JPH0257181B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a self-propelled finisher for finishing floors, and more particularly to a self-propelled finisher particularly suitable for finishing concrete floors.

[Prior art] Currently, the mainstream method for finishing concrete floors is the monolithic method.
The work is done late at night, and the working posture of the workers when finishing the concrete floor is extremely tiring. As described above, the working conditions for finishing work on concrete floors are not necessarily good, but to date, no satisfactory solution has been taken. Regarding this, the present applicant has previously proposed an unmanned or self-propelled autofinisher, that is, a self-propelled floor lifting robot, in Japanese Patent No. 59-21568. As shown in FIG. 2, this automatic finisher consists of a traveling truck 1 and a trowell 10 that is pulled or pushed by the truck 1. As shown in FIG. The traveling truck 1 has steerable driven wheels 2 and driving wheels 2', and is supported by a truck frame 4 via suspensions 3, 3. A control unit 5 is mounted on the truck frame 4. The control unit 5 includes a trolley 1
Examples of all devices necessary for self-propulsion, such as a steering motor for the driven wheels 2, a driving motor for the driving wheels 2', a current position detection device, a drive control device for the trowel 10,
Inclination control means for the trowell 10, etc. are included. A bracket 6 is provided upright on the opposite side of the control unit 5, and an arm 7 is provided at approximately the middle position of the bracket 6.
is attached so as to be swingable in the horizontal direction, and a trowel 10 is coupled to the other end of the arm 7 via a horizontal pin 8 so as to be swingable in the vertical direction. The trowel 10 has a cylindrical casing 11
and a plurality of blades 1 located below the casing 11 and rotated in contact with the finished floor surface G.
2, a cover 13 covering the blade, and a casing 11
It is generally composed of a drive motor 9 inside.

In the autofinisher constructed as described above, when the traveling trolley 1 is driven by itself while rotating the blades 12 of the trowell 10, the floor surface G is finished by the blades 12.

Such an autofinisher, that is, a self-propelled floor finishing robot, is effective in itself, but because the rotation radius of the blades 12 is large, when finishing the floor of a building, it is difficult to finish the finished part at the corner of the floor. There are drawbacks that can occur. This problem itself can be solved by reducing the rotation radius of the blade 12, but if the rotation radius is reduced, the finished width becomes narrower overall. Furthermore, since the trowell 10 is turned by the arm 7 and the driven wheel 2, the turning radius is large.
In addition, the structure is complicated because it requires a driven wheel 2, a steering motor for the driven wheel 2, and a control means for the driven wheel 2 in addition to the driving wheel 2'.

[Object of the Invention] Accordingly, an object of the present invention is to provide a self-propelled finisher that can suitably finish the corners of a floor, has a small turning radius, and has a simple structure.

[Structure of the Invention] A self-propelled finisher according to the present invention includes a truck equipped with a pair of independently drivable running wheels, a forked arm that can swing around the longitudinal axis of the truck, and the arm. and a trowell supported by ear shafts, and the trowel includes a pair of multiple sheets arranged in the left-right direction of the truck, whose respective rotational surfaces intersect, and whose respective rotational directions are set as the traveling direction of the truck at the intersection. There are vanes and a drive motor for rotating the vanes.

[Operations and Effects of the Invention] Therefore, since a plurality of pairs of blades are provided, the rotation radius of the blades can be reduced without narrowing the finishing width compared to the conventional device, and the corners of the floor can be finished appropriately. It can be carried out. Further, since the trowel turns depending on the rotation conditions of the running wheels, and the arm does not have a degree of freedom in the horizontal direction, the turning radius of the trowell can be made small to allow for small turns. Furthermore, since the driven wheels, the steering motors for the driven wheels, and the control means for the driven wheels of the conventional device are eliminated, the structure is simple.
Furthermore, since the direction of rotation of the blades is set to be the direction in which the trolley is traveling at the intersection of the rotating surfaces, the reaction torque of the rotation of the blades is offset, the vibration of the trowell itself is suppressed, and the floor is finished while capturing slag inside. It is possible to improve the plane accuracy of.

[Preferred Embodiment] When carrying out the present invention, the number of the plurality of blades should be 3 to 5, because if the number is large, the ground pressure per blade will be low, and if it is small, the blades will sink into the finished surface, which is not desirable for finishing. 1 piece.

[Examples] Examples of the present invention will be described below with reference to the drawings. In FIG. 1, the self-propelled finisher generally includes a truck 20, an arm 30 attached to the truck 20, and a trowel 40 supported by the arm 30.

The trolley 20 has a pair of running wheels 21L and 21R that can be driven independently by a running motor (not shown).
The underframe 22 supported by these running wheels and the underframe 22
and a control device 23 provided above.
The control device 23 is provided with all the functions necessary for the self-propulsion of the bogie, such as a function to maintain straight movement using a gyro compass, a current position detection function, a function to control the rotation of the driving motor, a function to control the rotation of the drive motor of the trowell 40, etc. It is being Underframe 22 on the control device 23 side
A bracket 24 is suspended from the center of the end, and a horizontal shaft 25 projects from the lower end of the bracket 24 in the front-rear direction of the truck 20.

A forked arm 30 is swingably attached to this shaft 25, and at both ends of the arm 30,
A trowell 40 is swingably supported by a horizontal ear shaft 31 extending in the left-right direction of the truck.

The trowel 40 includes a casing 41 supported by the arm 30, a pair of blades 42L (four in the illustrated example) located below the casing 41, and driven to rotate in contact with the finished floor surface. 42
R, and a drive motor 44 that is provided on the casing 41 and drives both of these blades.

Rotating shafts 43L, 43 of the blades 42L, 42R
R are arranged perpendicularly to the axis of the ear shaft 31, and the rotation of the blades is periodic so that the rotating surfaces intersect, and the direction of rotation is such that the intersecting part is on the F side in the direction of travel of the truck 20. In other words, the direction is counterclockwise for the blade 42L, and the direction is clockwise for the blade 42R.

In addition, the total width W of the rotation radius of the blades 42L and 42R
is determined by the required finishing width, but the individual turning radius may naturally be smaller than in conventional devices. The number of blades is determined by the contact pressure with the finished surface, but if the number of blades is increased, the ground pressure per blade will be reduced, and if the number is decreased, the blades will sink into the finished surface, which is unfavorable for the finish. There will be 5 pieces.

Next, the effect will be explained.

It is clear that when the trolley 20 moves by itself while rotating the blades 42L and 42R of the trowell 40, the floor surface is finished by the blades.
Furthermore, since the rotation radius of the blades is smaller than that of the conventional device as described above, the corners of the floor can be suitably finished. During finishing, the blades 42L and 42R are rotated in opposite directions to each other and in the traveling direction of the truck at the intersection of the rotating surfaces, so the rotational torque of the blades is canceled out, and therefore the vibration of the trowell 40 itself is suppressed. It is possible to improve the flatness accuracy of the finish by taking the slag inside while finishing.

In addition, the trowell 40 has an ear shaft 31, a horizontal shaft 2
5 is supported by the truck 20, and since the truck 20 is grounded by the running wheels 21L and 21R, the straight line Y connecting the grounding points of the running wheels and the axis Y' of the ear shaft 31 each have one degree of freedom. Therefore, the trolley 20
has 2 degrees of freedom in the left and right direction, and has 2 horizontal wheels.
5 has one degree of freedom with respect to the axis X, and therefore has one degree of freedom with respect to the traveling direction of the truck 20. As a result, the rotating surfaces of the blades 42L and 42R are free against the bias of the floor surface. Finishing can be done according to the following.

When traveling straight, the control device 23 uses a straight traveling maintenance function to determine whether the traveling direction of the bogie 20 deviates from the straight traveling direction based on the signal from the gyro compass.
It is possible to maintain straight travel by increasing the number of rotations of the running wheel on the side that deviates from the vehicle, or by decreasing the number of rotations of the running wheel on the opposite side.

When turning, the control device 23 uses the driving motor rotation control function to reverse the running wheels on the inner side of the turning direction, allowing the vehicle to turn around the midpoint of the left and right running wheels as the turning center, with a smaller half-turn radius than conventional devices. .

[Summary] As explained above, according to the present invention, a pair of multiple blades are arranged so that their rotating surfaces intersect, so the rotation radius of the blades can be reduced without narrowing the finishing width compared to conventional devices. It is possible to suitably finish the corner of the floor. In addition, it can turn depending on the rotation conditions of the running wheels, allowing the trowel to make small turns. Furthermore, since the steering wheel and related members of the conventional device are eliminated, the structure is simple.
Furthermore, since the direction of rotation of the blades is set to be the direction in which the trolley is traveling at the intersection, the reaction torque of the rotation of the blades is offset, vibration of the trowel itself is suppressed, and slag is taken inside while finishing, improving the flatness of the floor finish. can be improved.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing one embodiment of the present invention;
The figure is a side view showing a conventional device. 20...Truck, 21L, 21R...Running wheels, 3
0... Arm, 40... Trowel, 42L, 4
2R...Blade, 44...Drive motor.

Claims (1)

[Claims] 1 Consists of a truck equipped with a pair of independently drivable running wheels, a forked arm that can swing around the longitudinal axis of the truck, and a trowel supported by the arm by an ear shaft. The trowell includes a pair of multiple blades that are arranged in the left and right direction of the truck, their respective rotating surfaces intersect, and each rotation direction is the traveling direction of the truck at the intersection, and a drive motor or drive that rotates these blades. A self-propelled finisher characterized by being equipped with an engine.