• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    This document provides a method of operating a floor grinding machine (100). The method comprises providing a grinding machine (100) comprising a frame (101), a motor (102) and at least one grinding element, causing the motor (102) to drive the grinding element so as to rotate at a rotational speed, while in contact with a floor surface to grind, polish or mill the floor surface, determining an actual value of a motor operating parameter, determining a nominal value of the motor operating parameter, comparing the actual value of the motor operating parameter with the nominal value of the motor operating parameter, if a difference between the actual value of the motor operating parameter and the nominal value of the motor operating parameter exceeds a predetermined difference threshold, determining at least one grinding parameter to be adjusted, and causing the at least one grinding parameter to be adjusted.
    公开号:SE1650833A1
    申请号:SE1650833
    申请日:2016-06-14
    公开日:2017-12-15
    发明作者:Torvaldsson Thomas；Gustavsson Daniel
    申请人:Htc Sweden Ab；
    IPC主号:
    专利说明:

    METHOD OF OPERATING FLOOR GRINDING MACHINE Technical field The present disclosure relates to methods of operating floor grindingmachines, and in particular for operating floor grinding machines adapted forgrinding floors of stone or stone-like materials, such as limestone, sandstone, marble, slate, granite, concrete or terrazzo.
    BackgroundFloor grinding machines are known and used in polishing or grinding floor surfaces, either with the purpose of producing a level and/or glossy floorsurface, or with the purpose of renovating such a surface which hasdeteriorated due to e.g. wear, or which has been damaged.
    A floor grinding machine for this type of grinding typically comprises amachine frame, which carries a motor that is operatively connected to agrinding head. ln a particular class of floor grinding machines, such a grinding headmay be rotatable relative to the machine frame. The grinding head may carrya plurality of grinding disks, each of which may be rotatable relative to thegrinding head. Such a grinding head is typically referred to as a planetarytype grinding head.
    These floor grinding machines are usually equipped with grindingelements in the form of bonded abrasives, i.e. abrasives in the form of athree-dimensional body comprising abrasive particles and a matrix material,which may be a polymer material or a metallic material. As another option, themachines may be equipped with cutting elements, adapted, for example forremoval of glue, paint, lacquer or other surface treatments from a floorsurface.
    The machine may typically be supported by its grinding head and oftenalso by a pair of wheels, which may be arranged behind the grinding head, as seen in a forward direction of the machine. Optionally, the machine may also 2 be supported by one or more further wheels, which may be used to controlthe pressure exerted by the grinding head on the floor.
    The pair of wheels may be driven. Optionally, they may be individuallydrivable, such that a direction of travel of the machine may be controlled.
    The floor grinding machine may comprise a handle, which is connectedto the frame and provides possibility for the operator to hold, push, pull and/orsteer the machine.
    One example of a known machine of this type is disclosed inWO03076131A1.
    When grinding a floor as discussed above, it is of interest to optimizethe grinding procedure, so as to provide the best possible trade-off betweenproductivity (e.g. area/time) and tool wear.
    Today, much of this is achieved by the operator sensing how theprocess is functioning. For example, the operator may be able to feel or hearhow the machine is operating, in addition, of course, to seeing the result ofthe grinding or polishing process.
    However, there would be advantages in not only having to rely on theoperator's skill and level of attention. Moreover, it would be advantageous toprovide further assistance also to skilled and attentive operators.
    There is thus a need for further assistance to the operator in assessingthe status of the grinding or polishing process, such that he or she can make better decisions on how to handle the grinding machine.
    SummaryAn object of the present disclosure is to provide an improved method of operating a floor grinding machine for grinding floor surfaces of stone orstone-like materials.
    A particular object is to provide a method which assists the operator inassessing the status of the grinding or polishing process.
    The invention is defined by the appended independent claims, withembodiments being set forth in the appended dependent claims in thefollowing description and in the attached drawings. 3 According to a first aspect, there is provided a method of operating afloor grinding machine. The method comprises providing a grinding machinecomprising a frame, a motor and at least one grinding element, causing themotor to drive the grinding element so as to rotate at a rotational speed, whilein contact with a floor surface to grind, polish or mill the floor surface,determining an actual value of a motor operating parameter, determining anominal value of the motor operating parameter, comparing the actual valueof the motor operating parameter with the nominal value of the motoroperating parameter, if a difference between the actual value of the motoroperating parameter and the nominal value of the motor operating parameterexceeds a predetermined difference threshold, determining at least onegrinding parameter to be adjusted, and causing the at least one grindingparameter to be adjusted.
    By comparing an actual value with a nominal value of a machineoperating parameter, it is possible to derive information on whether thegrinding process is successful or not.
    For example, low torque exerted by the grinding machine may indicatepoor engagement with the floor surface and thus unsatisfactory removal ofmaterial.
    On the other hand, high torque may indicate excessive removal ofmaterial, excessive tool wear or excessive grinding pressure.
    Moreover, low power provided by the machine as compared to nominalpower may indicate that the full potential of the machine is not being used.That is, that it would be possible to operate at higher speed to increaseproductivity.
    By comparing an actual value with a nominal value of a machineoperating parameter, it is possible to derive information on whether thegrinding process is successful or not.
    Determining the actual value of the motor operating parameter maycomprise measuring a value of the motor operating parameter and derivingthe actual value of the motor operating parameter based on the value measured. 4 Determining the actual value of the motor operating parameter maycomprise determining a rotational speed of the motor, and determining amotor efficiency at the rotational speed, whereby the actual value of the motoroperating parameter is determined as the measured value adjusted by theefficiency.
    The efficiency may be calculated or derived from an empiricallyprovided data set, indicating efficiency as a function of rotational speed.] Determining the nominal value of the motor operating parameter maycomprise determining the rotational speed of the motor, and determining thenominal value of the motor operating parameter at the rotational speed bycalculation or table lookup based on the rotational speed.
    The method may further comprise determining a motor efficiencybased on the rotational speed, and determining the nominal value of themotor operating parameter as the nominal value of the motor operatingparameter at the rotational speed, adjusted by the efficiency.
    The difference threshold is set to less than 30 % of the amount of thedifference between the theoretical power and the actual power, preferablyless than 25 %, less than 20 % or less than 15 %.
    The method may further comprise adjusting the difference thresholdbased on a tool type.
    The parameter may be a motor current, a motor torque or a motorpower.
    The motor current may be measured directly on the motor, or providedas a parameter from a control unit.
    The motor power input may also be measured directly (e.g. current andvoltage), or it may be provided as a parameter from the control unit.
    The torque may be derived based on e.g. the current, or it may bemeasured by use of e.g. a torque measurement device.
    As one option, the method may comprise causing the grindingparameter to be adjusted by a control circuit and/or control software of thefloor grinding machine in response to a determination that the grindingparameter is to be adjusted. 5 ln the method, automatically adjusting the grinding parameter maycomprise at least one of adjusting a grinding head rotational speed, changinga grinding head direction of rotation, adjusting a grinding disc rotationalspeed, changing a grinding disc direction of rotation, changing a machineforward movement speed, changing a pressure or flow of a collection deviceconnected to the grinding machine, adjusting a grinding pressure, initiating,terminating or adjusting a supply of liquid, initiating, terminating or adjusting asupply of aerosol.
    As another option, the method may comprise causing the grindingparameter to be adjusted by prompting an operator of the floor grindingmachine to adjust the grinding parameter.
    Prompting the operator to adjust the grinding parameter may compriseindicating, via a user interface, one or more grinding control parameters to beadjusted.
    The method may further comprise receiving a user input indicating thatat least one of the indicated grinding control parameters has been adjusted. ln the method, causing the at least one grinding parameter to beadjusted may include at least one of adjusting a grinding head rotationalspeed, changing a grinding head direction of rotation, adjusting a grindingdisc rotational speed, changing a grinding disc direction of rotation, changinga machine forward movement speed, changing a pressure or flow of acollection device connected to the grinding machine, adjusting a grindingpressure, initiating, terminating or adjusting a supply of liquid, initiating,terminating or adjusting a supply of aerosol, and changing a grinding tool. ln the method, determining the grinding parameter to be adjusted maycomprise determining a torque produced by the motor, comparing the torqueproduced with a desired torque range, and if the torque produced is outsidethe desired torque range, proceeding with causing the grinding parameter tobe adjusted. ln the method, if the torque produced is below the desired torque rangeand the grinding process is a dry grinding process, the method may furthercomprise increasing a grinding pressure, activating an aerosol supply, and/or 6 reducing a flow to a dust collector, operatively connected to the grindingmachine. lf the torque produced is below the desired torque range and thegrinding process is a wet grinding process, at least one of the following stepsmay be carried out increasing a grinding pressure, or increasing a water feedrate. lf, after a predetermined period from the carrying out of said increasingsteps, a re-determined torque remains below said predetermined low torquethreshold, the method may further comprise adjusting a grinding head rotationspeed, changing a grinding head rotation direction, adjusting a grinding discrotation speed, or changing a grinding disc rotation direction. lf the torque produced is above the desired torque range and thegrinding process is a dry grinding process, the method may further comprisedecreasing a grinding pressure, and/or deactivating an aerosol supply. lf the torque produced is above the desired torque range and thegrinding process is a wet grinding process, the method may further comprisedecreasing a grinding pressure, and/or reducing a water feed rate. lf, after a predetermined period, a re-measured torque is still below alow torque threshold, or above a high torque threshold, the method mayfurther comprise prompting an operator of the floor grinding machine to atleast one of change tool, or change grinding process from dry to wet or viceversa.
    The step of determining a nominal value of the motor operatingparameter may comprise receiving a user input indicating that the grinding,polishing or milling is operating as desired, determining a current value of themotor operating parameter, and setting the nominal value of the motoroperating parameter based on the determined current value of the motoroperating parameter.
    Such method may further comprise measuring the current value of themotor operating parameter for a predetermined time at the time of receipt ofthe user input, whereby a series of current values of the motor operating 7 parameters are recorded, and setting the nominal value based on said seriesof current values.
    According to a second aspect, there is provided a floor grindingmachine for grinding or polishing floor surfaces of stone or stone-like material,comprising a machine frame, a motor, supported by the machine frame, agrinding head, supported by the machine frame and operatively connected tothe motor, such that the grinding head is rotatably drivable by the motor, auser interface, configured to provide information to the user and to receiveuser inputs, a control circuit connected to the user interface and configured tocontrol the motor based on received sensor signal.
    The control circuit is further configured to compare an actual value of atleast one motor operating parameter with a nominal value of the motoroperating parameter, if a difference between the actual value of the motoroperating parameter and the nominal value of the motor operating parameterexceeds a predetermined difference threshold, determine at least onegrinding parameter to be adjusted, and cause the at least one grindingparameter to be adjusted.
    Brief description of the drawinqs Fig. 1 schematically illustrates a floor grinding machine, which issuitable for grinding, polishing or milling floor surfaces.
    Fig 2 schematically illustrates a user interface, which is suitable for thefloor grinding machine in Fig. 1.
    Fig. 3 is a schematic diagram showing power and torque as functionsof motor speed, with motor efficiency being disregarded.
    Detailed descriptionFig. 1 schematically illustrates a floor grinding machine 100. The grinding machine 100 comprises a machine frame 101 which supports agrinding head 1 and a motor 102. The grinding head 1 is driven by the motor102 to rotate. 8 The grinding head 1 as illustrated herein is formed as a planetary typegrinding head, i.e. the grinding head casing is rotatable relative to themachine frame 101, and in turn carries two or more grinding disks, each ofwhich being rotatable relative to the casing. Typically, a grinding machinecomprises three or more grinding disks, often 3, 4 or 6.
    Each of the grinding disks may carry one or more grinding elements,which may be releasably attachable to the grinding disk.
    The grinding elements may be formed as “bonded abrasives”, i.e.abrasive particles engulfed in a matrix material, or as “coated abrasives”, i.e.abrasive particles attached to a carrier surface by a binder.
    The matrix or binder material may be a polymer material, such as apolymeric material, or a metallic or ceramic material. Non-limiting examplesinclude thermosetting polymeric materials, and two-component type polymericmaterials such as epoxy.
    Tools having cutting edges or crushing elements instead of, or inaddition to, grinding elements, may also be used.
    The grinding head 1 may comprise a casing, which is rotatable inside ahood 103. The casing may enclose the transmission mechanism for achievingthe above mentioned rotational movements.
    The hood 103 may be arranged to enclose the grinding head 1, suchthat grinding residues are contained and can be readily collected by e.g. acollection device as will be further described.
    The machine 100 may thus further comprise a collection device forcollecting grinding residues, such as dust, water and the like. The collectiondevice may comprise a hood connector, such that a space enclosed by thehood is in fluid connection with a dust collector, and optionally a channel,such as a hose or a pipe 104. A hose 104 leading to the dust collector, suchas a vacuum cleaner, may be directly connectable to the hood connector, orto the channel.
    The machine 100 may further comprise a handle frame 105 extendingfrom an upper rear portion of the machine frame 101. The handle frame 105 9 may support a handle 106 for a user to grip and/or steer the machine 100,and optionally a user interface 107.
    The user interface 107 may comprise an output device, such as adisplay, which may be a touch screen, for displaying information. The userinterface may further comprise one or more input devices, such as a touchscreen, buttons, knobs and/or a keyboard for the user to control the machine100.
    Fig. 2 schematically i|ustrates a user interface of the floor grindingmachine of Fig. 1. The user interface comprises a p|ura|ity of function specificswitches 1071, 1072; an emergency stop button 1073; a rotary input device1074 and a power switch 1075. The user interface may further comprise adisplay 1076, which may indicate, inter alia, actual power 10761, actual poweras percentage of nominal power 10762 and rotary speed 10763. Moreover,the user interface may comprise a function selection input 1077, which mayinclude real or virtual buttons for maneuvering in selection menus.
    The machine 100 may be supported by wheels, such as by a pair ofcoaxial wheels 108. The wheels may provide part of the support, withadditional, or even most, support provided by the grinding head 1.
    The wheels may be freely rotatable, whereby the machine 100 may bepropelled entirely by being pushed and/or pulled by the user.
    As another option, the wheels may be driven by one or more drivemotors. For example, the wheels may be individually drivable, wherebysteering of the machine 100 by e.g. radio control may be enabled. As yetanother example, one or more additional drive wheels may be provided.
    The machine may be capable of controlling grinding pressure, i.e. theforce exerted between the grinding head and the ground beneath it.
    One way of achieving this is through a balancing arrangement,whereby a counter weight is adjustable, such that it will balance against thegrinding head about the wheel axis.
    Another way is to provide an additional support wheel or caster, e.g. infront of the grinding machine, and to provide this support wheel with a height adjustment mechanism, such that the force may be adjustably dividedbetween the support wheel and grinding head.
    Yet another way may be to use a frame composed of two or more partsthat are movable relative to each other, such that a center of gravity may beshifted.
    Yet another way may be entirely manual, i.e. to add or remove weightson the grinding head.
    The machine 100 may comprise a control unit, which includes circuitryand/or software for controlling the machine 100 and/or feeding backinformation, such as setting a speed of the rotating discs, and reporting atemperature of the motor and/or grinding discs.
    The motor may be an electrically powered motor. Such motors typicallyhave a nominal power rating, i.e. an indication of a drive power at which themotor, with some safety margin, is expected to be able to operate over asignificant amount of time. lt is recognized, that this nominal power rating maysometimes be exceeded for a limited period of time.
    The control unit may typically comprise a frequency converter.
    Referring to Fig. 3, operating characteristics of a motor for use in afloor grinding machine is disclosed, with voltage as a function of rotationalspeed. As can be seen, the motor may effectively have a minimum operatingspeed and a base speed at a voltage that corresponds to the machine's ratedvoltage or “nominal voltage”. lt is noted that for frequency controlled asynchronous motors, up to themotor's base speed, its torque is substantially constant. Exceeding the basespeed, the motor's torque decreases.
    Moreover, up to the base speed, the power of the motor varies linearlywith the rotational speed. Exceeding the base speed, the power remainssubstantially constant.
    The control unit may be equipped with the capability of sensing drivecurrent, drive voltage and rotational speed. Additional sensors, such astemperature sensors, torque sensors, pressure sensors, etc. may beprovided. 11 lt is possible to compare the power provided by the motor as comparedto nomina| power in order to determine whether the motor is operatingsufficiently near an optimum.
    The nomina| power provided by the machine is normally known, as it isbased on an inherent property of the motor. lf the ratio of actual power to nomina| power is low, this may indicatethat the grinding process is not running optimally, e.g. that the speed is toolow or that the friction, and thus the torque is too low. lf, on the other hand, the actual power to nomina| power is high, thismay also indicate that the grinding process is not running optimally, e.g. thatthe speed is too high or that the friction, i.e. the force counteracting thegrinding elements' movement relative to the floor surface, is too high.
    The rotational speed is normally available via the control unit, but canadditionally, or alternatively, be measured in any known way. lt is possible to determine an efficiency n of the motor. Typically, suchdetermination can be made empirically, in a test setup, whereby a lookuptable can be provided indicating the efficiency n as a function of motor speed(rpm). As an alternative, the efficiency n as a function of speed can bedetermined by e.g. interpolation. lnitially, the description will focus on a method of operating a floorgrinding machine, wherein actual power produced by the machine iscompared to the machine's nomina| power at that rotation speed.
    Hence, the machine will measure the actual power fed to the motor,either by measuring current and voltage, or by directly providing the value ofthe power, as may be possible when using a modern variable frequencydrive/frequency inverter.
    Moreover, the rotational speed is measured, or provided directly by thefrequency converter.
    As can be seen in Fig. 3, the power provided will be linearlyproportional to the speed.
    Using the rotational speed, a lookup table may be consulted to derivethe nomina| power for that rotational speed. 12 A ratio of actual power to nominal power may then be derived. lf this ratio is low, such as below 75 %, below 80 % or below 85 %, asthe case may be, an action to increase actual power may be taken.
    One such action may be to increase rotational speed.
    Likewise, if the ratio is high, such as above 125 %, above 120 % orabove 115 %, an action to decrease actual power may be taken.
    One such action may be to decrease rotational speed.
    At this point, it may also be desirable to derive the torque provided bythe motor in comparison with a nominal torque available at that rotationalspeed.
    The actual torque may be provided based on the formula: Poweractuafl = torque x rpm Since the actual power and the rotational speed, rpm, are known, thetorque can be derived. This torque may then be compared to the nominaltorque that the machine can provide at the relevant rotational speed.
    A ratio of actual torque to nominal torque may then be provided. lf the torque ratio is low, this may indicate that the friction between thetool and the floor surface is low. lf the torque ratio is high, this may indicated that the friction betweenthe tool and the floor surface is high.
    A range of acceptable torques may be provided, such as 80-120 % ofnominal torque, whereby adjustments are made only if the actual torque isoutside that range. ln the event the actual torque is below the desired torque range andthe grinding process is a dry grinding process, at least one of the followingsteps may be carried out.
    As a first option, a grinding pressure may be increased, that is, e.g. theweight applied onto the grinding head may be increased. This may be doneby applying additional weights to the grinding head, which may call for theuser being prompted to add more weight. As another option, the grinding 13 head may be rebalanced, relative to a wheel axis, or a support wheel may beslightly raised, such that the weight on the grinding head is increased.
    As yet another option, an aerosol supply, that is, a device for applyingcoolant to the tools, which may reduce the risk of tool glazing, may beactivated or adjusted to increase amount of aerosol applied.
    As another option, it is possible to reduce a flow to a dust collector thatis connected to the grinding machine. lf, on the other hand, the actual torque is below the desired torquerange and the grinding process is a wet grinding process, at least one of thefollowing steps may be carried out.
    The grinding pressure may be increased, as was described above.
    As another option, or alternative, a water feed rate could be increased.
    At this point, the process, wet or dry, may continue for a period of time,such as for 30 seconds to 15 minutes, after which a new measurement ismade. lf this new measurement indicates that the torque is still too low, then agrinding speed may be adjusted.
    For example, a grinding head rotation speed may be adjusted, agrinding head rotation direction may be changed, a grinding disc rotationspeed may be adjusted, or a grinding disc rotation direction may be changed. lf, on the other hand, the actual torque is above the desired torquerange and the grinding process is a dry grinding process, at least one of thefollowing steps may be carried out.
    A grinding pressure may be decreased, on a manner opposite to whatwas described above.
    Additionally, an aerosol supply could be reduced or turned off.
    On the other hand, if the torque produced is above the desired torquerange and the grinding process is a wet grinding process, at least one of thefollowing steps may be carried out: The grinding pressure may be decreased.
    Alternatively, or additionally, a water feed rate could be reduced. 14 ln either case, if, after a predetermined period, the re-measured torqueis still below a low torque threshold, or above a high torque threshold, theuser may be prompted to carry out at least one of the following steps: changetool, and/or change grinding process from dry to wet or vice versa. lt is understood that, although the present disclosure is directed togrinding machines using planetary type grinding heads, the measurement andcontrol principles disclosed herein may also be applied to other types ofgrinding machines, including single disc type grinding machines and grindingmachines having multiple grinding heads.
    As an option to using a predetermined nominal value of a motoroperating parameter, such as current, torque or power, it may be possible toset one in response to an operator input provided when the machine isrunning properly.
    Hence, the user may indicate when the machine is running properly,whereby the machine may measure a value of the parameter, or a series ofvalues of the parameter, and determine the nominal value based on thismeasured value or series of values.
    For example, the machine may continuously measure and save theparameter value, such that measured values may be taken during apredetermined time up until, around or from the user input.
    The measured values may be used to provide an average value, whichmay form the nominal value. Acceptance of such nominal value by the machine may be subject to e.g. a limit on its standard deviation.
    权利要求:
    Claims (24)
    [1] 1. A method of operating a floor grinding machine, comprising: providing a grinding machine comprising a frame, a motor and at leastone grinding element, causing the motor to drive the grinding element so as to rotate at arotational speed, while in contact with a floor surface to grind, polish or millthe floor surface, determining an actual value of a motor operating parameter, determining a nominal value of the motor operating parameter, comparing the actual value of the motor operating parameter with thenominal value of the motor operating parameter, if a difference between the actual value of the motor operatingparameter and the nominal value of the motor operating parameter exceeds apredetermined difference threshold, determining at least one grindingparameter to be adjusted, and causing the at least one grinding parameter to be adjusted.
    [2] 2. The method as claimed in claim 1, wherein determining theactual value of the motor operating parameter comprises: measuring a value of the motor operating parameter and deriving theactual value of the motor operating parameter based on the value measured.
    [3] 3. The method as claimed in claim 2, wherein determining theactual value of the motor operating parameter comprises: determining a rotational speed of the motor, and determining a motor efficiency at the rotational speed, whereby the actual value of the motor operating parameter isdetermined as the measured value adjusted by the efficiency.
    [4] 4. The method as claimed in any one of the preceding claims,wherein determining the nominal value of the motor operating parameter comprises: 16 determining the rotational speed of the motor, anddetermining the nominal value of the motor operating parameter at the rotational speed by calculation or table lookup based on the rotational speed.
    [5] 5. The method as claimed in claim 4, further comprisingdetermining a motor efficiency based on the rotational speed, anddetermining the nominal value of the motor operating parameter as thenominal value of the motor operating parameter at the rotational speed,adjusted by the efficiency.
    [6] 6. The method as claimed in any one of the preceding claims,wherein the difference threshold is set to less than 30 % of an amount of thedifference between the theoretical power and the actual power, preferably less than 25 %, less than 20 % or less than 15 %.
    [7] 7. The method as claimed in claim 6, further comprising adjusting the difference threshold based on a tool type.
    [8] 8. The method as claimed in any one of the preceding claims, wherein the parameter is a motor current, a motor torque or a motor power.
    [9] 9. The method as claimed in any one of the preceding claims,wherein causing the grinding parameter to be adjusted includes adjusting thegrinding parameter by a control circuit and/or control software of the floorgrinding machine in response to determination that the grinding parameter isto be adjusted.
    [10] 10.adjusting the grinding parameter includes: The method as claimed in claim 9, wherein automatically adjusting a grinding head rotational speed,changing a grinding head direction of rotation,adjusting a grinding disc rotational speed, 17 changing a grinding disc direction of rotation, changing a machine forward movement speed, changing a pressure or flow of a collection device connected to the grinding machine, adjusting a grinding pressure, initiating, terminating or adjusting a supply of liquid, and/orinitiating, terminating or adjusting a supply of aerosol.
    [11] 11. The method as claimed in any one of claims 1-8, whereincausing the grinding parameter to be adjusted includes prompting an operatorof the floor grinding machine to adjust the grinding parameter.
    [12] 12. The method as claimed in claim 11, wherein prompting theoperator to adjust the grinding parameter comprises indicating, via a userinterface, one or more grinding control parameters to be adjusted.
    [13] 13. The method as claimed in claim 12, further comprising receivinga user input indicating that at least one of the indicated grinding controlparameters has been adjusted.
    [14] 14. The method as claimed in any one of claims 11-13, whereincausing the at least one grinding parameter to be adjusted includes: adjusting a grinding head rotational speed, changing a grinding head direction of rotation, adjusting a grinding disc rotational speed, changing a grinding disc direction of rotation, changing a machine forward movement speed, changing a pressure or flow of a collection device connected to the grinding machine, adjusting a grinding pressure, initiating, terminating or adjusting a supply of liquid, initiating, terminating or adjusting a supply of aerosol, and/or 18 changing a grinding tool.
    [15] 15. The method as claimed in any one of the preceding claims,wherein determining the grinding parameter to be adjusted comprises: determining a torque produced by the motor, comparing the torque produced with a desired torque range, and if the torque produced is outside the desired torque range, proceedingwith causing the grinding parameter to be adjusted.
    [16] 16. The method as claimed in claim 15, wherein, if the torqueproduced is below the desired torque range and the grinding process is a drygrinding process, the method further comprises: increasing a grinding pressure, activating or increasing an aerosol supply, and/or reducing a flow to a dust collector, operatively connected to the grinding machine.
    [17] 17. The method as claimed in claim 15 or 16, wherein, if the torqueproduced is below the desired torque range and the grinding process is a wetgrinding process, the method further comprises: increasing a grinding pressure, and/or increasing a water feed rate.
    [18] 18. The method as claimed in any one of claims 15-17, wherein, if,after a predetermined period from the carrying out of said increasing steps, are-determined torque remains below said predetermined low torque threshold,the method further comprises: adjusting a grinding head rotation speed, changing a grinding head rotation direction, adjusting a grinding disc rotation speed, and/or changing a grinding disc rotation direction. 19
    [19] 19. The method as claimed in any one of claims 15-18, wherein, ifthe torque produced is above the desired torque range and the grindingprocess is a dry grinding process, the method further comprises: decreasing a grinding pressure, and/or deactivating or decreasing an aerosol supply.
    [20] 20. The method as claimed in any one of the preceding claims,wherein, if the torque produced is above the desired torque range and thegrinding process is a wet grinding process, the method further comprises: decreasing a grinding pressure, and/or reducing a water feed rate.
    [21] 21. The method as claimed in any one of claims 15-20, wherein, if,after a predetermined period, a re-measured torque is still below a low torquethreshold, or above a high torque threshold, the method further comprisesprompting an operator of the floor grinding machine to at least one of: change tool, or change grinding process from dry to wet or vice versa.
    [22] 22. The method as claimed in any one of the preceding claims,wherein determining a nominal value of the motor operating parametercomprises: receiving a user input indicating that the grinding, polishing or milling isoperating as desired, determining a current value of the motor operating parameter, and setting the nominal value of the motor operating parameter based on the determined current value of the motor operating parameter.
    [23] 23. The method as claimed in claim 22, further comprising: measuring the current value of the motor operating parameter for apredetermined time at the time of receipt of the user input, whereby a seriesof current values of the motor operating parameters are recorded, and setting the nominal value based on said series of current values.
    [24] 24. A floor grinding machine for grinding or polishing floor surfacesof stone or stone-like material, comprising: a machine frame (101 ), a motor (102), supported by the machine frame (101), a grinding head (1), supported by the machine frame (101) andoperatively connected to the motor (102), such that the grinding head (1) isrotatably drivable by the motor (102), a user interface, configured to provide information to the user and toreceive user inputs, a control circuit connected to the user interface and configured tocontrol the motor based on received sensor signal, the control circuit beingfurther configured to: compare an actual value of at least one motor operating parameterwith a nominal value of the motor operating parameter, if a difference between the actual value of the motor operatingparameter and the nominal value of the motor operating parameter exceeds apredetermined difference threshold, determine at least one grinding parameter to be adjusted, and cause the at least one grinding parameter to be adjusted.
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    同族专利:
    公开号 | 公开日
    CA3027769A1|2017-12-21|
    EP3468745B1|2020-10-21|
    AU2017285966A1|2019-01-17|
    SE541649C2|2019-11-19|
    CN109641340A|2019-04-16|
    US20190184514A1|2019-06-20|
    WO2017215943A1|2017-12-21|
    EP3468745A1|2019-04-17|
    CN109641340B|2021-04-06|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    SE525499C2|2002-03-12|2005-03-01|Htc Sweden Ab|Device on a mobile machine for grinding floor surfaces|
    DE502004002242D1|2003-05-28|2007-01-18|Puchegger U Beisteiner Parkett|FLOOR SANDERS|
    AT502251B1|2005-05-06|2007-12-15|Puchegger U Beisteiner Parkett|FLOOR SANDERS|
    US8133092B2|2006-08-03|2012-03-13|Saint-Gobain Abrasives, Inc.|System and method for improved hand tool operation|
    SE530893C2|2007-02-15|2008-10-07|Htc Sweden Ab|System. device and method for floor planing|
    SE542094C2|2014-10-21|2020-02-25|Scanmaskin Sverige Ab|Method for achieving efficient and cost-saving sanding of floors and the like|
    CN105252363B|2015-11-03|2017-08-04|晋江兴翼机械有限公司|A kind of intelligent floor grinding mill control system and control method|SE542094C2|2014-10-21|2020-02-25|Scanmaskin Sverige Ab|Method for achieving efficient and cost-saving sanding of floors and the like|
    CN110666667A|2019-10-14|2020-01-10|广东亦能地坪设备有限公司|High-efficiency polishing machine|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1650833A|SE541649C2|2016-06-14|2016-06-14|Floor grinding machine and method of operating floor grinding machine|SE1650833A| SE541649C2|2016-06-14|2016-06-14|Floor grinding machine and method of operating floor grinding machine|
    CA3027769A| CA3027769A1|2016-06-14|2017-06-01|Floor grinding machine and method of operating floor grinding machine|
    PCT/EP2017/063372| WO2017215943A1|2016-06-14|2017-06-01|Floor grinding machine and method of operating floor grinding machine|
    AU2017285966A| AU2017285966B2|2016-06-14|2017-06-01|Floor grinding machine and method of operating floor grinding machine|
    US16/309,591| US20190184514A1|2016-06-14|2017-06-01|Floor grinding machine and method of operating floor grinding machine|
    EP17728169.8A| EP3468745B1|2016-06-14|2017-06-01|Floor grinding machine and method of operating floor grinding machine|
    CN201780037293.2A| CN109641340B|2016-06-14|2017-06-01|Floor grinding machine and method for operating floor grinding machine|
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