JPH0227502B2 - KONKURIITOYUKAMENSHIAGEYOFUINITSUSHA - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a finisher for finishing a concrete floor surface.

[Prior Art] To finish a concrete floor surface, a concrete floor finishing device called a trowel equipped with rotating blades is used. This trowel is connected to a traveling truck via an arm, and is pulled by the traveling truck to finish the concrete floor surface. that time,
The arm reciprocates in a fan shape in the horizontal direction, and the trowell is also pulled by the traveling truck and reciprocates in a fan shape in the horizontal direction.

By the way, in conventional finishers for finishing concrete floors, the degree of freedom of the arm is "1",
In other words, since the base end of the arm was only rotatably connected to the traveling carriage, the construction range of the trowel was relatively narrow, and there was no problem with the trowel getting in and out, especially around obstacles or corners. It was a lot.

[Object of the Invention] Therefore, an object of the present invention is to provide a finisher for finishing a concrete floor surface that can be applied over a wide range of trowels and that can be applied particularly easily to areas with access and entry such as obstacles and corners. There is something to do.

[Structure, operation and effect of the invention] Therefore, according to the present invention, in the finisher which finishes a concrete floor surface with the rotary blades of the trowel by pulling the trowel through the arm with a traveling trolley, the arm has a first joint and a second joint. A concrete floor finishing finisher is provided, which is an arm with two degrees of freedom and has a servo motor and a speed reducer for horizontally rotating the arm at each joint. Therefore, the arm can be horizontally rotated at the first and second joints to widen the range of trowel work, and it is easy to finish concrete floor surfaces, especially in areas where obstacles or corners are accessible.

[Examples] Examples of the present invention will be described below with reference to the drawings.

FIG. 1 shows the entire structure of a concrete floor finishing finisher according to the present invention, which can be roughly divided into a trowell 1 for finishing the concrete floor, a traveling trolley 2 for pulling the trowel 1, an arm 3A for connecting the trowell 1 to the traveling trolley 2, It consists of 3B. The trowel 1 includes a blade 4 for finishing a concrete floor surface and a motor 5 for rotating the blade 4. In addition, the traveling bogie 2 has a driving wheel 6, a driven wheel 7,
The traveling truck 2 is equipped with a steering device 8, and the traveling truck 2 includes a measuring roller 9, an encoder 10, and an encoder 10, which issue control signals when automatically controlling the traveling truck 2.
A gyroscope 11 etc. are provided. In addition, in FIG. 1, 12 is an actuator for tilting the trowel 1, and 13 is a connecting arm that connects the arm 3B and the trowel 1, which will be described later. They are axially connected by horizontal shafts 14A and 14B. Note that the horizontal axis 14B has a gimbal mechanism and can follow unevenness on the floor.

FIG. 2 shows the structure of the arms 3A and 3B that connect the trowell 1 to the traveling truck 2, and when explained together with FIG. 1, the arms 3A and 3B are connected to the first joint 1
5A and a second joint 15B with two degrees of freedom, and each joint 15A, 15B has an arm 3.
Servo motor 1 for horizontally turning A and 3B
6 and a reduction gear 17 (FIG. 1) are provided. Therefore, the arm can pivot both at the first joint 15A and at the second joint 15B, and the work area of the trowell 1 is widened, making it easy to work particularly around obstacles and corners where there are entrances and exits.

FIG. 3 shows details of the above-mentioned arm with two degrees of freedom. The first joint 15A and the second joint 15B are the first joint 15A and the second joint 15B.
A servo motor 16 for horizontally reciprocating the arm 3A and the second arm 3B, respectively, and a speed reducer 17 made of a planetary gear mechanism for decelerating the rotation of the servo motor 16 and transmitting the rotation to each arm 3A, 3B. ing. In the first joint 15A, a harmonic drive 19 is keyed to the output shaft 18 of the reducer 17, and a first swing arm 21 constituting the first arm 3A is attached to the harmonic drive 19 by a bolt 20. connected. The harmonic drive 19 is supported by a support 22 on the traveling vehicle 2 side via a bearing 23, and the first swing arm 21 is supported by a shaft 24 keyed on the traveling vehicle 2 side via a bearing 25. There is. A second swing arm 28, which constitutes the first arm 3A, is connected to the first swing arm 21 by pins 26 and 27. Therefore, when the servo motor 16 operates, its rotation is reduced by the reducer 17, and the output shaft 18, harmonic drive 19, bolt 20, first swing arm 21,
This is transmitted to the pins 26, 27 and the second swing arm 28, and the first arm 3A swings back and forth in the horizontal direction at a predetermined angle. The second swing arm 28 constituting the first arm 3A is connected to the support member 29 of the second joint 15B by a bolt 30, so that when the first arm 3A horizontally swings, the second arm 3
B also turns horizontally, and accordingly, the trowell 5 turns horizontally by a predetermined angle.

The second arm 3B is designed to be able to reciprocate horizontally at a predetermined angle independently of the first arm 3A. For this reason, as described above, the second swing 15B is also equipped with the servo motor 16 and the reducer 17, and the joint fitting 32 is keyed to the output shaft 31 of the reducer 17, and the second arm 3B is attached to the turning fitting 32. are connected by bolts 33. Axis 3
1 is supported by a support member 29 via a bearing 34.

Therefore, when the servo motor 16 operates, its rotation is reduced by the speed reducer 17 to rotate the shaft 31, and the second arm 3B horizontally rotates at a predetermined angle independently of the first arm 3A via the pivot fitting 32. .
The trowel 1 is connected to the tip of the second arm 3B via a connecting arm 13, as shown in FIG. Therefore, the trowell 1 is horizontally rotated by a predetermined angle by the rotation of the second arm 3B, independently of the first arm 3A. In addition, in FIG. 3, 35 is an encoder that detects the rotation angle of the second arm 3B and outputs a control signal.
is connected to. Also, as shown in Figure 1,
An encoder 37 is provided to detect the rotation angle of the arm 3A and output a control signal.

[Summary] As explained above, according to the present invention, the arm that connects the trolley to the traveling truck has a first joint and a second joint.
It is an arm with two degrees of freedom, and each joint is equipped with a servo motor and a speed reducer to horizontally rotate the arm, so the arm can be horizontally rotated at the first joint and at the second joint. Therefore, the construction range of the trowell is expanded, and concrete floor surface finishing becomes easier, especially in areas where there are obstacles or corners.

[Brief explanation of drawings]

Fig. 1 is a side view of a concrete floor finishing finisher embodying the present invention, Fig. 2 is a plan view showing the turning mode of the arm that connects the trowel to the traveling truck, and Fig. 3 shows some details of the arm. FIG. 3 is a front view shown in cross section. 1...Trowel, 2...Traveling trolley, 3A, 3
B...Arm, 4...Rotating blade, 5...Motor,
16... Servo motor, 17... Speed reducer.

Claims (1)

[Claims] 1. In a finisher that pulls a trowel through an arm using a traveling trolley and finishes a concrete floor surface with the rotary blades of the trowel, the arm is an arm with two degrees of freedom, including a first joint and a second joint, and each joint has a is a concrete floor finishing finisher that is equipped with a servo motor and a speed reducer for horizontally rotating the arm.