 24 is driven by a computer-controlled electric motor 34, and the rotational speed can be controlled by taking into consideration the strength and weakness of the floor surface, the size of unevenness, etc., which is incomparable to conventional manually operated plastering trowels. You can achieve an even finish, and all you have to do is specify the work area and the rest is done automatically, eliminating the need for skilled hands.

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 specifies the work area for floor finishing and then finishes the work on a desired flat surface without any human intervention. This makes it possible to significantly improve work efficiency.

[Brief explanation of the drawing]

Figure 1 is a sectional view of one embodiment of the present invention, Figure 2 is a top view with the protective frame removed, Figure 3 is an explanatory diagram of the work area and travel route, and Figure 4 is a sensor FIG. 5 is a block diagram of the control system. 10... Running vehicle 12... Running part 1
4... Drive motor 16... Pulse pinerator 20... Swivel blade 22... Rotating frame 24... Plastering trowel 26... ...Strut 2
8... Aligning bearing 32... Pulley 34
......Electric motor 36...Belt 43
・・・・・・Tori f nut 44・・・Protective frame/I5・・・Tension roller 46・・・B+-, 48・・・Ultrasonic sensor 50... Contact motor 52...
Receiving units 1 to 54... Transmission: L unit 56
...Working area 58 ...Starting point 60 ... Control combination 1-Taro 2 ... Keyboard 64 ... Coordinate recognition device 66 ... ...Obstacle Retention Applicant Obayashi Co., Ltd. Representative Patent Attorney - Kensuke Iro Figure 2

Claims (2)

[Claims] (1) A running vehicle that runs on a floor surface by a drive device,
A rotating blade is rotatably attached to the traveling vehicle and rotated around the rotary blade to shape the floor surface into a predetermined flat surface, and the traveling vehicle recognizes a preset area as a work range. a coordinate recognition device that determines the traveling route of the traveling vehicle within the set working area 114 and controls the drive device so that the traveling vehicle moves along the traveling route; An automatic moving floor finishing device comprising: a control device that also controls the rotational drive of the automatic moving floor finishing device. (2) The control device is characterized in that when a sensor attached to the vehicle detects an obstacle such as a pillar or two stairs, the control device determines the travel route to bypass the obstacle. An automatic moving floor finishing device according to claim 1.