KR100458686B1 - An omni-directional self-propulsive apparatus polishing a floor by a remote controller - Google Patents

Abstract

The present invention relates to a self-propelled remote control floor polishing apparatus (100), comprising a drive motor (10) and a power transmission means (11, 12, 13) interlocked with the drive motor in turn, and Connecting means (20, 20 ') rotatably connected to the drive means (10) and symmetrical about the center of gravity (G) of the floor polishing apparatus (100) and with universal joints (23, 23') installed, respectively; Polishing means (30, 30 ') rotatably connected to the connecting means (20, 20') and rotating about the same rotational direction as the rotational direction toward the floor to be cleaned and the opposite direction, and the polishing means ( A steering comprising a pair of step motors 42a, 42b and 42a 'and 42b' installed near each polishing means so as to change the rotational axis directions of the 30 and 30 ') and an interlocking portion which is continuously interlocked by each of the step motors. Means 40, 40 'and the drive And remote control means 50 for turning on / off means 10 and controlling the steering means 40, 40 ′.

Description

Self-propelled remotely controlled floor polishing device {AN OMNI-DIRECTIONAL SELF-PROPULSIVE APPARATUS POLISHING A FLOOR BY A REMOTE CONTROLLER}

The present invention relates to a remote controlled floor polishing apparatus, and more particularly, to a device for moving or polishing a floor of a building by itself by controlling an acting friction force of a rotary brush by remote control.

In general, a polishing device of a type that is directly operated by a worker is used for polishing a floor, which is composed of a polishing body and an operating rod attached thereto, and the body includes an electric motor, and an output side of the electric motor. At the bottom is a brush with a brush on the disc.

When polishing by the polishing apparatus, when the operator tilts the operation bar up, down, left, and right, asymmetry of friction occurs between the rotating brush and the bottom surface, and the asymmetry of the frictional force moves the rotating brush back, forth, left and right. Therefore, the operator can move the polishing apparatus by itself tilting up, down, left and right without pushing or pulling the operation bar.

However, a polishing apparatus in which a person directly operates a steering rod has a problem in that the operation is difficult and difficult due to vibration generated during operation.

In response to this, in 1995, Japan's "FURIYA" and "Kiyohiro" proposed a device that can perform polishing without the operator manually operating. The polishing apparatus has a structure in which a body equipped with a cylindrical brush is connected to a trailer having a control box by an interlocking link. With this structure, the device can move the device by the above-described asymmetry of the friction force by moving the linkage link in accordance with the command signal of the control box to tilt the brush back and forth and left and right.

However, since such a device is a trailer structure, forward and backward movement is possible, but it cannot be moved laterally, and furthermore, due to the distance between the main body and the trailer rear wheel, the radius of rotation is large when rotating back and forth and left and right.

In the case of polishing in a narrow room, since the polishing device of the trailer structure can only move forward and backward, it is difficult to expect rapid work, and obstacles installed on the floor are not preferably avoided, and there is a limit to reliably polishing around the obstacles. There is.

It is therefore an object of the present invention to provide a remote controlled floor polishing apparatus which is movable in any direction, that is, capable of omnidirectional movement with a substantially zero rotation radius.

1 shows a remote controlled floor polishing apparatus self-propelled in an omni direction according to the present invention, with a portion cut away to show the main part;

FIG. 2 is a plan view showing the driving means and the polishing means of the floor polishing apparatus of FIG.

3 is a side view, partly cut away to show the steering means of the floor polishing apparatus of FIG.

4 is a plan view from above of the steering means of FIG. 3;

Figure 5 is a schematic diagram showing the theory of operation of the self-propelled remote control floor polishing apparatus according to the present invention.

Fig. 6 shows the position of the ball transfer installed on the caster wheel relative to the remote controlled floor polishing apparatus.

Figure 7 is a detailed view for showing the height adjustment portion caster wheel of FIG.

8 is a block diagram showing a control system of a remote controlled floor polishing apparatus according to the present invention.

<Explanation of symbols for the main parts of the drawings>

100: remote control floor polishing apparatus 10: drive means

20, 20 ': Connecting means 23, 23': Universal joint

30, 30 ': polishing means 40, 40': steering means

42a, 42b, 42a ', 42b': step motor

In order to achieve the above object, the present invention provides a remote control floor polishing apparatus that is self-propelled in all directions, the remote control floor polishing apparatus includes a drive motor and a power transmission means that is interlocked with the drive motor in turn. A connecting means rotatably connected to the driving means, the connecting means being symmetrical about the center of gravity of the floor polishing apparatus and having universal joints installed therein, and rotatably connected to the connecting means and facing the floor to be cleaned. Polishing means that rotates at the same size and opposite rotational moment about the rotational axis, and a pair of step motors provided in the vicinity of each polishing means so as to change the rotational axis direction of the polishing means and each of the stepping motors continuously Steering means including an interlocking portion interlocked with the driving means; And remote control means for turning on / off and controlling a change in the rotation axis direction of the steering means.

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

In the following specification, the self-propelled remotely controlled floor polishing apparatus according to the present invention will be described as a preferred embodiment, but the technical idea of the present invention is not limited thereto and may be variously modified and implemented by those skilled in the art. Of course it can.

1 is a front view illustrating a remote controlled floor polishing apparatus 100 according to an embodiment of the present invention, in which a portion of the outer frame is cut away to reveal the main components of the apparatus.

As shown in FIG. 1, the remote control polishing apparatus 100 according to an embodiment of the present invention includes a rotation driving means 10 and two connecting means 20 and 20 which are rotatably connected to the driving means. ', Steering means (30, 30') connected to the connecting means, respectively, and steering means (40, 40 ') provided near the polishing means to change the rotational axis of the polishing means (30, 30'). The steering means 40, 40 'are configured to be controlled by a control means 50 (see FIG. 8) including a remote control remote controller or an electronic circuit. In addition, a caster wheel 60 in which three ball transfers 62 are additionally installed is mounted at the bottom of the remote control floor polishing apparatus 100 (see FIGS. 3 and 6).

In addition, the rotation drive means 10 includes a drive motor (not shown) built in the upper portion of the polishing apparatus 100 and a power transmission means which is in turn linked to the drive motor, the power transmission means a plurality of belts And a gear train.

As shown in FIGS. 1 and 2, the rotation from the drive motor is driven through the first, second and third transmission belts 11, 12, 13, etc., and the drive gear 15 (best shown in FIG. 2). Is transmitted to the integrally provided shaft 14, in which the first and second driven gears 25, 25 ′ having the same teeth and size are meshed with each other.

Here, the connecting means 20, 20 ′ comprising the first and second shafts 24, 24 ′ provided with the first and second driven gears 25, 25 ′ are remotely controlled floor polishing apparatus 100. It is installed symmetrically with respect to the center of gravity axis (G) of, and serves to transfer the rotational drive received from the driving means 10 to the polishing means (30, 30 ') to be described later.

Hereinafter, since the connecting means 20 and 20 'and the first and second polishing means 30 and 30' coupled to and driven to rotate are left and right symmetrical, the first connecting means 20 and The first polishing means 30 will be described in detail in detail, and the first connecting means and the second connecting means corresponding to the first polishing means 20, 30 and the second polishing means 20 ′, 30 ′ The configuration and operation are the same except that the second polishing means 30 ′ rotates opposite to the first polishing means 30.

The first connecting means 20 and the first polishing means 30 will now be described with reference mainly to FIG. 2.

As shown in FIG. 2, at one point of the first shaft 24 constituting the first connecting means 20, rotational power from the driving means is applied without being affected by a change in the rotational axis of the polishing means 30, which will be described later. A universal joint 23 is provided for delivery to the polishing means 30. At the end of the first shaft 24, the worm 26a integrally formed with the shaft 24 and the worm gear 36a engaged with the shaft 24 are formed so as to change the direction of the rotation axis from horizontal to vertical while reducing the rotation speed of the first shaft. A reduction gear pair is provided, wherein the reduction gear pair is enclosed in a first reduction gear case 36 having a first adjustment shaft 46 attached to an upper end thereof, wherein the first adjustment shaft 46 has a bottom. A spherical treatment is made with the adjustment shaft holder 45 fixed inside the polishing apparatus.

In addition, a brush 38 having a cylindrical brush 38a is installed at the end of the output shaft 32 of the first reduction gear case 36, whereby a polishing means 30 for cleaning the floor of the building is preferably formed. The polishing means 30 rotates about an axis substantially perpendicular to the floor to be cleaned, and the brush 38 provided on the polishing means 30 is in friction with the bottom surface to be cleaned and polished.

In addition, the aforementioned first connecting means 20 and the first polishing means 30 are symmetrical with the second connecting means 20 'and the second polishing means 30' around the center of gravity axis G. Since the symmetrical polishing means are driven by the same drive means 10, the polishing means 30, 30 'have the same size and rotate in opposite directions to each other.

In addition, since the first and second connecting means 20 and 20 'and the first and second polishing means 30 and 30' are symmetrical as described above, the first and second connecting means shaft 24 included therein. , 24 '), first and second universal joints 23 and 23', first and second reduction gear cases 36 and 36 ', first and second adjustment shafts 46 and 46', first and second brush It will be apparent that all components, including (38, 38 '), are also symmetrical.

As shown in Figs. 1, 3 and 4, the rotational axes of the polishing means 30, 30 ′ are changed near the first and second polishing means 30, 30 ′, more specifically the The first steering means 40 and the second steering means 40 'are inclined toward the bottom surface to clean the brushes 38, 38' in any direction.

Since the first and second steering means 40, 40 'have the same configuration except that only the installation positions thereof are different, only the first steering means will be described in detail here.

The first steering means 40 includes two step motors 42a and 42b (best shown in FIG. 4), two reciprocating shafts 44a and 44b reciprocating by driving of each of the step motors, and one end thereof, respectively. Two joint elements (47a, 47b) formed in spherical treatment with the reciprocating shafts (44a, 44b) of the other end and fixed to two sides of the reduction gear case (36), and on the upper surface of the reduction gear case (36). One end is fixed and the other end is concentric with the shaft 32 of the polishing means 30, the adjustment shaft forming a spherical treatment with the control shaft holding portion 45 fixed to the inside of the bottom polishing apparatus 100 ( 46). At this time, in order to change the rotation axis of the polishing means 30 in an arbitrary direction, the second step motor 42b makes a 90 ° angle to the first step motor 42a about the adjustment shaft holder 45. It is arranged on the rear surface of the holding portion 45.

Further, the reciprocating shafts 44a and 44b are threaded and surrounded by cylindrical shaft cases 43a and 43b, and the drive shafts 41a of the step motors 42a and 42b are provided on the outer circumferential surfaces of the shaft cases 43a and 43b. And worm gear teeth 43a 'and 43b' corresponding to the worm teeth 41a 'and 41b' formed in the upper and lower portions 41b are formed.

Here, the spherical treatment refers to a structure in which one spherical surface and its corresponding concave surface are configured to rotate in engagement with each other.

On the other hand, the operation of changing the rotation axis direction of the polishing means 30 by the steering means 40 is performed as follows. Once one step motor 42 is operated, it is formed on the outer circumferential surface of the drive shafts 41a and 41b of the step motor 42. The worms 41a 'and 41b' have corresponding worm teeth 43a 'and 43b'. ) Rotate the cylindrical cases (43a, 43b) formed on the outer circumferential surface, the reciprocating shaft (44a, 44b) screwed into the cylindrical case by the rotation is a vertical movement. By the vertical drive of the reciprocating shafts 44a and 44b, the joint elements 47a and 47b constituting spherical treatment with the shafts 44a and 44b are also vertically driven. At this time, since the joint elements 47a and 47b are fixedly attached to the reduction gear case 36 which fixes the shaft 32 of the polishing means 30 in the axial direction, the shaft 32 of the polishing means is The movement to move up and down corresponding to the above-described joint elements 47a and 47b is shown. However, since the shaft 32 and the reduction gear case of the polishing means 30 are fixedly attached to the adjustment shaft 46 whose movement is limited in the axial direction by the adjustment shaft holding portion 45, the adjustment shaft holding portion ( 45) and spherical treatment of the adjustment shaft 46, in more detail, pivoting the spherical treatment surface about its axis. This shaft turning movement of the polishing means in turn tilts the brush 38 installed at the end of the polishing means 30 up and down.

In addition, since the steering means 40 includes two step motors 42a and 42b, reciprocating shafts 44a and 44b and connecting elements 47a and 47b connected thereto, the operation of one step motor 42a In addition, when the other step motor 42b is operated, the brush 38 is inclined in an arbitrary direction by spherical treatment of the adjustment shaft holder 45 and the adjustment shaft 46. At this time, since the universal joint 23 is installed on the shaft 24 of the connecting means 20, the change of the rotation axis of the polishing means 30 can be free with respect to the shaft 24 of the connecting means.

Thus, the polishing means 30 comprises two step motors 42a and 42b and an interlocking portion interlocked therewith, ie, reciprocating shafts 44a and 44b, joint elements 47a and 47b and an adjustment shaft 46. By means of the steering means 40 and the universal joint 23, the rotation axis can be changed in any direction.

Here, since the steering means 40, 40 'are symmetrical with respect to the center of gravity axis G, the first step motor pairs 42a and 42b and the first reciprocating shaft pairs 44a and 44b included therein. Components of the first steering means 40, including the pair of coupling elements 47a and 47b, the first adjustment shaft 46, and the like, the second step motor pairs 42a 'and 42b' and the second reciprocating element. Substantially the same as the components on the second steering means 40 side including shaft pairs 44a ', 44b', second joint pairs 47a ', 47b', second adjustment shaft 46 'and the like. It consists of components.

Now, the omnidirectional movement of the brush by the above-described configuration will be described with reference to the schematic diagram shown in FIG. 5.

5 shows the front and rear directions of the bottom polishing apparatus as the X axis and the left and right directions as the Y axis, with the center of gravity axis G of the bottom polishing apparatus according to the present invention as the origin. Further, on the Y axis about the center of gravity axis G, the first and second brushes 38, 38 'are respectively shown spaced apart from the center of gravity axis G by the same distance a.

As shown in FIG. 5, one point of the first brush 38 that rotates in a clockwise direction and the brush 38 'that rotates in a counterclockwise direction rotates about each of the rotational axes Z1 and Z2, respectively. When in the direction, by tilting the brushes 38 and 38 'about the axes y1 and y2 by θ1 and θ2 (= by changing the vertical axis of rotation), a frictional driving force of F (θ1) can be obtained in the y1 direction. , the frictional driving force of F (θ2) can be obtained in the y2 direction. Therefore, since the forces transmitted from the bottom are F (θ1) and F (θ2), the floor polishing apparatus 100 will move in the direction when y1 and y2 are the same, and the rotation moments T are opposite to each other. The same value in the direction will cancel each other out.

In addition, the floor polishing apparatus 100 according to the present invention is provided with a means 50 for turning on / off the driving means 10 and controlling the steering means.

Here, the control means 50 is a steering means control unit for driving and stopping the driving means control unit 52 for turning on / off the driving motor and the step motors 42a, 42b and 42a ', 42b' to the correct time and the correct position. It consists of 54. The control means is in a form that can be controlled externally, such as, for example, a remote control device. The control system by such control means is shown as a block diagram in FIG.

In addition, the bottom polishing apparatus according to the embodiment of the present invention is equipped with a caster wheel 60 provided with three ball transfers 62 around the center of gravity axis G on the outside thereof.

The shape and mounting position of this caster wheel is shown in detail in FIGS. 2, 6 and 7.

As shown in FIGS. 2, 6 and 7, the caster wheel 60 has three ball transfer portions 62 and a connecting member 64 connecting each of the ball transfer portions to the lower side of the bottom polishing apparatus. ) The caster wheel is preferably mounted with a ball transfer section having the center portion of the bottom polishing apparatus as the center of gravity axis G. FIG.

Here, the ball transfer part 62 is a member formed to function as a cloud by friction of the bottom surface, and an elongated slot corresponding to the bolt hole 64a of the connection member 64 is formed at an upper end of the bolt transfer 62. A height adjusting portion 63 having a 63a is attached thereto, and the bolt 66 is coupled through the slot and the bolt holes 63a and 64a to adjust the height of the bolt transfer portion 62 and the connecting member 64. It is possible to attach, whereby the caster wheel 60 is preferably height adjustable.

The caster wheel 60 eliminates the possibility that the bottom polishing apparatus 100 overturns due to disturbance due to the self-weight of the floor polishing apparatus 100 being dispersed in the brush 38 and the ball transfer 62. It plays a role of minimizing the disturbance caused by the change of the rotation axis direction of the steering means (30) essential for the control.

The present invention is not limited to the embodiments described above, and various modifications and changes can be made by those skilled in the art, which are included in the spirit and scope of the present invention as defined in the appended claims.

As described above, the remote controlled floor polishing apparatus according to the present invention provides two rotational polishing means and steering means for changing the rotation axis direction of the polishing means so that the remote controlled floor polishing apparatus is movable in any direction. As a result, it is possible to work in a confined space and take less time to work, and the caster wheel provided therein minimizes disturbance due to a change in the rotation axis direction of the steering means 30 which is essential for the forward control. And provides stability in the forward movement of the polyphase device.

Claims (3)

In the self-propelled remote controlled floor polishing apparatus 100, A rotation drive means 10 including a drive motor and power transmission means 11, 12, 13 interlocked with the drive motor in turn; Connecting means (20, 20) rotatably connected to the drive means (10), symmetrical about the center of gravity (G) of the floor polishing apparatus (100), and installed with universal joints (23, 23 '), respectively. ')and, Polishing means (30, 30 ') rotatably connected to the connecting means (20, 20'), respectively, rotating at the same size and opposite rotation moments about a rotating shaft facing the floor to be cleaned; The step motors 42a, 42b and 42a ', 42b' provided in a pair near each polishing means so as to change the rotation axis directions of the polishing means 30, 30 'and continuously interlocked by each of the step motors. Steering means (40, 40 ') including an interlocking portion, And remote control means (50) for turning on / off said drive means (10) and controlling the change in the direction of rotational axis of said steering means (40, 40 '). The caster wheel (60) according to claim 1, further comprising: a caster wheel (60) provided at a lower portion of the outer frame of the floor polishing apparatus (100) with three ball transfers (62) height-adjustable about the center of gravity axis (G); Floor polishing apparatus, characterized in that the caster wheel is mounted. A reciprocating shaft (44a, 44b, 44a ', 44b') reciprocated by step motors (42a, 42b, 42a ', 42b') provided near each polishing means; Cases 36 and 36 of the reduction gear which have one end spherical with the reciprocating shafts 44a, 44b and 44a ', 44b' and the other end wrap the shaft 32 of the polishing means 30, 30 'with bearing contacts. Joint elements 47a, 47b and 47a ', 47b' fixedly attached to side surfaces perpendicular to each other, and one end fixedly attached to the upper surface of the reduction gearcases 30 and 30 ', and the other end of the bottom polishing apparatus. (100) A floor polishing apparatus comprising an adjustment shaft holder (45, 45 ') fixed to an inner side and an adjustment shaft (46, 46') for spherical treatment.