JPS6314152B2 - - Google Patents

Description

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

Traditionally, concrete floors of buildings were finished flat using a plastering trowel, but it was inefficient to do this manually, so mechanical finishing equipment was introduced. has been done.

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

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

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

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

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

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

In order to achieve the above object, the present invention provides an automatic moving floor finishing device that uses a driving device to move a moving vehicle on a concrete floor surface in a weak state, and a support that is installed above the moving vehicle to adjust the speed of the moving vehicle. A torque adjusting nut is rotatably attached via a center bearing, and is screwed onto the support post with a spring material interposed therebetween for biasing the alignment bearing, and rotates around the outer periphery of the traveling vehicle. The traveling vehicle includes a rotating blade that shapes the floor surface into a predetermined flat surface by being driven, and the traveling vehicle includes a coordinate recognition device that recognizes a preset area as a work range, and a coordinate recognition device that recognizes a preset area as a work range, and a coordinate recognition device that recognizes a preset area as a work range. A control device that determines a traveling route for a vehicle, controls the drive device so that the traveling vehicle moves along this traveling route, and also controls the rotational drive of the swing blade. Has characteristics.

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

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

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

The automatic traveling floor finishing device includes a traveling vehicle 10 that freely travels on a floor surface by a drive device, and a swing blade 20 that is rotatably attached to the traveling vehicle 10 and driven to rotate around the traveling vehicle 10. It is roughly composed of.

The running vehicle 10 is formed into a flat box shape as a whole, and has a pair of running sections 12, 12 having a cover structure below.
The drive motors 2 and 12 are driven by drive motors 14 and 14, respectively, which are mounted on separate shafts, and are controlled by a control computer, which will be described later. The cover structure of the traveling parts 12, 12 supports the weight of the traveling vehicle 10, the swirling blade 20, etc. over a wide area.
Care has been taken not to damage the weakly cooled concrete surface.

The swirling blade 20 includes a rotating frame 22 bent into a substantially inverted U shape, and a pair of plastering trowels 2 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, the two swirl wings 20 are arranged perpendicularly to each other, and the plastering trowels 24, 24, . . . are arranged at an interval of approximately 90 degrees.

The rotating frame 22 is erected with its substantially center projecting upward from the ceiling of the traveling vehicle 10,
Further, it is attached via an alignment bearing 28 that is loosely fitted to a support column 26 having a thread carved on its peripheral surface, and a receiving member 30 having a concave cross section is fixed to the lower surface of the center portion. A pulley 32 loosely fitted to the pillar 26 is disposed near the lower end of the pillar 26, and the pulley 32 is connected by a belt 36 to the rotating shaft of an electric motor 34 fixedly mounted on the ceiling of the vehicle 10. At the same time, the above-mentioned receiving member 30 is provided on the upper side of the pulley 32.
A protruding piece 38 that fits is fixed.

The above-mentioned alignment bearing 28 is biased downward by a spring member 42 whose one end is locked to a torque adjustment nut 40 screwed onto the support column 26. By raising and lowering this nut 40, the alignment bearing 28 to move the rotating frame 22 up and down to adjust the fitting state between the receiving member 30 and the protruding piece 38.
Adjust the torque transmitted to the

As is clear from the above configuration, the electric motor 3
4 is rotated, the rotation is transmitted from belt 36 → pulley 32 → protrusion 38 → receiving member 30,
The rotating frame 22 and the plastering iron 24 can be rotated in the circumferential direction. The rotation control of the electric motor 34 is also based on commands from a control computer, which will be described 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 protective frame 44 is attached above the torque adjustment nut 40 of the support column 26 and is sandwiched between screwing mounting nuts 43. A tension roller 45, which winds a cable for supplying power to the drive motor 14, the electric motor 34 for rotation of the swing blade 20, etc., and absorbs the loosening of the cable that occurs during running, screws onto the nut 46. installed.

In this case, in this embodiment, the tension roller 4
5 is used, but it is also possible to attach a slip ring to the upper end of the support column 26 without using the slip ring, attach a guide frame rotatably to the periphery of the slip ring, and attach the power supply cord through this guide frame.

Furthermore, ultrasonic sensors 48, 48, . The outer circumferential surface is provided with contact sensors (specifically tape switches, proximity switches, etc.) disposed so as to circulate (see Fig. 4), and these sensors 48,
50 to prevent obstacles from entering the rotation range of the swirler 20, and to protect structures (pillars, etc.)
It is designed not to cause any harm to people.

To control a floor finishing device having the above-described mechanical configuration, first, an area in which floor finishing work is to be performed is specified.

As an identification means, for example, a receiving unit 52 is attached to the traveling vehicle 10, and a wireless signal radio wave is applied to it from the transmitting unit 54, so that the traveling vehicle 10 is actually detected around the work area as shown by the thick line arrow in FIG. Alternatively, the plane coordinate values of the work area are calculated using, for example, a corner of the work area as a starting point, and the coordinate values, travel direction, etc. are directly input from the keyboard 62 of the control computer 60. You may.

The work area 56 identified in this way is based on the starting point 58 where the traveling vehicle 10 moves.
The coordinate recognition device 64 also converts the values into plane coordinate values, which are input and stored in the control computer 60.

As the coordinate recognition device 64, the traveling vehicle 10
The trajectory traveled based on the input signals from the pulse generator 16 connected to the rotating shaft of the drive motor 14 and the gas rate gyro, and the plane coordinates of the current position with the starting point 58 as the origin. It consists of a gyroscope computer and a computer that converts it into a gyroscope.

Based on the data of the work area identified in this manner, the control computer 60 determines the travel route of the traveling vehicle 10 within the work area using the plastering iron of the swing wing 20, as shown by the thin line arrow in FIG. 24, and so that the traveling vehicle 10 moves along this determined route.
It controls the drive motors 14, 14 of the traveling section 12, and also controls the rotational drive and rotational speed of the electric motor 34 that rotationally drives the swirling blade 20.

Further, as described above, the traveling vehicle 10 is driven, the swing blade 20 is rotated, and the floor surface is shaped with the plastering trowel 24, and the finished area is recognized by the coordinate recognition device 6.
4, it is input to the control computer 60 and stored, so it will not run again over an area that has already been finished as a flat surface.

If there is an obstacle 66 such as a pillar on the travel route, the contact sensor 50 attached to the protective frame 44 detects its presence and direction by coming into contact with it, and this data is sent to the control computer. 60, the control computer 60 sets a travel route to avoid the obstacle 66.

If the obstacle 66 does not protrude above the floor, such as a hatch opened in the floor, the ultrasonic sensor 48 attached to the vehicle 10 detects its presence and direction. , the control computer 60 similarly sets a travel route to avoid this.

The size, position, etc. of the obstacle 66 are input to the control computer 60 via the coordinate recognition device 64, and the area where the floor surface has already been finished is stored as described above. It compares with the specified work area 56, travels through all areas within the work area 56, and finishes traveling after confirming that the floor surface finishing has been completed, thereby completing the finishing work.

Now, in the automatic traveling floor finishing device having the above-mentioned configuration, the floor is finished while the traveling vehicle 10 and the swing blade 20 are running, both of which are controlled by a control computer. Even if a slight dent occurs on the floor surface,
After running, a rotating plastering trowel 24 can be used to create a flat surface.

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 of the floor surface, the size of unevenness, etc., so it is much more uniform than conventional manually operated plastering trowels. All you have to do is specify the work area and the rest is done automatically, requiring no skill.

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

As described above in detail in the embodiments, the automatic traveling floor finishing device according to the present invention can finish the desired flat surface without any manual labor after the work area for floor finishing has been specified. , it becomes possible to significantly improve work efficiency. In addition, since the swirling blades are driven to rotate around the outer circumference of the vehicle,
No matter which direction the vehicle travels, the unevenness of the floor surface that occurs as the vehicle travels is smoothed out by the swirl vanes, and since the swirl vanes are attached via alignment bearings, the vehicle Regardless of vibration,
The positional relationship with the floor surface is maintained, and since it is equipped with a torque adjustment nut, the rotational torque of the swirling blade that shapes the floor surface can be set according to the hardening state of the floor surface, which changes during work.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional view of one embodiment of the present invention, FIG. 2 is a top view with the protective frame removed, and FIG.
FIG. 4 is an explanatory diagram of the working area and travel route, FIG. 4 is an explanatory diagram showing the positions of sensors, and FIG. 5 is a block diagram of the control system. 10... Running vehicle, 12... Running part, 14...
Drive motor, 16...Pulse generator, 20
...Swivel blade, 22 ... Rotating frame, 24 ... Plastering trowel, 26 ... Strut, 28 ... Aligning bearing, 32
... Pulley, 34 ... Electric motor, 36 ... Belt, 43 ... Mounting nut, 44 ... Protection frame, 45 ... Tension roller, 46 ... Nut, 48 ... Ultrasonic sensor, 50 ... Contact Motor, 52... Receiving unit, 54... Transmitting unit, 56... Working area, 58... Starting point, 60...
...Control computer, 62...Keyboard, 64
...Coordinate recognition device, 66...Obstacle.

Claims (1)

[Claims] 1 A traveling vehicle that travels on a concrete floor surface in a weak state by a drive device, and a vehicle that is rotatably attached to a pillar erected above the traveling vehicle via an alignment bearing, and that is It has a torque adjustment nut screwed onto the support post with a spring material that biases the bearing interposed therebetween, and the floor surface is shaped into a predetermined flat surface by being rotationally driven around the outer periphery of the vehicle. The traveling vehicle is equipped with a coordinate recognition device that recognizes a preset area as a work area, and a coordinate recognition device that determines a traveling route of the traveling vehicle within the set working area and a coordinate recognition device that determines a traveling route of the traveling vehicle within the set working area. An automatic traveling floor finishing device comprising: a control device that controls the drive device so that the traveling vehicle moves and also controls the rotational drive of the swirling blade.