MOBILE MACHINE TOOL WITH SUCTION DEVICE AND CONTROL METHOD

Description

[0001] The invention relates to a mobile machine tool for machining a workpiece or a space with a working device that is mobile with respect to a surface of the workpiece or space, according to the preamble of claim 1.

[0002] Such a machine tool is explained, for example, in DE 10 2012 211 635 A1.

[0003] Such a mobile machine tool is, for example, a grinding machine, whose working tool may be a disc tool. The suction of such a machine tool is usually achieved by extracting dusty air, which flows in, for example, through inlet openings on a working surface of the disc tool and is extracted from the machine tool using a vacuum cleaner or similar device.

[0004] The suction power is not always the same, for example, because external air flows from the side underneath the disc tool or because the suction power of the vacuum cleaner varies. For example, the fill level of a vacuum cleaner's dirt container affects its suction power and the vacuum generation.

[0005] It is known that in these cases, for example, external air is specifically adjusted via a slide or other manual valve on a handle of the machine tool, as is the case with the applicant's long-neck grinder. However, the operation is complicated.

[0006] It is therefore the object of the present invention to provide a more convenient to handle machine tool.

[0007] To achieve the object, a mobile machine tool according to the technical teaching of claim 1 is provided.

[0008] The basic idea is that the intake control, which can also be described as an actuating device, dynamically adjusts the valve element, so to speak, while the working tool or coating tool processes the surface, for example, abrasively or by coating. The valve element can be driven or is driven without direct operator influence, namely by the intake control.

[0009] For adjusting the valve element, a valve drive, a spring arrangement, or both can be provided. However, it is also entirely possible for the valve to have a manually operable operating handle to actuate the valve element. The valve element, which is itself motor-driven or driven by the spring arrangement, can thus also be manually operated.

[0010] The manual operating handle can also be used to change the preload of the spring arrangement, for example to adjust the valve to a different working range.

[0011] According to the invention, the at least one physical variable comprises an angular position of the working device relative to a subsurface. The suction control adjusts the valve member depending on the valve position of the working device relative to the subsurface. Thus, for example, if the working device assumes a vertical working position, for example, for working on a sidewall surface, the valve member has a different position than when working on a floor surface or a ceiling surface.

[0012] To determine the angular position, the suction control unit can have a position sensor. The position sensor is designed to detect the angular position of the working device relative to a subsurface as the at least one physical variable. The position sensor can be an acceleration sensor. The acceleration sensor can perform a three-axis acceleration measurement.

[0013] However, it is possible for the valve member to detect the angular position of the working device relative to the ground itself, or to adjust itself depending on the angular position. The valve member is, for example, movably mounted in a valve housing of the valve between at least two valve positions depending on the angular position of the working device relative to the ground. The valve member automatically assumes the valve positions by adjusting the working device to a respective angular position. The valve member comprises, for example, a ball or other rolling element which is movably mounted within the valve housing. Depending on the angular position of the working device and thus of the valve, the valve member moves within the valve housing, for example to open or close a valve passage opening. It is possible for several such valve members to be provided.

[0014] The at least one physical variable can also include a motor power or a motor current of the drive motor. Thus, the at least one physical variable can also represent an abrasion performance or polishing performance of a work tool. The intake control is designed to control the valve or adjust the valve member depending on the motor power or the motor current. For example, if the motor delivers a higher power, this can be an indicator of a high abrasion performance, which in turn is due to the high negative pressure in the intake area.

[0015] However, the at least one physical variable can also include a pressure and / or a flow velocity of an intake air flow in the intake area. For this purpose, the intake control system has, for example, a pressure sensor for detecting the pressure and / or a flow sensor for detecting the flow velocity.

[0016] It is also possible for the valve member to be controlled automatically by the pressure or the flow, i.e. for example, the valve member is spring-loaded towards a closed position and can be opened by negative pressure or is spring-loaded towards an open position and is closed by negative pressure.

[0017] It is preferred if the intake control system has a control device for controlling a negative pressure in the intake area as a function of the at least one physical variable. The control device can, for example, comprise a pressure signal or flow signal from the pressure sensor or flow sensor as an input variable. On the output side, the control device controls, for example, a motorized valve drive to actuate the valve member.

[0018] Using the valve, the intake control can, for example, adjust or regulate the intake air flow that is drawn through the intake area during operation of the machine tool. However, it is also possible for the valve to control external air, i.e., for example, external air can flow into the intake area or another vacuum area that is fluidly connected to the intake area in order to change the vacuum or the flow velocity of the intake air flow in the intake area, for example, to increase or decrease it.

[0019] It is entirely possible for the intake system to have at least one additional manually operable valve for influencing the negative pressure and / or the intake air flow in the intake area. This valve is therefore present in addition to the valve operable by the intake control. For example, the machine tool operator can use the valve to open, close, or partially open an external air inlet. This makes it possible, for example, to change the operating range of the valve operable by the intake control.

[0020] The working tool is preferably a disc tool for machining the surface and has a drive motor for driving the disc tool, which has a machining surface assigned to the machining of a workpiece and a machine side opposite the machining surface, wherein intake air inlet openings are arranged on the machining surface for sucking the machining surface onto the surface to be machined, which are flow-connected to at least one intake air outlet opening arranged on the disc tool away from the machining surface, wherein the disc tool has at least one additional air inlet opening for the inflow of additional air, which is flow-connected to at least one additional air outlet opening arranged away from the machining surface.

[0021] The intake device is preferably designed to generate an intake air flow and / or a negative pressure at the at least one intake air outflow opening and the at least one additional air outflow opening.

[0022] It is advantageously provided that the intake device has an intake control for controlling the intake air flow and / or the negative pressure in the region of the at least one additional air outflow opening.

[0023] The basic idea here is that the intake air flow or the negative pressure, or both, can be adjusted in the area of ​​the additional air outlet opening, so that, for example, the at least one additional air inlet opening can be activated as a further inlet opening in the sense of an inlet opening that sucks the machine tool to the surface and / or to change the overall suction power of the suction device between the at least one additional air inlet opening and the intake air inlet openings. For example, a greater suction power of the suction device is present in the area of ​​the intake air inlet openings arranged on the machining surface.

[0024] Preferably, an abrasive for machining a workpiece or a holding means for releasably holding such an abrasive is arranged on the working surface. It is possible for both to be provided, namely for a holding means to be present on which an abrasive is held.

[0025] The abrasive and / or the holding means expediently has through-flow openings corresponding to the intake air inlet openings, so that air can be sucked from the front or processing side of the abrasive or the holding means through the through-flow openings into the intake air inlet openings. The holding means for releasably holding the abrasive expediently comprises a hook-and-loop arrangement, for example, a hook-and-loop hook, a hook-and-loop felt, or the like.

[0026] On the machine side of the disc tool, there is preferably a mounting fixture, such as a projection, a retaining pin, a bayonet contour, or the like, for attachment to a tool holder of the work device. Therefore, it is advantageous if the disc tool is detachably mounted on the work device. This allows the disc tool to be replaced, for example, if the holding means or the grinding tool become worn.

[0027] The tool holder or the disc tool is directly connected to the drive motor, for example in the form of a direct drive, or is motion-coupled, for example by means of a gear and / or an eccentric bearing or the like.

[0028] The intake control is expediently designed to control the intake air flow and / or the negative pressure in the region of the at least one intake air outlet opening. Thus, it is possible for the negative pressure or intake air flow in the region of the intake air inlet openings to be directly adjustable. For this purpose, for example, a valve is provided that can adjust the negative pressure or intake air flow in the region of the intake air outlet opening.

[0029] Furthermore, it is also possible that the intake air flow and / or the negative pressure in the area of ​​the at least one intake air outlet opening cannot be influenced by the intake control or can only be influenced by controlling the intake air flow or the negative pressure in the area of ​​the at least one additional air outlet opening. Thus, the intake power, which is generally available, is indirectly adjusted by adjusting the negative pressure or the intake air flow in the area of ​​the at least one additional air inlet opening.

[0030] It is possible for a substantially constant or constant intake air flow or a substantially constant or constant negative pressure to be available in the region of the at least one intake air outlet opening. However, it is also possible for the flow conditions and / or pressure conditions in the region of the at least one additional air outlet opening to be changed by changing the intake air flow or the negative pressure in the region of the at least one additional air outlet opening and thus also changing the flow conditions and / or pressure conditions in the region of the additional air inlet opening or additional air inlet openings, which preferably provide primary intake or main intake of the disk tool and thus of the machine tool.

[0031] The suction device comprises, for example, a vacuum generator for generating a vacuum and / or an intake air flow, which is arranged on the working device, for example on its housing. However, it is also possible, in addition to the vacuum generator already mentioned or as a replacement for it, for the suction device to have a suction connection arranged on the working device for a vacuum generator that is separate from, in particular spatially distant from, the working device or machine tool. This vacuum generator is formed, for example, by a vacuum cleaner. A flexible flow line, for example a suction hose, can be connected to the suction connection. Thus, the suction connection can be provided, for example, for connecting a suction hose of the vacuum cleaner or vacuum generator. The suction connection is preferably a connecting piece or a sleeve.

[0032] The intake control preferably has at least one valve for controlling the intake air flow and / or the negative pressure in the region of the at least one intake air outflow opening and / or in the region of the at least one additional air outflow opening, wherein a valve inlet of the valve is connected to the at least one intake air outflow opening and / or the at least one additional air outflow opening, and a valve outlet of the valve is connected or connectable to a vacuum generator. Thus, the pressure conditions and / or flow conditions in the region of the at least one intake air outflow opening or the at least one additional air outflow opening can be adjusted using the valve without changing the suction power of the vacuum generator.

[0033] The valve is arranged, for example, in a flow channel between the at least one intake air outlet opening or the additional air outlet opening, or both, and the vacuum generator or the suction connection for the vacuum generator, and is thus connected between the respective outlet openings and the vacuum generator. The valve member of the valve member is adjustable between, for example, a blocking position closing the flow channel and a passing position releasing the flow channel, and preferably at least one intermediate position between the blocking position and the passing position.

[0034] The valve comprises, for example, a control valve, a switching valve, or the like. The valve can be switchable between a flow-through position and a blocking position for blocking a flow connection between the vacuum generator and the outlet openings of the disk tool. However, the valve can also switch between intermediate positions between such a flow-through position and a blocking position, or it can also be incompletely closable and / or incompletely openable. For example, the valve can be or comprise a proportional valve.

[0035] Preferably, the valve member is mounted relative to a valve housing of the valve so that it can rotate, displace, and / or pivot between the at least two valve positions. A rotational axis or pivot axis of the valve member can, for example, run parallel to the main flow axis of the valve, but also at a slight inclination relative to it, for example, a maximum of 10° or 15°. It is also possible for the rotational axis or pivot axis of the valve member to run transversely to the main flow axis of the valve, for example, at right angles. A superimposed pivoting-sliding movement of the valve member is readily possible.

[0036] The valve member comprises, for example, a cylindrical body, on whose outer peripheral wall at least one recess is arranged. Several recesses can be provided on the peripheral wall, for example, at longitudinal and / or angular intervals. To change the flow cross-section of the valve, the peripheral wall and thus the at least one recess on the peripheral wall are adjustable relative to a valve housing.

[0037] Preferably, the valve has a motorized valve drive and / or a spring arrangement and / or a manually operable operating handle for adjusting the valve member. It is understood that combinations are possible, e.g., a manually operable valve member may additionally be spring-loaded. Even a valve driven by a motor or a spring arrangement can easily be manually operated.

[0038] It is advantageous if the valve member is or can be actuated depending on the angular position of the working device relative to a subsurface. For example, the valve member can be movably mounted in a valve housing of the valve and can be actuated by gravity in such a way that it changes the flow cross-section of the valve, for example opening or closing it, reducing or enlarging it, depending on the angular position of the working device. For example, the valve member can open a valve opening when working on a ceiling surface, or partially or completely close the valve opening when working on a side wall of a room. If a floor surface is to be worked on, the valve can close the opening completely.

[0039] Advantageously, a fixing device, for example a locking device and / or a clamping device and / or at least one magnet, is provided for stationary fixing of the valve member in at least one valve position.

[0040] The locking device can, for example, comprise locking contours on the valve member, in particular its manual operating handle, and a component that is stationary relative to the valve housing. Thus, when the operator actuates the operating handle, the locking contours can engage with each other at predetermined positions.

[0041] A clamping device can, for example, comprise or be formed by a spring arrangement or a clamping disc, so that, for example, the valve member is correspondingly stiff.

[0042] A magnetic holder can, for example, provide a magnet on the valve member, which realizes a magnetic hold with another magnetic element, for example a magnet or a ferromagnetic component that is stationary with respect to the valve housing.

[0043] It is preferred if the valve member can be locked or fixed in predetermined valve positions, in which, for example, specific flow conditions or negative pressure distributions can be adjusted between the intake air inlet openings on the one hand and the additional air inlet openings on the other. For example, a predetermined position of the valve member can be provided for wall processing by the machine tool, while another position is provided for ceiling or floor processing. For ceiling processing, the valve member is, for example, in a valve position such that the flow cross-section of the valve is larger than for wall processing.

[0044] This allows, for example, more intake air or negative pressure to be present in the area of ​​the intake air inlet openings. However, it is also possible that the valve element, conversely, releases a larger flow cross-section during ceiling processing, namely when additional air is to flow through additional air inlet openings that are not arranged in the sense of suctioning the disc tool to the surface, for example, inlet openings arranged on the outer circumference of the disc tool, so that the suction power in the area of ​​the intake air inlet openings is correspondingly lower.

[0045] In a preferred embodiment of the invention, the valve member is spring-loaded toward a closed position closing the valve and can be actuated toward its open position by negative pressure. For example, a negative pressure in the region of the at least one auxiliary air outlet opening can open the valve member toward its open position against the force of a spring arrangement spring-loading the valve member into the closed position. However, it is also possible for a negative pressure projecting downstream to open the valve member, so that a corresponding negative pressure can be generated in the region of, for example, the intake air outlet openings or the auxiliary air outlet openings.

[0046] One embodiment of the invention provides for at least one bypass channel connected to the at least one exhaust air outlet opening, passing past the at least one valve. However, it is also possible for exhaust air from the at least one exhaust air outlet opening to always flow through the bypass channel or an arrangement of several bypass channels past the valve(s) in the direction of the vacuum generator or a suction connection for the vacuum generator, i.e., the valve only influences the flow conditions or pressure conditions in the region of the at least one additional air intake opening.

[0047] The additional air inlet openings can be provided in different areas of the disc tool.

[0048] One embodiment, for example, provides that the at least one additional air inlet comprises or is formed by an additional air inlet arranged on the processing surface. Of course, multiple additional air inlets can be arranged on the processing surface. Using the additional air inlet on the processing surface, it is possible to directly influence the suction force of the disc tool on the surface to be processed.

[0049] It is preferred if the at least one additional air inlet or all additional air inlet openings are arranged on a radial outer circumference of the disk tool. The intake air inlet openings are therefore preferably arranged in a central region of the disk tool, while the additional air inlet or inlet openings are arranged at the edge region of the disk tool.

[0050] At this point, it should also be mentioned that the disc tool preferably has a circular or oval circumference. In particular, the disc tool is designed for rotational actuation by the drive motor. However, it is also possible for the disc tool to have, for example, a triangular, rectangular, or square contour. For example, the disc tool can be designed for a working device as an orbital sander or oscillating sander, or for oscillating grinding of the surface. However, a working device design as a rotary sander and / or an eccentric sander is preferred.

[0051] It is preferred if the at least one additional air inlet comprises or is formed by an additional air inlet arranged on an outer circumference of the disc tool, in particular on an outer edge region of the disc tool, between the machine side and the machining surface. Thus, dust and other similar particles from the environment of the disc tool can be sucked in via the additional air inlet on the outer edge region, in particular on the outer peripheral region, of the disc tool. This facilitates dust-free or low-dust working.

[0052] It is preferred if the disc tool has an annular arrangement of inlet openings extending around a rotational axis or around a central axis of the disc tool orthogonal to the machining surface. The at least one additional air inlet opening and / or the intake air inlet openings form a component of the arrangements of such inlet openings. It is understood that several, in particular concentric, ring arrangements of inlet openings, i.e., additional air inlet openings or intake air inlet openings, can be provided.

[0053] The inlet openings of the respective arrangement of inlet openings are expediently arranged at equal angular intervals from one another. For example, a ring arrangement of inlet openings has inlet openings at equal angular intervals.

[0054] Furthermore, the arrangements of additional air inlet openings and intake air inlet openings are arranged concentrically with respect to the rotational axis or central axis of the disk tool in a preferred embodiment.

[0055] The outlet openings are expediently located on the machine side of the disc tool. For example, at least one intake air outlet opening and / or at least one additional air outlet opening are arranged there.

[0056] It is preferred if one or more additional air inlet openings are assigned to an additional air outlet opening. It is also advantageous with respect to a respective intake air outlet opening if one or more intake air inlet openings are assigned to it.

[0057] It is further preferred if a plurality of intake air outlet openings and / or a plurality of additional air outlet openings are present. In particular, these are designed or arranged in ring arrangements. For example, it is advantageous if the disc tool has a ring-shaped arrangement of outlet openings extending around a rotational axis or around a central axis of the disc tool orthogonal to the machining surface, wherein the at least one intake air outlet opening and / or the at least one additional air outlet opening forms a component of such an arrangement of inlet openings.

[0058] With ring arrangements of outlet openings, it is also advantageous if they have outlet openings arranged at equal angular distances from one another. Furthermore, with these arrangements, it is also advantageous if the arrangement of additional air outlet openings and the arrangement of intake air outlet openings are concentric with respect to the rotational axis or central axis of the disc tool. For example, the intake air outlet openings can be radially inward with respect to the rotational axis or central axis, while the additional air outlet openings can be radially outward.

[0059] The intake device preferably has separate inlets for the additional air outlet opening and the intake air outlet opening, or the respective arrangement thereof. For example, the intake device has an intake air inlet associated with the at least one intake air outlet opening and an additional air inlet associated with the at least one additional air outlet opening.

[0060] The intake air inlet or the auxiliary air inlet, or both, may have an annular or partially annular geometry. It is possible for one of the inlets to be designed as a chamber or inlet chamber, around which the other inlet extends in an annular or partially annular shape.

[0061] The intake air inlet and the auxiliary air inlet expediently extend in a ring shape around a rotational axis of the disc tool or a central axis of the disc tool. Preferably, the auxiliary air inlet and the intake air inlet are concentric with respect to the rotational axis or central axis.

[0062] The intake air inlet and the auxiliary air inlet can be at least partially connected by flow. For example, it is possible for false air to flow from one inlet to the other. This may be acceptable if the intake system or the vacuum generator has sufficient suction power.

[0063] However, it is preferred if the intake air inlet and the additional air inlet are separated from each other by at least one seal, for example, an annular seal. The at least one seal expediently extends in a ring around the rotational axis or central axis of the disk tool. The at least one seal preferably lies in the sealing seat or sealingly against the machine side of the disk tool. Concentric seals are preferred, so that, for example, an annular additional air inlet or intake air inlet is delimited by the seals.

[0064] The at least one seal can be, for example, a rubber seal or an elastic seal. However, the at least one seal can also be, for example, a brush seal.

[0065] A preferred concept provides that the at least one seal comprises a radially outer seal and a radially inner seal with respect to a rotational axis or central axis of the plate tool, which are provided and / or designed to rest on the machine side of the plate tool. The two seals delimit an annular chamber running around the rotational axis or central axis of the plate tool and a central chamber enclosed by the annular chamber and fluidically separated from the annular chamber by the radially inner seal. It is possible for the annular chamber to form the additional inlet and the central chamber to form the intake air inlet. However, it is also possible for the annular chamber to form the intake air inlet and the central chamber to form the additional air inlet or to be assigned to this respective inlet.

[0066] The power tool is preferably a manually operated or manually grasped working device. One embodiment of the invention can provide for a handle, particularly a rod-shaped handle, to be arranged on the working device for gripping by an operator. The handle is preferably pivotably or rotatably mounted on the working device about at least one pivot axis, preferably about at least two pivot axes at an angle to one another. For example, a cardan bearing or a ball bearing can be provided between the handle and the working device.

[0067] A further concept provides that the machine tool has a positioning device with at least one positioning drive for positioning the working device transversely to the normal direction of the surface. For example, an electric drive, with which the working device performs a movement along the surface, can be provided on the working device. For example, a drive roller or a drive wheel can be provided on the working device. Furthermore, it is advantageous if the working device has at least one holding device that can be fixed in position with respect to the surface and is connected to the working device by means of at least one flexibly flexible pulling element. The pulling element can be a cable, a toothed belt or the like, for example. The working device can preferably be positioned by means of the pulling element.However, it is also possible that the traction device simply serves to prevent the working device from falling to the ground uncontrollably. Furthermore, the traction device can also serve to assist the operator in the manual operation of the working device.

[0068] It is preferred if a power supply device for supplying power to the working device is arranged on the handle. For example, the drive motor for the working tool can be powered by the power supply device.

[0069] The handle is expediently telescopic. The handle preferably has a base tubular body that engages with an adjustable tubular body or engages with one adjustable tubular body. Thus, the adjustable tubular body is accommodated in the base tubular body, or vice versa. It is further advantageous if the two tubular bodies can be clamped together by means of a clamping device, in particular a clamping clip, in at least two mutually different longitudinal positions that the tubular bodies can have relative to one another. The clamping clip can, for example, comprise a clamping screw, a clamping lever, or the like.

[0070] It is possible for the section between the power supply device and the working device to have a predetermined length and / or be non-telescopic. The telescopic section of the handle expediently has a support body for supporting the operator's body. A longitudinal position of the support body relative to the power supply device can be adjusted using the telescopic handle. A longitudinal extension of the support body expediently runs transversely to the longitudinal extension of the handle or the telescopic section of the handle.

[0071] The machine tool preferably forms a mobile working device of a surface treatment system for coating and / or abrasively processing the surface of a workpiece or a space. The working device is mobile with respect to the surface.

[0072] It is advantageously provided that the surface treatment system has at least one holding device which can be fixed in position with respect to the surface and which is connected to the working device by means of at least one flexible pulling element.

[0073] The flexible traction element can be, for example, a cable, a toothed belt, or the like. The flexible traction element is suitable, for example, for positioning and / or supporting the working device relative to the surface to be worked on. For example, the flexible traction element can prevent or at least slow the working device from falling onto a surface.

[0074] The working tool is preferably a disc tool and / or a grinding tool. For example, a sanding belt, sanding disc, or the like can be provided as the working tool. However, the working tool can also be a milling tool or other similar cutting tool.

[0075] The drive motor with which the tool holder is driven or can be driven is preferably provided or configured to drive the tool holder in rotation about a rotational axis and / or to drive the tool holder in eccentric rotation. It is possible for the working device to be switchable between an eccentric mode, in which the tool holder and thus the working tool undergo eccentric movements, and a pure rotation mode, in which the working tool only rotates about a rotational axis but exhibits no eccentricity.

[0076] The coating tool can, for example, be a spray device for spraying paint. However, the coating tool can also comprise, for example, a roller or similar other application body for applying paint or similar other coatings to the surface of the workpiece or the room.

[0077] Instead of or in addition to the tool holder driven by the drive motor or the coating device, the working device can also comprise a cleaning device. Thus, the working device can, in a sense, form a cleaning device. The cleaning device can, for example, comprise a brush arrangement for brushing the surface and / or one or more nozzles for dispensing a cleaning fluid or the like. It is possible for the cleaning device to be, for example, a high-pressure cleaning device.

[0078] The holding device, which can be fixed to the surface, is connected to the working device by means of one or more flexible traction elements, which can be used, for example, to prevent the working device from falling to the floor or to hold it against a wall or other surface. The traction element can, in a sense, support the suction device.

[0079] The tension member can, for example, provide weight compensation for the working device. For example, the working device can be suspended from the tension member, so to speak. For example, the tension member is spring-loaded by a spring arrangement, so that the spring arrangement fully or partially compensates for the weight of the working device. The spring arrangement can act directly on the tension member and / or load a winding body, causing the tension member to wind onto the winding body.

[0080] It is preferably provided that the surface processing system has a positioning device with at least one positioning drive for positioning the working device transversely to the normal direction of the surface.

[0081] Preferably, several positioning drives are provided for several degrees of freedom of movement and / or directions of movement.

[0082] The at least one positioning drive can, for example, support the operator, who otherwise operates the work device manually. The basic idea is that the operator, with the assistance of the at least one positioning drive, positions the work device transversely to the normal direction, in particular multi-axis or bi-axis transverse to the normal direction.

[0083] At least one positioning drive is advantageously arranged on board the work device. For example, the positioning drive comprises a drive roller driven by a drive motor for rolling over the surface of the workpiece or space to be machined.

[0084] Autonomous surface processing, such as coating or abrasive surface treatment, is easily possible thanks to at least one positioning drive. The surface treatment system operates independently, thus requiring no direct input.

[0085] A preferred embodiment of the invention provides that one or more of the positioning drives are arranged on the holding device and actuate the pulling element. The holding device therefore has the positioning drive or one positioning drive for the at least one pulling element. This positioning drive of the holding device can be provided in addition to or instead of a positioning drive on board the working device. It is further advantageous if the surface treatment system has at least two or at least three, more preferably even at least four pulling elements. With the holding devices, it is also advantageous if two, at least three or even four holding devices are provided. The holding devices can, for example, be arranged in corner regions of the surface to be treated, so that the working device can be maneuvered between the holding devices. One pulling element is assigned to each holding device.However, it is also possible to mount multiple traction elements on one holding device. This allows for greater tensile force, for example. With multiple holding devices, such as three or four holding devices and corresponding traction elements extending between the holding device and the work fixture, the work fixture can be easily maneuvered on the surface of the workpiece or space to be machined.

[0086] The working device preferably has several tension member holders for holding at least one tension member. The tension member holders are preferably assigned to different directions of force with which the tension members act on the working device. It is preferred, for example, if the tension member holders are at equal angular distances. The tension member holders can be provided or designed for a fixed, non-detachable or detachable connection between the tension member and the working device.

[0087] It is advantageous for the tension member holders to enable snap-in connections and / or magnetic connections and / or clamp connections and / or hook connections or the like with the respective tension member. For example, snap-in receptacles and / or snap-in projections and / or magnetic holders and / or bayonet contours or the like can be provided on a respective tension member holder, which can be brought into a fixed, preferably releasable, connection with corresponding, complementary connecting means at the respective longitudinal end of a tension member. It is naturally advantageous if the tension member holders allow mobility, for example pivotability, of a respective tension member relative to the working device. For example, pivot bearings can be provided on the tension member holders.However, it is also possible that, for example, eyelets or similar other receiving contours are present which allow freedom of movement of the respective pulling element with respect to the working device.

[0088] The at least one positioning drive expediently comprises at least one traction element drive for driving the traction element. The traction element drive can be arranged, for example, on board the working device, on the holding device, or the like. It is possible for a traction element drive to be present on both the holding device and the working device. The traction element drives preferably interact.

[0089] It is possible for the at least one positioning drive to comprise or be formed by at least one work device drive arranged on board the work device. In the latter configuration, it is possible, for example, for a traction element drive to be supported by the work device drive. However, it is also possible for the traction element drive and the work device drive to be assigned different directions of movement, for example directions of movement that are angular to one another, in particular perpendicular to one another. For example, the traction element drive can be provided for forward or reverse travel of the work device along the surface to be machined, while the work device drive is provided and / or designed for positioning movements transverse thereto.

[0090] In principle, it is possible for a tension member that is not active in its direction of force to sag, for example. It is also possible for a tension member to be spring-loaded by a spring arrangement, so that it is held under tension between the holding device on the one hand and the working device on the other.

[0091] Preferably, however, a winding device is provided for winding up the traction element. The winding device is preferably motor-driven or spring-loaded. However, the winding device can, in principle, also be manually operated, for example, by means of a crank or other similar actuating mechanism.

[0092] It is further advantageous if a positioning drive, or the positioning drive itself, which actuates a respective traction element, is arranged between the working device and the at least one winding device. For example, if the traction element comprises a toothed belt or toothed belt section, the positioning drive can precisely influence the respective longitudinal position of the traction element.

[0093] Alternatively, it is easily possible to provide the positioning drive on the winding device or to design it as a rotary drive for a winding roll.

[0094] It is possible that in the case of a winding body, for example a winding roll, the winding device is provided with a position sensor by the positioning drive to detect the respective wound or unwound section of the tension member.

[0095] For precise determination of the length or path of a wound or unwound strand of the tension member by measuring the revolutions of a winding body, in particular a winding reel, it is advantageous to determine the respective winding status, so that the influence of the respective winding diameter on the length of the unwound section of the tension member is recorded during a rotation of the winding body winding the tension member. For this purpose, an optical sensor, a camera, or the like can be provided, for example.

[0096] In connection with the unwinding and winding of the tension member, it has already become clear that it is advantageous if the tension member does not sag. It is advantageous if at least one tensioning device, such as a tension pulley or the like, is present to tension the tension member. The tensioning device is preferably spring-loaded. The tensioning device can be arranged, for example, between the winding device and the working device.

[0097] Furthermore, it is possible for the tensioning element, for example, a tensioning roller, to be arranged between a tension element drive and the winding device that winds and unwinds the tension element. This allows, for example, precise winding and unwinding of the tension element from a roll or other winding body of the winding device.

[0098] Also useful is a tension member guide device with a tension member guide body for guiding the at least one tension member. The tension member guide body can be arranged stationary or movable, for example, on the holding device. The tension member guide body comprises, for example, a guide eyelet, a guide roller, a guide groove, or the like.

[0099] The traction element guide body is further advantageously arranged on a joint, for example a ball joint, a pivot joint, a universal joint, or the like, wherein the joint movably mounts the traction element guide body. The traction element guide body can follow the respective movements of the traction element thanks to the articulated mounting. For example, the joint is provided on the at least one holding device. The joint can, for example, be provided on a longitudinal end region of the holding device. It is also possible for the joint to be fixed in position with respect to the surface to be machined, independently of the holding device, for example by means of a suction device, a screw connection, a clamp, or the like.

[0100] The traction element guide body is expediently arranged between a winding device for the traction element and / or a drive for the traction element and the mobile working device. Thus, the traction element guide body guides the traction element, for example, between the winding device and the working device or between the drive for the traction element and the working device.

[0101] Various methods are suitable for securing the holding device in place. For example, a vacuum clamp or similar vacuum holding device can be used to fix the holding device relative to the space to be processed. Preferably, the holding device is braced between opposing surfaces, such as a floor and ceiling of the room. For example, the holding device can be braced or capable of being braced between the floor and ceiling in the manner of a brace.

[0102] It is preferred if the holding device is longitudinally adjustable with respect to its longitudinal extent between at least two longitudinal positions, in which the longitudinal ends of the holding device are at different distances from one another. The longitudinal ends are then supported, for example, on the floor and ceiling of the room. The holding device can be fixed in the respective longitudinal positions, for example, using a clamping device, a screw thread, or other similar fixing device.

[0103] The holding device comprises, for example, a type of stand or support.

[0104] The holding device comprises, for example, a holding base and a support body, which can be secured to one another with respect to the longitudinal extent of the holding device in at least two longitudinal positions of the support body relative to the holding base. For example, the support body is telescopically adjustable on or relative to the holding base. It is understood that multiple telescopically adjustable components of the holding device can be provided.

[0105] The working device expediently comprises a guide device with at least one guide contour, for example, a guide surface, for guiding along the surface of the space or workpiece. The guide contour expediently has a flat shape. The guide contour can, for example, lie in a plane. The guide contour can be an elastic or flexible guide contour. However, it is also possible for the guide contour to be or comprise a hard, non-flexible contour.

[0106] The working tool or coating tool is advantageously mounted so that it can move relative to the guide device. This allows, for example, the guide contour to follow the surface, while the working tool or coating tool can follow unevenness in the surface to be treated. It is of course also possible for the disc tool to have a certain degree of flexibility, for example, a foam layer that adapts to the respective surface contour or follows this surface contour.

[0107] It is possible for only the working tool or the coating device, in particular the coating tool, to be movably mounted relative to the guide device. However, it is also possible for the working device as a whole to be movably mounted relative to the guide device. For example, the working device can form a drive unit or a drive head that is movably mounted relative to the guide device.

[0108] The movable mounting of the work device or its work tool or coating device with respect to the guide device makes it possible, for example, for the work device, the work tool, or the coating device to be mounted on the guide device by means of a bearing device with respect to at least one guide contour in a linear and / or pivotable manner, for example, with multi-axis pivotability or floating. A floating mounting is to be understood in particular as multi-axis pivotability. The bearing device mounts the work tool, the coating device, or the work device as a whole, preferably pivotable about at least one pivot axis, which runs transversely to a rotational axis of the work tool or transversely to the force component oriented in the normal direction of the surface. A cardanic or ball-joint mounting is advantageous, for example.

[0109] An advantageous bearing concept provides that the bearing device comprises at least one membrane, on which the working tool, the coating device, or the working device as a whole is held on the guide device. For example, the membrane is held by its edge region on the guide device and supports the working tool, the coating device, or the working device as a whole, arranged in the interior of the guide device.

[0110] The movable mounting of the work tool and / or coating device relative to the guide device also allows them to be placed in a kind of parking position, for example, which is useful when the work device is stationary relative to the surface to be machined, for example, for pre-positioning before the actual work process begins or during work breaks. In such cases, surface treatment, such as coating, abrasive processing, or the like, is neither possible nor advisable. Both could lead to damage or destruction of the surface.

[0111] A preferred concept therefore provides that the working tool or a coating tool of the coating device is adjustable relative to the guide device's guide contour between a working position intended for contact with the surface and a rest position set back relative to the at least one guide contour. In the rest position, the guide contour rests against the surface, while the working tool or coating tool is spaced from the surface. The rest position is suitable, for example, for pre-positioning the working device on the surface.

[0112] It is possible for the working tool or coating tool to be manually adjustable by an operator between the rest position and the working position. Preferably, the working device has an actuator for adjusting the working tool or coating tool between the rest position and the working position. The actuator can, for example, comprise a lever mechanism that can be operated manually. However, the actuator is preferably motorized, in particular electric. This enables, among other things, automation.

[0113] The working tool or coating tool is biased relative to the guide device into a working position intended for contact with the surface by a spring arrangement. Thus, the spring arrangement, which comprises one or more springs, in particular coil springs, leaf springs, or the like, holds the working tool or coating tool in contact with the surface to be treated. It is possible for the aforementioned actuator to actuate the working tool or coating tool into the rest position against the force of the spring arrangement.

[0114] The guide device expediently comprises a guide support on which a contact body having at least one guide contour and intended for contact with the surface to be machined, for example a sealing body, a rubber seal, a brush seal or the like, is movably mounted. The guide device can therefore comprise a so-called stiff or rigid guide support on which, in turn, the work tool, the coating device or the work apparatus as a whole is movably mounted. The contact body is expediently spring-loaded with respect to the guide support in the direction of the surface to be machined by a spring arrangement. However, it is also possible for the contact body to be mounted in a floating manner with respect to the guide support, so that it can pivot in multiple axes relative to the guide support. Spring loading is optionally possible in this situation, but not absolutely necessary.

[0115] The guide contour preferably surrounds the working device in a ring shape. The guide contour can be an elastic guide contour or a rigid one. The guide contour can be formed by one or more contact bodies, in particular plate bodies, sealing bodies, or the like.

[0116] The guide device expediently has at least one suction area for suction onto the surface to be treated. The suction area can be located, for example, laterally next to the work tool or coating tool. The suction area can surround the work tool or coating tool in a ring or partially ring shape.

[0117] However, it is also possible for the working device to be suctioned onto the surface to be treated by means of the working tool. A suction area on the guide device and another suction area on the working tool or coating tool are easily possible.

[0118] The working device is preferably accommodated in a suction housing. The suction housing is designed to draw the working device to the surface. The suction housing can enclose or encapsulate the working device as a whole. For example, the aforementioned guide contour for guiding the working device to the surface to be treated is arranged on an edge region or an end face of the suction housing. The suction housing can, for example, be designed in the manner of a bell. A vacuum chamber is preferably provided in the suction housing, in which the working device is accommodated.

[0119] It is preferred if the surface treatment system has a vacuum generator that is separate from the working device and connected to the working device via a suction hose. The vacuum generator is, for example, a vacuum cleaner. It is advantageous if a control system for the surface treatment system is on board the vacuum generator. The vacuum generator can, for example, be arranged stationary in a room, while the working device is mobile and is positioned along the surface to be treated. The control system or control device on board the vacuum generator can, for example, control positioning drives on board the working device or on one or more of the holding devices.

[0120] It is preferred if the working device has a suction control or a control device, or both, for adjusting a negative pressure in a suction area provided for sucking the working device to the surface. For example, the vacuum generator arranged on board the working device can be controlled or regulated accordingly. For example, a pressure sensor is provided in the suction area.

[0121] Exemplary embodiments of the invention are explained below with reference to the drawings. They show: Figure 1 shows a perspective view of a surface treatment system which is arranged in a space having at least one surface to be treated, Figure 2 shows a side wall of the space according to Figure 1 on which two holding devices and the working device of the surface treatment system according to Figure 1in a processing situation for the processing of the wall surface, Figure 3 a schematic view from below of the ceiling of the room according to Figure 1 with the working device processing the ceiling, Figure 4 a schematic view of a holding device of the surface processing system according to the preceding figures with a positioning drive and a flexible pulling element, Figure 5 a holding device of the surface processing system in a first longitudinal position, Figure 6 the holding device according to Figure 5in a second longitudinal position, Figure 7 shows a first schematic view of a winding device of the surface treatment system according to the preceding figures, Figure 8 shows a further winding device of the surface treatment system according to the preceding figures, Figure 9 shows a perspective oblique view of the working device of the surface treatment system, which is shown from above in Figure 10 and from below in Figure 11, Figure 12 shows a cross section through the working device approximately along a section line AA in Figure 10 , Figure 13 a further cross section through the working device according to Figure 10 along a section line BB, Figure 14 a valve for controlling a negative pressure in an intake area of ​​the working device, Figure 15 a mobile machine tool with a valve of a first type for controlling an intake air flow, Figure 16 a detail X1 from Figure 15with the valve in a different valve position, Figure 17 a plan view of the machine tool according to the two previous figures with a partial cutout, Figure 18 a detailed view of the valve of the machine tool according to the three previous figures, Figure 19 a section through the machine tool according to the previous figure approximately along a section line S1-S1, Figure 20 a machine tool with a further valve for controlling an intake air flow, which is shown in Figure 21 in partial section and with a different intake control of the valve, Figure 22 a section through the machine tool according to the previous figure, approximately along a section line S2-S2, Figure 23 a valve member of the valve of the machine according to the previous figure.Figure 24 shows a further machine tool with a valve for controlling the intake air flow, which is shown in Figure 25 in a partial section in a first valve position of the valve and in Figure 26 the same partial section, but with a different valve position of the valve, Figure 27 shows a section through the machine tool of the three preceding figures, approximately along the section line of the partial section, Figure 28 shows a perspective oblique view of the machine tool according to. Figure 27with a rod-shaped handle, of which a telescopic section is shown in perspective in Figure 29 and from the side in Figure 30. Figure 31 shows a longitudinal section through the arrangement according to the previous figure, approximately along a section line S3-S3. Figure 32 shows a machine tool with a further valve for controlling the exhaust air flow, which is shown in perspective from above in Figure 33 and in partial section in a first valve position of the valve and in Figure 34 with a second valve position of the valve. Figure 35 shows a machine tool with a further valve for controlling the intake air flow, which is shown in partial section in Figure 36, with the valve in a first valve position. Figure 37 shows a detail X1 from the previous figure with the valve in a different valve position. Figure 38 shows a sectional view approximately along the partial section plane in the two previous figures.wherein the valve assumes a passage position, and Figure 39 shows a section X3 from the preceding figure, wherein the valve assumes a blocking position, Figure 40 shows a further working device with a position-dependent valve for controlling the intake air flow, and Figure 41 shows a working device with a cutting working tool and a coating device.

[0122] With a surface processing system 10, surfaces of a room RA can be processed, for example, a floor surface FB or side wall or wall surfaces FL, FR, FF that are at an angle to one another. However, the surface processing system can also process a ceiling surface FD of a ceiling of the room RA. Even processing the lateral surfaces FL, FR, and FF of the side walls is strenuous for an operator, and processing the ceiling surface FD is even more so. In this situation, the operator must hold a working device 50 with, for example, a control rod or similar other handle, which is strenuous in the long run and time-consuming in any case.

[0123] However, in the surface processing system 10, the processing of the surfaces FL, FR, FF, FD is more obvious.

[0124] The working device 50 is held on flexible pulling elements 30A, 30B, 30C, 30D and, by means of a negative pressure generated by a negative pressure generator 15, for example a vacuum cleaner 15B, is sucked onto the respective surface FL, FR, FF, FD to be machined with at least one force component in a normal direction N of the respective surface FL, FR, FF, FD.

[0125] The vacuum generator 15 is a separate and spatially separated vacuum generator from the working device 50. The vacuum generator 15 is fluidly connected to the working device 50 via a flexible suction hose 11. Alternatively or in addition to the vacuum generator 15, a vacuum generator 15C arranged locally on board the working device 50 would also be possible.

[0126] The pulling elements 30A-30D can only serve as a safety measure to ensure that in the event of a drop in the negative pressure provided by the vacuum generator 15, the working device 50 does not fall to the ground, ie falls in the direction of the ground surface FB, but can also enable autonomous or semi-autonomous operation, ie that the working device 50 can be positioned with respect to the respective surface FL, FR, FF, FD to be worked on using the pulling elements 30A, 30B, 30C and 30D.

[0127] The vacuum generator 15 is, for example, a vacuum cleaner, i.e. it sucks particles that arise when processing a respective surface FL, FR, FF, FD of the space RA into a dirt collection container 16. This enables, for example, low-dust or dust-free processing of the surfaces FL, FR, FF, FD. The vacuum generator 15 has a suction unit 17, for example a turbine with an electric drive motor. The suction unit 17, like the dirt collection container 16, is held in a housing 18. The housing 18 can be stationary on the substrate, for example the surface FB, but can also be freely movable there, for example using rollers 19. The rollers 19 can be non-driven, so that the vacuum generator 15, for example, remains stationary around space RA or can be carried along by the working device 50 when the latter moves along the surface FL, FR, FF, FD to be processed.It is also possible for one or more of the rollers 19 to be driven, in particular controlled by a control device 32 to be explained later, in order to follow the movements of the working device 50.

[0128] The tension members 30A-30D are held by holding devices 20A-20D. The holding devices 20 are arranged in a fixed position in the space RA, for example, at the respective corner areas of the surfaces FL-FD. In the embodiment shown in the drawing according to Figure 1For example, the ceiling of room RA is machined, i.e., the ceiling surface FD. Accordingly, the holding devices 20A-20D are arranged in the respective inner corners, i.e., of room A, thus at the corner regions of the surface FD, so that a large working area or work space is spanned for the working device 50, in which the working device 50 can be freely positioned, namely by actuating the pulling elements 30A-30D or by at least one positioning drive 340A, 340B on board the working device 50. Positioning drives 40A, 40B, 40C, 40D provided for actuating the pulling elements 30A-30D and the positioning drives 340A, 340B form components of a positioning device 13.

[0129] The holding devices 20 can be detachably arranged in the space RA, for example, by clamping, clamping, or the like. To adapt to the spatial conditions of the space RA, the holding devices 20 are adjustable, meaning that, for example, their respective longitudinal ends 23, 24 can be clamped between opposing surfaces of the space RA, for example, the floor surface FB and the ceiling surface FD.

[0130] The holding devices 20 are designed, for example, in the form of rungs, telescopic longitudinal supports, or the like. The holding devices have a holding base 21 on which a support body 22 is telescopically mounted. For example, the longitudinal ends 23, 24 can be adjusted into longitudinal positions L1 and L2, where they can then be fixed by a fixing device 25 of the holding device 20. The fixing device 25 has, for example, a fixing base 26 on which a fixing body 26B, for example a clamp or the like, can be adjusted between a fixing position fixing the support body 22, for example locking or clamping it, and a release position releasing it, for example by means of an adjusting movement or locking actuation LO.In the unlocked or released state of the fixing device 25, the support body 22 can, for example, be longitudinally adjustable, which is indicated by a double arrow or a longitudinal adjustment LV in the drawing. The fixing device 25 can be or comprise a clamping device, i.e., for example, the support body 22 can be adjustable relative to the holding base 21 using a screw thread or similar other clamping means, so that it can clamp the holding device 20, in particular its longitudinal ends 23, 24, between the opposing surfaces FD and FB.

[0131] A respective tension member guide device 27A, 27B, 27C, and 27D is arranged on each holding device 20A, 20B, 20C, and 20D to guide the tension member 30A-30D. The tension member guide device 27 has, for example, a guide body 28, in particular a guide groove and / or a guide roller, on which the tension member 30 is guided. So that the guide body 28 can follow the movements of the respective tension member 30A-30D, it is preferably mounted on a joint 29 for movement about at least one pivot axis, preferably about several pivot axes. The joint 29 is preferably a ball joint, a cardan joint, or the like.

[0132] The positioning drives 40A, 40B, 40C, 40D are arranged on the holding devices 20A-20D, each of which acts on and actuates a pulling element 30A-30D. To transmit a pulling force, a pulling element 30 can be designed, for example, as a cable. However, a toothed belt is preferred, the length of which can be precisely controlled or adjusted between the guide body 28 and the working device 50.

[0133] The positioning drives 40 have drive motors 41 that form traction element drives. The drive motors 41 drive drive rollers, in particular toothed rollers, 42 that rotate about rotational axes D1. The traction element 30 is guided over the drive roller 42, so that a rotational actuation of the drive roller 42 by the drive motor 41 leads to a longitudinal adjustment of the traction element 30 and thus to a positioning of the working device 50.

[0134] The tension member drives 41 are arranged between the guide bodies 28 on the one hand and a winding body 43 of a winding device 45 on the other. The winding device 45 winds up, for example, a section or strand of the tension member 30 that is not required at a time. The winding body 43 is preferably spring-loaded by a spring arrangement 44, for example, a torsion spring. Of course, the angled body 33, for example, a winding roll or a winding drum, can be driven by a drive motor to wind up the section of the tension member 30 between the tension member drive 41 and the angled body 43. The winding body 43 rotates, for example, about a rotational axis D2.

[0135] To determine the length of that section of the pulling element 30 that is adjusted by the pulling element drive 41 in the direction of the winding device 45, i.e., the section with which the positioning drive 40 pulls on the working device 50, a speed sensor 46 is preferably provided. The speed sensor 46 can, for example, form a component of the drive motor of the pulling element drive, i.e., measure the revolutions of the drive motor. It is also possible for the speed sensor 46 to be arranged, for example, directly on the pulling element 30, where it measures or detects the respective longitudinal adjustment of the pulling element 30, for example, optically, using a drive roller or the like.

[0136] Based, for example, on the speed information from the speed sensor 46 or, essentially, length information about the traction element 30, the aforementioned control device 32 can control the positioning drives 40A-40D. The control device 32 can comprise or be a control device arranged on board the vacuum generator 15 and / or on board the working device 50.

[0137] It is also possible for the control device to be multi-part, i.e., for parts of its components to be located on board the vacuum generator and others on board the working device 50. These parts of the respective control device can communicate with each other.

[0138] However, the control device 32 can also be or comprise a control device that can be positioned separately from, for example, the vacuum generator 15 in the space RA, as schematically indicated in the drawing.

[0139] For example, the control device 32 comprises a computer. The control device 32 preferably comprises input means 33, in particular a keyboard, a mouse, a touch-sensitive screen, or the like, as well as output means 34, for example a screen, signal lights, or the like, other optical output means and / or acoustic output means, for example a voice output, a loudspeaker, or the like. The control device 32 further comprises a processor 35 for executing program codes of programs, for example a control program 37, which is stored in a memory 36 of the control device 32. The control program 37 can be loaded from the memory 36 into the processor 35.

[0140] The control device 32 communicates with the positioning drives 40A-40D via communication connections 38A-38D, for example, control lines and / or wireless connections, such as WLAN or the like. Wired communication connections 38A-38D can, for example, be bundled in sections to form a common line or common communication connection 38.

[0141] In this way, the control device 32 can, for example, control the positioning drives 40A-40D in such a way that it can move the working device 50 between several positions relative to the respective surface FL, FR, FF, FD to be processed. For example, the pulling elements 30A-30D pull the working device 50 along the ceiling surface FD, with positions P1 and P2 being shown as examples in the drawing. It is readily possible for the working device 50 to move into the corner areas toward the respective guide bodies 28 of the holding devices 20 and also along or to the edge areas of the ceiling surface FD. If, for example, the pulling elements 30D, 30C between the working device 50 and the guide bodies 28 of the holding devices 20D, 20C are particularly long, the working device 50 can be moved, for example, at the edge region of the surface FD between the holding devices 20A, 20B in order to machine the surface FD.

[0142] The working device 50 is freely movable on the surfaces FL, FR, FF, FD of the space RA. For example, the suction hose 11 connecting the working device 50 to the vacuum generator 15 can follow the movements of the working device 50. An electrical supply line 12, which is preferably provided between the vacuum generator 15 and the working device 50, is also correspondingly flexible and follows the movements of the working device 50 on the surface FL, FR, FF, FD to be treated. The supply line 12 can be routed in or on the suction hose 11, for example, form a component thereof. The supply line 12 is connected, for example, to an electrical connection 52A of the working device 50. The supply line 12 supplies the working device 50 with electrical energy.For example, a power supply device 804A can be on board the vacuum cleaner 15, which supplies the working device 50, for example an electronically commutated motor thereof, with electrical energy via the supply line 12.

[0143] The vacuum generator 15 can be connected to a power supply network, for example, an AC power network, via an electrical connection cable 14, which, for example, has a plug. The power supply network is available, for example, in room RA via a socket into which the connection cable 14 or its plug can be plugged.

[0144] To position the working device 50 relative to a side wall, for example, the wall surface FL, it is advantageous if, in several corner regions, for example, in the upper and lower corner regions of the surface FL, a pulling element acts on the working device 50 via a stationary pulling element guide device. A configuration would now be possible in which, for example, the holding devices 20C, 20D are arranged inverted with respect to their horizontal position in the space RA, so that their respective guide bodies 28 are arranged in the area of ​​the floor or the floor surface FB close to the wall surface FL to be worked on. For example, one of the holding devices 20C, 20D can be arranged next to the holding devices 20A and 20B, whose positioning drives 40 can then pull on the working device 50 from below using a pulling element 30.

[0145] However, an advantageous concept exists when a second positioning drive, such as a positioning drive 40U, is arranged on a respective holding device 20, for example, the holding devices 20A, 20B. The positioning drive 40U acts on the working device 50 via a pulling element 130A, 130B when the latter is active on a sidewall surface FL, FR, FF. For example, the positioning drives 40U also comprise the same or similar components as the positioning drives 40, so that, for example, a pulling element drive 41U acts on the pulling element 130 via a drive roller 42U, which can be wound onto a winding body 43U, so to speak, downstream of the pulling element drive 41U.The winding body 43U forms part of a winding device 45U and is spring-loaded, for example, by a spring arrangement 44U to wind up the tension member 130 or driven by a drive motor not shown in the drawing. The respective length of the tension member 130 unwound or adjusted by the tension member drive 41U can be detected by a speed sensor 46U.

[0146] The positioning drives have, for example, communication interfaces 47, 47U, in particular network interfaces (LAN, WLAN, or the like), for communication with the control device 32 via the communication connections 38. The communication interfaces 47 can also be or include Bluetooth interfaces, for example. An interface 39 of the control device 32 is designed for communication with the communication interface 47, thus including, for example, a LAN, WLAN, Bluetooth interface, or the like.

[0147] The positioning drives 40, 40U are held or arranged, for example, on a carrier 48 or a housing 48 which is fixedly fixed to the holding base 21 of a respective holding device 20.

[0148] Instead of a positioning drive 40, 40U, a positioning drive 140 can also be used. The positioning drive 140 comprises a drive motor 141, which serves to drive a drive roller 142. The drive roller 142 is arranged between an angle body 143, a winding device 145, and a guide body 28. The respective length of the section of the pulling element 30 actuated by the drive motor 141 can be detected, for example, by a speed sensor 146, an encoder, which is arranged between the drive roller 142 and the guide device 27.

[0149] It is advantageous if a section of the tension member 30 is tensioned between the drive roller 142 and the winding device 145, for example, by means of a tensioning device 149. The tensioning device 149 comprises a tensioning member 148, for example, a tension roller, over which the tension member 30 runs. Thus, the section of the tension member 30 running between the drive roller 142 and the winding body 143 of the winding device 145 is kept under tension. This, among other things, optimizes the winding onto the winding member, the winding body 143.

[0150] The winding body 143 can also be driven by a spring arrangement. In this case, a winding drive 144, for example, an electric motor, is provided. Based on the path of the tension member 30 between the tensioning member 147 and the winding body 143, the winding drive 144 can be controlled, in particular regulated, in order, for example, to keep the tension member 30 under tension in this area.

[0151] A guide device is preferably provided for guiding the tension member 30 onto the winding body 143. This is illustrated in the drawing using the example of a winding body 243 and a guide device 248.

[0152] A positioning drive 240 provides that its winding device 245 simultaneously forms the positioning drive or the pulling drive for the pulling element 30. The pulling element 30 runs from a drive roller 242 past a speed sensor 246 to the guide body 248A of the pulling element guide device 248. The speed sensor 246 measures the length of the pulling element 30 unwound or wound onto the winding device 245 and thus the travel of the working device 50 when the pulling element 30 is actuated by the positioning drive 240.

[0153] The winding device 245 has a winding drive 244, which simultaneously represents the tension member drive 241. The tension member drive 241 or winding drive 244 comprises, for example, an electric motor that can be controlled by the control device 32 via a communication interface 247.

[0154] The guide device 248 comprises, for example, a carriage or tension member guide body 248A, which is guided on a guide 248B. The guide 248B is, for example, a linear guide that runs parallel to a rotational axis D2 about which the winding body 243 rotates. The tension member guide body 248A thus performs an oscillating back-and-forth movement along the linear guide 248B, so that the tension member 30 is optimally wound and unwound onto the winding 243A.

[0155] It is possible for the control device 32 to also control the guide device 248 for the tension member 30. It is also possible for the winding device 245 to have a local control for the guide device 248, or for this guide device 248 to function automatically, so to speak, i.e., that it automatically follows the movement of the tension member 30 and ensures that a roll 243A of the tension member 30 wound onto the winding body 243 is wound precisely.

[0156] It is also possible to position the work device 50 relative to the workpiece surface or spatial surface FL, FR, FF, FD to be machined using a positioning drive located on board the work device 50. For example, positioning drives 340A, 340B can be provided on the work device 50, which have drive motors, for example, work device drives 341A, 341B. The work device drives 341A, 341B drive, for example, wheels or drive rollers 342, which can roll along the surface FL, FR, FF, FD to be machined. The work device drives 341A, 341B are assigned to different directions of movement or axes of movement, for example, at an angle to one another, in particular at right angles to one another. Thus, for example, the control device 32 can also control the positioning drives 340A, 340B for positioning the working device 50 with respect to the surface FL, FR, FF, FD to be machined.

[0157] The working device 50 comprises a machine tool 51. The machine tool 51 can also be understood as a working device 50. The working device 50 or machine tool 51 comprises a drive unit 52 with a drive motor 53. A stator 54 of the drive motor 53 is arranged stationary with respect to a support 60 of the drive unit 52. A rotor 55 of the drive motor 53 rotates about a motor rotation axis DM.

[0158] The drive motor 53 drives a tool holder 58 on which a working tool 90A, for example a disk tool 90, can be arranged or is arranged.

[0159] An output 56 of the rotor 55, on which, for example, a gear is arranged, drives an eccentric 57, in particular a drive 57B, e.g., a gear, of the eccentric 57. The eccentric 57 has the tool holder 58 for the disc tool 90. The tool holder 58 is arranged on a pivot bearing 59 of the eccentric 57, so that the tool holder 58 can rotate about a tool rotation axis DW. The tool rotation axis DW and the motor rotation axis MD have an eccentricity EX with respect to one another. Thus, the disc tool 90 carries eccentrically about the motor rotation axis DM and in a hypercycloidal movement about the tool rotation axis DW. This enables smooth running of the disc tool 90, which facilitates manual operation of the work device 50, but also actuation using the positioning drives 40.

[0160] The carrier 60 has a cover wall 61 which covers the plate tool 90 at least on the upper side, preferably also on its outer circumference 93.

[0161] A motor mount 62, in which the drive motor 53 is housed, protrudes in front of the cover wall 61. On its side facing away from the disk tool 90, the drive motor 53 has a fan 63, with which a cooling air flow can be generated that passes through the drive motor 53.

[0162] The cooling air flow KL can flow out via a suction port 71 of a suction device 70 of the working device 50. For example, the suction hose 11 is connected to the suction port 71.

[0163] The disc tool 90 has a processing surface 91 for processing one of the surfaces FL, FR, FF, FD of the space RA. Of course, any other surface, such as a wooden workpiece or a metal workpiece, can also be processed with the processing surface 91. Abrasives, polishing agents, or the like can be arranged directly on the processing surface 91. In the present case, an adhesive layer 98 is provided, to which an abrasive 99, for example, a sanding sheet, is releasably held. The adhesive layer comprises, for example, hook-and-loop fasteners, hook-and-loop hooks, etc.

[0164] The machining surface 91 is in this case a flat surface, but can also have, for example, a depression or similar other contour.

[0165] The plate tool 90 has a machine side 92, wherein the machine side 92 and the machining surface 91 are arranged away from each other or on opposite sides of the plate tool 90.

[0166] The machine side 92 is provided on a plate-shaped tool carrier 100 and faces the cover wall 61 of the carrier 60. An elastic layer 101, for example a so-called grinding pad or carrier pad, is arranged on the plate-shaped tool carrier 100, which is essentially rigid, for example, made of a correspondingly resilient plastic material. The machining surface 91 is arranged on the side of the layer 101 facing away from the plate-shaped tool carrier 100.

[0167] Intake air inlet openings 94 are provided on the machining surface 91, which are fluidly connected to intake air outlet openings 95 on the machine side 92. For example, flow channels pass through the layer 100 and the plate tool carrier 101. Intake air AL can flow into the intake air inlet openings 94 through the intake air inlet openings 94. The intake air AL is represented in the drawing by hatched arrows.

[0168] The intake air AL serves to suck the disc tool 90 and thus also the working device 50 onto the workpiece surface to be machined.

[0169] The intake air inlet openings 94 are provided in a ring shape on the machining surface 91. For example, several, in particular at least two, in this case four, concentric ring arrangements 94A, 94B, 94C, 94D of intake air inlet openings 94 are provided.

[0170] The intake air inlet openings 94 extend in a ring shape around the central axis of the plate tool 90, which in this case corresponds to the tool rotation axis DW.

[0171] The intake air outlet openings 95 are also arranged in a ring around the tool rotation axis DW. It is possible to provide several, particularly concentric, ring arrangements of intake air outlet openings 95. The drawing generally shows a single ring arrangement of intake air outlet openings 95.

[0172] The disc tool 90 also features additional air inlet openings 96 through which additional air ZL can flow into the disc tool 90. The additional air ZL is symbolically represented in the drawing with white arrows. The additional air inlet openings 96 are fluidly connected to additional air outlet openings 97 on the machine side 92 of the disc tool 90, for example, via unspecified flow channels that pass through the adhesive layer 98, the elastic layer 101, and the disc tool carrier 100.

[0173] In principle, it is possible for the additional air ZL to also ensure that the disc tool 90 is sucked onto the surface FL, FR, FF, FD to be machined. For example, additional air inlet openings 196 are provided on a disc tool 190 for this purpose.

[0174] In the disc tool 90, however, the additional air inlet openings 96 are arranged on its outer circumference 93. The additional air inlet openings 96 are thus oriented radially outward relative to the central axis, in this case the tool rotation axis DW, of the disc tool 90. Thus, the additional air ZL can convey particles, dust, or the like from the surroundings of the disc tool 90 toward the disc tool 90 and flow out through the additional air outlet openings 97.

[0175] The intake device 70 has an intake air inlet 72, which is associated with the intake air outlet openings 95 and is fluidly connected thereto. Furthermore, the intake device 70 comprises an additional air inlet 73, which is fluidly connected to the additional air outlet openings 97.

[0176] The intake air inlet 72 is defined by a seal 74, for example, an annular seal, which rests against the machine side 92 of the disk tool 90. The seal 74, like a seal 75, is designed as an annular seal, with the seal 75 being located radially outward relative to the seal 74. Thus, an annular chamber is defined between the seals 74, 75, which defines the additional air inlet 73. The radially outer seal 75 seals the additional air inlet 73 against atmospheric pressure.

[0177] The intake air inlet 72 is, so to speak, formed as a central intake chamber located within the interior of the seal 74. Via a bypass channel 76, the intake air inlet 72 communicates directly with the suction port 71 and thus with the vacuum generator 15.

[0178] The additional air inlet 73 communicates with the suction connection 71 via a valve 85, whose valve member 86 is adjustable between at least two, preferably several valve positions.

[0179] The valve 85 forms part of an intake control 80 or can be controlled by it. The valve member 86 is adjustable within a valve housing 87 of the valve 85, for example, pivotable about a pivot axis SW1. Using the valve member 86, a valve passage 88 on the valve housing 87 can be opened or closed, with intermediate positions also being possible. On the input side, the valve 85 communicates with the additional air inlet openings 96, namely with the additional air inlet 73. The valve passage 88 and thus the outlet of the valve 85 is fluidly connected to the suction port 71. Thus, depending on the valve position of the valve member 86, more or less intake air is sucked in from the additional air outlet openings 97 and transported away via the suction port 71.

[0180] The valve member 86 has a cylindrical peripheral wall 86A, which is movable past the inner circumference of a likewise cylindrical peripheral wall 87A of the valve housing 87. The peripheral walls 86A, 87A essentially abut one another in a sealing manner. A seal 88A is arranged between an end face of the peripheral wall 86A and the cover wall 61 of the support 60, which in this respect forms part of the valve housing 87. The seal 88A simultaneously acts as a clamping device 88B for clamping the valve member 86 in a respective valve position.

[0181] The peripheral wall 86A projects from a top or bottom wall 86B of the valve member 86. The peripheral wall 87A of the valve housing 87 extends between the top wall 86B and the top wall 61 of the support. Thus, the valve member 87 is sandwiched between the top walls 61, 86B.

[0182] A pivot bearing 86C is provided for supporting the valve member 86 relative to the valve housing 87. A bearing projection 86D, for example, protrudes from the cover wall 61 and engages a bearing receptacle 86E of the valve member 86. A fastening element 86G, for example a screw, serves to secure the valve member 86 to the bearing projection 86D. The fastening element 86G preferably creates a preload of the valve member 86 in the direction of the seal 88A. The fastening element 86G extends, for example, parallel to the pivot axis SW1.

[0183] On the side facing away from the interior of the valve 85, the valve member 86 has an actuating handle 86F which serves to be gripped by an operator.

[0184] The actuating handle is simultaneously designed as an index element which is adjustable, for example, in the direction of markings 89A-89D, which indicate the respective valve position of the valve 85.

[0185] One or more of the markings 89A-89D can, for example, have locking projections 89E, with which the valve member 86, in particular the actuating handle 86F, can be locked, for example with a locking lug or a locking projection 89F at its free end region. For example, the locking projections 89E can be provided in pairs at at least one of the markings 89A-89D, so that the actuating handle 86F can lock between the locking projections 89E.

[0186] Markings 89A, 89D correspond, for example, to a pass-through position and a blocking position of valve 85. Markings 89B, 89C indicate a mixing ratio of intake air flowing through the additional air inlet openings 96 and intake air flowing through the intake air inlet openings 94, which is optimally suited, for example, for sidewall processing (marking 89B) or for ceiling processing (marking 89C). During ceiling processing, for example, the ceiling surface FD, as little additional air as possible is drawn in, so that the intake power or intake force in the normal direction N, which can be generated by the intake air via the intake air inlet openings 94, is as high as possible.

[0187] A working device 50A and its plate tool 90 essentially correspond to the working device 50, with a valve 185 being provided instead of the valve 85. The valve 185 forms, for example, a component of an intake control 180 or can be controlled by it. The valve 185 serves to control the negative pressure in the region of the additional air outlet openings 97, but pivots about a pivot axis SW2 that is transverse to the flow direction of the intake air flow flowing through the intake connection 71. A valve member 186 of the valve 185 is preferably arranged below the intake connection 71. The valve member 186 has, for example, a partially cylindrical peripheral wall 186A extending between end walls 186B, 186C. The end walls 186B, 186C are, so to speak, the bottom and top sides of the imaginary cylinder of the valve member 186.For example, bearing projections 186D are arranged on the end walls 186A, 186B, which engage in corresponding receptacles of the valve housing 187 and enable the pivoting bearing of the valve member 186 about the pivot axis SW2.

[0188] An actuating handle 186F protrudes from the end wall 186B, for example, an operating lever or operating projection, with which the operator can adjust the valve member 186 so that a valve passage 188 provided on the peripheral wall 186, i.e., an interruption of the peripheral wall 186 over a predetermined angular segment, can be brought into a passage position at which the outlet of the additional air inlet 73, i.e., for example, an opening between the seals 74, 75, is open. However, if the peripheral wall 186A closes this opening 189.

[0189] In a schematically illustrated working device 50B, a valve 285 is provided instead of valve 85 or 185. Valve 285 has a valve member 286, which can be manually actuated using an actuating handle 286f. Actuating handle 286f is arranged on valve member 286 of valve 285. Valve member 286 has a plate-shaped wall body 286A. Wall body 286 has a partially annular shape, so that it can close or open a likewise partially annular opening on cover wall 61, which defines a valve passage 288 of valve 285.

[0190] The valve passage 288 extends within a valve housing 287 of the valve 285. The valve housing 287 has side walls 287A that protrude from the cover wall 61 and are closed by a cover wall 287B. The suction port 71 is arranged on the cover wall 287B. Furthermore, the valve housing 287 communicates with the intake air outlet openings 95, which are arranged in the interior of a peripheral wall 287C of the valve housing 287. The drive motor 53, for example, is arranged (shown schematically) in the interior space delimited by the peripheral wall 287C, which defines the intake air inlet 72.

[0191] The actuating handle 286F can, for example, engage in a guide recess 289, which is, for example, a type of extension of the valve passage 288, with a clamping or locking portion not visible in the drawing, in order to lock, clamp, or the like the valve member 286 in one or more valve positions relative to the valve housing 287, in this case the cover wall 61. The clamping or locking portion can, for example, engage in the guide recess 289 and engage behind it.

[0192] The guide recess 289 and the valve passage 288 extend in a ring shape around a pivot axis SW3, about which the valve member 286 can pivot. The valve member 286 is thereby adjusted around the pivot axis SW3 in a kind of sliding movement along the valve passage 288. The pivot axis SW3 and the motor rotation axis DM are preferably coaxial.

[0193] A valve 385 of a working device 50C essentially corresponds to valve 285. Similar components are therefore provided with reference numerals that are 100 times larger than valve 286. Where identical components are present, they are provided with the same reference numerals.

[0194] A valve member 386 of the valve 385 closes a valve passage 388, which, like the valve passage 388, extends in an arcuate or annular manner around the pivot axis SW3. However, an actuating handle 386F for manually actuating the valve member 386 is not guided on the valve passage 388, but rather on a separate guide 385G. The guide 386G, like the valve passages 288, 388, extends in a ring around the pivot axis SW3. Using the separate guide 386G, any clamping devices, locking devices, or the like can be implemented for clamping or locking the actuating handle 386B and thus the valve member 386 in predetermined valve positions.

[0195] The valve 385 preferably comprises a valve drive 82, for example, a drive motor 382, ​​which is in driving engagement with, for example, the cover wall 61 or another component stationary with respect to the carrier 60. For example, the drive motor 382 can have a pinion on its output, which engages with a toothing stationary on the carrier 60. For manual actuation of the valve 385, for example, the pinion can be disengaged from the toothing or the drive motor 382 can run with little resistance. Thus, decoupling of a valve drive for manual actuation of a valve is possible within the scope of the invention.

[0196] A working device 50D is constructed similarly to the working device 50B, 50C and has a valve 485 instead of the valves 285, 385. The valve 485 has a valve housing 487, which is constructed similarly to the valve housing 287 and accordingly has the same reference numerals in the drawing. A valve passage 488 of the valve 485 communicates with the auxiliary air inlet 73 and can be closed by a valve member 486.

[0197] The valve member 486 has a wall-like or plate-like shape, for example a plate body 486A, which is pivotable about a pivot axis SW4 between a passage position DS, in which the valve passage 488 is fluidly connected to the suction connection, and a closed position SS, in which the valve passage 488 is closed.

[0198] Due to the negative pressure present at the suction connection 71, the valve member 486 is acted upon with force in the direction of its passage position DS and can be acted upon into its closed position SS by an actuating device with an actuating element 486B.

[0199] Instead of or in addition to the actuating element 468B, a spring 468K can also be provided, which urges the valve member 486 into its closed position SS. In this case, the valve 485 operates in a pressure-controlled manner, i.e., when the negative pressure at the suction connection 71 is greater than the spring force of the spring 468K, the valve 485 opens, so that the negative pressure in the suction area or at the machining surface 91 of the disk tool 90 drops because, so to speak, external air can flow through the additional air inlet openings 96.

[0200] The actuating element 486B is pivotally mounted on the valve housing 487, for example, on one of the side walls 487. The actuating element 486B comprises, for example, a pivoting lever, the free end region of which can act on the valve member 486 to move it into the closed position SS. The actuating element 486 thus has, for example, a lever-like shape or a lever.

[0201] Connected to the actuating element 486B is an actuating handle 486F, for example a pivoting lever, which is arranged on an outer side of the valve housing 487, for example also on one of the side walls 487A or 487B. The actuating handle 486B comprises, for example, an actuating lever that can be grasped by the operator. The actuating handle 486F can be locked by means of a locking device 486H in various locking positions that correspond to valve positions of the valve 485, for example the DS or SS positions, for example in the open position and / or the closed position and preferably one or more valve positions in between. The locking device 486H has, for example, locking projections 486I with which the actuating lever 486G can be locked. The locking projections 486I protrude in front of one of the side walls 487A.

[0202] A so-to-speak automatic, position-dependent valve 585 of the working device 50E has a valve member 586 in the form of a rolling element, in particular a ball or the like. The valve member 586 is freely movable within a valve housing 587 of the valve 585. The valve housing 587 has, for example, a peripheral wall or side walls 587A that narrow toward an outlet 587B of the valve housing 587 or are oriented toward one another. Thus, the valve housing 587 is narrower in the area of ​​the outlet 587B than in the area of ​​one or more valve passages 588 provided on a wall 588A that effectively closes the additional air inlet 73. Thus, air flowing through the additional air inlet 73 can flow through one or more of the valve passages 588 to the outlet 587B, which in turn is fluidly connected to the suction port 71.

[0203] When the working device 50 assumes an overhead position, for example, when working on the ceiling surface FD, the valve member 386 moves away from the valve passage 588 into a position closing the outlet 587B, which is indicated in the drawing by a continuous line of the valve member 586. Thus, air flowing through the additional air inlet openings 96, which represents false air, can no longer reach the suction connection 71, thereby increasing the suction force in the area of ​​the intake air inlet openings 94. However, if the working device 50 assumes a vertical orientation, for example, ie the working surface 91 runs vertically, the valve member 586 can move away from the outlet 587B, for example, sliding or rolling along a slope of the side walls 587A, so that the outlet 587B is free and thus supply air or false air can flow in via the additional air inlet openings 96.

[0204] The drawing further indicates that the valve member 586 can also move into a position closing at least one valve passage 588 (shown in dashed lines).

[0205] In the embodiment of the plate tool 190, it is also indicated that an additional air inlet opening 196 can also be arranged on the processing surface 91, so that the valve 585 can be used, for example, directly to influence the air flow flowing over the processing surface 91 or the negative pressure prevailing there.

[0206] In addition to the so-called automatically functioning concepts of negative pressure control through manually operated valves or through position-dependent valves (585), servomotor-driven or controlled concepts are also readily possible: For example, the intake control 80 comprises a control device 81. The control device 81 can, for example, control the motorized valve drive 82, in particular a servomotor. The valve drive 82 can, for example, directly drive one of the valve elements 86, 186, 286, 386, or 486.

[0207] The valve drive 82 may also include, for example, a magnetic drive 582, such as an electrical coil, to actuate the valve member 586 into one or more valve positions.

[0208] The suction control 80 can control the valve drive 82 based on sensor signals from one or more sensors of a sensor arrangement 83, for example, based on a position sensor 83A, whose output signal indicates an angular position of the working device 50 relative to a substrate, for example, the surface FD. A motor sensor 83B, in turn, is, for example, a current sensor or comprises a current sensor whose output signal or sensor signal indicates, for example, a power of the drive motor 53. Depending on the suction of the working device 50 onto the surface to be machined, the friction of the processing surface 91 on the surface to be machined changes, whereby the drive power of the drive motor 53 and thus its motor current also changes, which can be detected by the motor sensor 83B.Then, for example, the control device 81 can control the motorized valve drive 82 when the engine power is increased in order to reduce the negative pressure in the intake area and when the engine power is decreasing in order to increase the negative pressure.

[0209] However, a direct pressure or flow measurement is also possible, namely using the pressure sensor 83C and / or the flow sensor 83D. For example, the pressure sensor 83C is arranged in the vacuum area or suction area and directly measures the vacuum with which the disc tool 90 and thus the working device 50 are sucked onto the surface to be machined.

[0210] For example, a force sensor 83F, 83G, e.g., a strain gauge or the like, is possible, which measures the contact force with which the contact body 65B and / or the plate tool 90 presses against the surface to be machined. The force sensor 83G can be provided, for example, on the drive train, for example, on a bearing, of the working device 50. If the contact force of the contact body 65B becomes too great, the intake control 80, in particular the control device 81, can, for example, control the valve drive 82 to reduce the negative pressure, or, if the contact force is too low, to increase the contact force.

[0211] The working devices 50, 50A, 50B, 50C, 50D, 50E, 50F can be intended for manual operation, i.e., operation guided by an operator. However, it is also possible for them to be used in conjunction with the positioning device 13 for a type of robotic operation.

[0212] For example, the working device 50 is described below in an installed position in a housing 64, which is actuated by the positioning device 13. The supports 60 of the other working devices 50A, 50B, 50C, 50D, 50E, 50F can also be actuated by the pulling elements 30 and preferably also be accommodated in the housing 64.

[0213] It can be seen that the working device 50 can be used autonomously or manually. However, the pulling elements 30, for example, can also act directly on it. In the present case, however, the working device 50 is designed such that the carrier 60, including all components held thereon, namely the drive unit 52 and the disk tool 90 / working tool 90A, are accommodated in a housing 64. The housing 64 forms an intake housing 64A, the interior 64E of which forms a vacuum chamber, so to speak. The housing 64 has a peripheral wall 64B, which is covered by a cover wall 64C. The cover wall 64C has a dome or hood 64D, in which a flow channel or flow chamber is formed for the cooling air KL flowing out of the drive motor 53 or its fan 63. The cooling air KL can be extracted via a suction connection 64F, to which, for example, the suction hose 1 can be directly connected.The suction connection 64F communicates fluidically with the suction connection 71 of the drive unit 52, which is arranged in the interior 64E, so to speak, so that air flowing out of the suction connection 71, which represents an exhaust air nozzle, can be sucked out via the suction connection 64F.

[0214] Tension element holders 67 are provided on the housing 64, to which the tension elements 30A-30D can be releasably secured, for example, by locking them using a latch arrangement, connecting them to a magnetic holder, or the like. Thus, the tension elements 30 can be easily detached from the holders 67 or easily attached to them by an operator, but then have a firm hold, so that the tensile forces of the positioning device 13 or the positioning drives 40 can be transmitted to the working device 50.

[0215] The holders 67 are provided at equal angular intervals, for example of 90° each, on the housing 64 so that the tensile forces of the tensile elements 30 can be optimally transmitted to the housing 64.

[0216] The housing 64 further supports a guide device 65, which serves to guide the respective surface FL, FR, FF, or FD to be machined. The guide device 65 comprises a guide support 65A, which is fastened to the housing 64 or forms an integral part of the housing 64. The guide support 65A supports at least one contact body 65B, for example, an annular contact body 65B or an arrangement of several contact bodies arranged in a ring shape, which extend around the work tool 90A. The guide supports 65A have guide contours 65C, for example, guide surfaces, which preferably lie in the same plane as the machining surface 91 when the machine tool 51 rests against one of the surfaces FL-FD, as shown schematically in the drawing. The contact body 65B preferably comprises a seal, in particular a sealing ring, which delimits a suction area 65G of the housing 64.The plate tool 90 or working tool 90A is arranged within the suction area 65G.

[0217] It can be seen that not only the disc tool 90, but also the entire housing 64 is sucked onto the surface of the workpiece or the space to be machined. However, the working device 50 is primarily guided via the contact body 65B with respect to the surface to be machined.

[0218] The contact body 65B is movably mounted relative to the guide support 65A and spring-loaded by springs 65D toward a contact position in which the guide contours 65C rest against the surface to be machined. The springs 65D, like the contact body 65B, are housed in a spring chamber 65E, where they are linearly movable in the normal direction relative to the machining surface 91 or in the normal direction relative to the guide contour or guide surface 65C, and preferably also pivotally movable transversely to this direction. The contact body 65B is preferably mounted on the guide support 65A not only for linear displacement parallel to the motor rotation axis DM or tool rotation axis DW, but also transversely thereto about at least one pivot axis. Thus, the contact body 65B is floatingly mounted in the spring chamber or bearing receptacle 65E.

[0219] Preferably, the plate tool 90 is flexible with respect to the surface to be machined, for example due to the elastic layer 101. An optimal adaptation to the contour of the surface to be machined is further improved by the fact that the drive unit 52 is movably mounted with respect to the guide device 65 by means of a bearing device 66.

[0220] The bearing device 66 comprises, for example, a membrane 66A, which is fixed in position relative to the housing 64, namely, for example, sandwiched between holding sections 66B, 66C, which are provided on the one hand by the housing 64, namely its peripheral wall 64B, and on the other hand by a valve carrier 64H. The valve carrier 64H extends annularly around the working tool 90A and is received, so to speak, in a sandwich-like manner between the guide device 65, in particular the guide carrier 65A, and the peripheral wall 64B.

[0221] The membrane 66A thus enables a floating, multi-axis pivoting movement of the drive unit 52 relative to the housing 64 or the guide device 65, so that the working tool 90A can easily follow the contour of the surface to be machined. Furthermore, the working tool 90A is linearly adjustable relative to the guide device 65, namely parallel to the tool rotation axis DW.

[0222] Instead of the membrane 66A, pivot bearings, in particular cardanic pivot bearings, and / or sliding bearings can also be provided.

[0223] Preferably, the drive unit 52, and thus the work tool 90A, is spring-loaded into a contact position in which it is in contact with the workpiece surface to be machined, for which purpose, for example, a spring arrangement 69 is provided. The spring arrangement 69 comprises an arrangement of one or more springs 69A, which are supported on the one hand on the housing 64 or the carrier 60, and on the other hand on the diaphragm 66A, namely by means of spring holders 69B, 69C. The spring holders 69C are arranged on the diaphragm 66A, and the spring holders 69B are stationary with respect to the guide device 65, namely stationary with respect to the housing 64. Since the housing 64 is stationary with respect to the guide device 65, the spring holders 69B support the springs 69A, the bearing device 66 and thus the drive unit 52 held thereon with respect to the guide device 65.

[0224] The bearing device 66 further enables the working tool 90A to be moved from the working position shown in the drawing, in which the working tool 90A is in contact with the surface to be machined, into a rest position away from it. Actuators 68, for example servomotors or the like, are provided for this purpose. The actuators 68 have drive elements 68A, for example levers, rollers, or the like, with which they act on transmission elements 68B, for example tension elements, tension cables, rod-like elements, or the like. The transmission elements 68B are connected to the drive elements 68A and the drive unit 52, namely to the membrane 66A, which in turn are connected to the drive unit 52. Thus, the transmission elements 68B pull the membrane 66A away from the guide contour 65C, so to speak, in order to move the working tool 90A into the rest position.The rest position is advantageous, for example, when the working tool 90A is not needed, especially during pre-positioning before the actual surface treatment. This prevents the disc tool 90 from causing any damage, so to speak, but is inactive or held in the rest position until the actual surface treatment begins.

[0225] Preferably, the actuator(s) 68 act on the membrane 66A or the drive unit 52 at at least two opposite points or at several points having equal angular distances from one another.

[0226] It is possible to use valves 85-585 to set a base suction force with which the disc tool 90 is sucked onto a surface to be machined. However, it is also possible for valves 85-585 to be fully opened. In both scenarios, the suction force control or negative pressure control explained below can be advantageously used: Additional air flowing through the additional air inlet openings 96 can be influenced not only on the machine side 92 of the disc tool 90, but also from the outside, so to speak.

[0227] Valves 685 are arranged on the housing 64, in particular the valve carrier 64H, of the working device 50. The valves 685 have valve passages 688, which are arranged, for example, on a wall 687 of the valve carrier 64B. The wall 687 extends annularly next to the peripheral wall 64B of the intake housing 64A and forms a type of step. Preferably, several spaced-apart, in particular angularly spaced, valve passages 688 are provided on the wall 687. The valve passages 688 have, for example, an annular shape and thus follow the outer peripheral contour of the peripheral wall 64B. The valve passages 688 are fluidly connected to an annular space 689 that extends around the working tool 90A.The annular space 689 is also open to the additional air inlet openings 96 on the radial outer circumference of the working tool 90A, so that air flowing in via the valve openings 688 can reach the additional air inlet openings 96, thus reducing the suction force in the area of ​​the intake air inlet openings 94. False air is then sucked in, so to speak, via the suction connection 71 or 64F, namely through the valve openings 688 and the additional air inlet openings 96.

[0228] The valves 685 have valve members 686. The valve members 686 are plate-like and have a support layer 686A on which a sealing layer 686B is arranged. The sealing layer 686B faces the wall 687 and is suitable for sealingly closing the respective valve passage 688.

[0229] The valve member 686 is movably mounted on bearing projections 686C, 686D that protrude from the wall 687. For example, the bearing projections 686C, 686D are bolts, screws, or the like, along which the valve member 686 can slide and / or pivot.

[0230] In a closed position SS, the valve member 686 closes the valve passage 688, while in a passage position DS of the valve member 686 it is released.

[0231] For example, a linear adjustment of the valve member 686 relative to the longitudinal axes of the bearing projections 686C, 686D is possible. In the present case, however, a pivoting movement of the valve member 686 on one of the bearing projections 686C, 686D is desired. The pivoting movement is triggered or enabled, for example, by springs 686F, 686G, which are arranged on the bearing projections 686C, 686D and supported on support projections 686H thereof and the valve member 686, being preloaded to different degrees or to different degrees. For example, the spring 686F has a smaller spring force than the spring 686G because it is less preloaded.

[0232] The springs 686F, 686G bias the valve member 686 into the closed position SS. The negative pressure in the intake area 64G causes the valve member 686 to be adjusted to its open position DS. When the atmospheric pressure exceeds the negative pressure in the intake area 64G by a predetermined amount, it acts on the valve member 686 to open the valve 685. Thus, a kind of automatic negative pressure control is realized by a spring arrangement.

[0233] In addition, the operator can also allow external air or additional air to flow into the intake area 64B via valves 685M. The valves 685M comprise valve passages 688B, which are arranged on the radial outer circumference of the valve carrier 64H. The valve passages 688 are fluidly connected to the intake area 64G and can be closed by at least one valve member 686M. The valve member 686M is, for example, an annular body, in particular with a plate shape, which is pivotable about an axis of rotation parallel to the motor rotation axis MD. A plurality of actuating handles 686H, for example actuating projections, are arranged on the valve member 686M, so that the operator can adjust the valve member 686M between a passage position releasing the valve passages 688B and a closing position closing them, and preferably one or more valve positions in between, by actuating one of the actuating handles 686H.

[0234] The working devices 50, 50A, 50B, 50C, 50D, 50E, and 50F can be adjusted with respect to the surfaces to be machined using the positioning device 13. However, operation with a single handle is also possible, which will become clearer below.

[0235] A rod-shaped handle 800 is preferably pivotably connected to the working device 50, 50A, 50B, 50C, 50D, 50E, 50F. For example, a pivot joint 801 is provided, which pivotally mounts the handle 800 with respect to a pivot axis SQ, which runs transversely to a longitudinal axis LL of the handle 800. Further pivotability about another pivot axis, which runs, for example, transversely to the pivot axis SQ, is realized by a pivot joint 801, which is only schematically indicated in the drawing. The pivot joints 801, 802 together form a cardanic pivot joint.

[0236] A fixed rod section 803 of the handle 800 extends from the pivot joint 801 along the longitudinal axis LL. At the longitudinal end region of the rod section 803 remote from the working device 50, a power supply device 804 is provided for powering, for example, the drive motor 53. It should also be mentioned at this point that the drive motor 53 is preferably an electronically or electrically commutated drive motor.

[0237] The energizing device 804 is arranged between the rod section 803 and a telescopic section 805 of the handle 800. The telescopic section 805 comprises a base tube body 806, which is fixedly connected to the energizing device 803. An adjustable tube body 807 is mounted on the base tube body 806 so as to be displaceable relative to the longitudinal axis LL. For example, the adjustable tube body 807 engages an interior space of the base tube body 806.

[0238] At the free end of the adjustable tubular body is a support body 808, which preferably extends transversely to the longitudinal axis LL. The support body 808 is suitable, for example, as a support for supporting the operator's body, such as a type of shoulder rest or the like. This makes the handle 800 extremely ergonomic.

[0239] The adjustable tubular body 807 is adjustable relative to the base tubular body 806 along an adjustment path which is limited by longitudinal stops 809, 810 which are arranged on the base tubular body 806 and the adjustable tubular body 807, respectively.

[0240] In a respective longitudinal position of the adjustable tubular body 807 relative to the base tubular body 806, the latter can be fixed by means of a fixing device 811. The fixing device 811 comprises, for example, a holder that is fastened to the base tubular body 806 in the manner of a sleeve or clamp, for example by means of radially projecting retaining projections 815 that are, for example, screwed together, clamped, or the like. The holder 812 has a clamping clamp 813 that can be adjusted by means of an actuating handle 814, for example a clamping screw, a clamping lever, or the like, between a position clamping or fixing the adjustable tubular body 807 relative to the base tubular body 806 and a release position releasing the latter relative to the base tubular body 806 and thus adjustable.

[0241] The working device 50F should be understood as an example that a coating device or a working device suitable for machining a workpiece surface, for example a surface, can also be actuated and positioned using the positioning device 13.

[0242] The working device 50F has a coating device 980 with coating heads 981A, 981B as coating tools 981. The coating heads 981A, 981B are designed to coat a surface to be processed or coated, i.e., they can, for example, apply a coating fluid, in particular a coloring liquid, color particles, to the surface. The coating fluid is held in storage containers 983A, 983B of the working device 50F and / or is supplied to the working device 50F via flexible lines from a stationary device, for example, a storage container on the vacuum cleaner 15B.For example, the reservoirs 983A, 983B may contain paint or other coating fluid, which may flow via lines 982A, 982B to the coating heads 981A, 981B in order to coat the surface to be treated, for example, to color it and / or to provide it with a protective layer or the like.

[0243] Furthermore, the coating device 980 can also comprise, for example, an erasing device 985, in particular an erasing head, with which at least parts of the coating applied by means of the coating heads 981A, 981B can be erased again.

[0244] The erasing device 985 or the erasing head, as well as the coating tools 981 or coating heads 981A, 981B, are connected or connectable, for example, to the control device 32 via communication lines 984. Instead of a communication line 984, a wireless connection, for example a radio connection, from and to the control device 32 can of course also be provided. Via the communication lines 984, the control device 985 can, for example, control the application of paint or a similar coating by the coating tools 981 or coating heads 981A, 981B, or also effect or control erasing by the erasing device 985, which comprises, for example, an erasing device, a grinding head, or the like.

[0245] The coating device 980 is arranged on a support body 990, in particular a plate-like support body. The support body 990 has, for example, a base body 998, on which a processing surface 991, for example, a support surface for supporting the surface to be processed, is provided. The processing surface 991 is provided, for example, on a sliding body or a sliding layer 999, which is arranged on the front side of the base body 998.

[0246] The coating heads 981A, 981B and the erasing head 985 are arranged, for example, on cavities of the base body 998 that are set back behind the processing surface 991.

[0247] For example, the previously explained additional air inlet openings 96, the intake air inlet openings 94, and the like can be arranged on the base body 998, which communicate, for example, with the previously explained additional air inlet 73 and the intake inlet 72. Suction control is possible, for example, using the valve 585, so that the processing surfaces 991, like the previously explained processing surfaces 91, can be optimally sucked onto the surface to be processed.

[0248] All of the aforementioned embodiments in connection with the working devices 50-50E are therefore also possible with the working device 50F with regard to the suction control or vacuum control on the processing surface 991, which in this respect is or forms a support surface.

[0249] Furthermore, the working device 50F may comprise or form a machine tool 951. This may be provided alternatively or in addition to the coating device 980.

[0250] The machine tool 951 comprises a drive motor 953, which drives a tool holder 958 via a tool shaft 956. A working tool 90F, for example a milling head, is arranged or can be arranged on the tool holder 958.

[0251] The machining surface 991 forms, for example, a guide contour 965C of a guide device 965.

[0252] The milling head or other working tool 90F can permanently protrude in front of the machining surface 991 or guide contour 965C or can advantageously be adjustable by means of an actuator 994 between a position protruding further in front of the machining surface 991 or guide contour 965C (shown in dashed lines) and a working position or depth adjustment position protruding less far in front of the machining surface 991 or guide contour 965C, in particular even retracted behind the machining surface 991. Thus, the working tool 90F can penetrate more or less deeply into the workpiece to be machined. In particular, during positioning by the positioning device 13, in which the working tool 90F is not machining the surface to be machined or is inactive, it is possible for the working tool 90F to be moved back behind the guide contour 965C so that it is not in contact with the workpiece.

[0253] The actuator 954 and the drive motor 953 are connected or connectable via communication connections 955, for example communication lines or wireless connections, to the control device 32, which controls the drive motor 953 and the actuator 954 according to the workpiece surface to be machined.

[0254] In the same way, it is fundamentally also possible for the coating tool 981 and / or the extinguishing device 985, for example, to be adjustable into a position further forward of the guide contour 965C or back toward it, in particular behind it, by, for example, arranging actuators 986 on the coating tools 981 and / or the extinguishing device 985. The actuators 986 can be controlled wirelessly or by wire by the control device 32 (not shown).

[0255] Further examples are described in connection with Figure 12 indicated. For example, cutting tools and / or a coating device can also be held on the housing 64 in a floating and / or movable manner relative to the guide device 65, in particular to the guide contour 65C, e.g., by means of the bearing device 66.

[0256] For example, instead of the disc-shaped working tool 90, a milling head or similar other cutting tool can also be driven by the drive motor 53. For example, instead of the connection to the eccentric 57, a tool holder 58F can be provided directly on the drive motor 53, to which the working tool 90F, for example a milling head, drill, or the like, can be directly attached. The actuator 954, already explained and schematically illustrated in the drawing, can be provided to adjust the working tool 90F relative to the carrier 60.

[0257] Alternatively or additionally, at least one coating tool 981 can also be arranged on the carrier 60. The coating tool 981, for example one of the coating heads 981A and / or 981B, can be arranged stationary on the carrier 60 or can be movably adjusted by means of an actuator 986 between a position protruding further in front of the guide contour 65C or a position further back from the guide contour 65C, in particular behind the guide contour 65C.

Claims

1. A mobile machine tool for processing a workpiece or a room (RA) comprising a working device (50) which is mobile with respect to a surface (FL, FR, FF, FD) of the workpiece or room (RA), which working device comprises a tool receptacle (58) for a work tool (90A, 90F) driven or drivable by a drive motor (53), particularly for abrasive processing of the surface (FL, FR, FF, FD) and / or a coating device (980) having a coating tool (981) for coating the surface (FL, FR, FF, FD), wherein the working device (50) comprises a suction device (70) for suctioning the working device (50) onto the surface by means of at least one force component oriented in a normal direction (N) to the surface (FL-FD), wherein the suction device (70) has at least one valve (85) for controlling an intake air flow and / or a negative pressure in a suction region of the working device (50) for suctioning onto the surface (FL-FD), and wherein the at least one valve (85) has a valve member (86) which is adjustable between at least two valve positions in which a flow cross-section of the valve (85) is different, wherein the suction device (70) comprises a suction controller (80) for adjusting the valve member (86) during operation of the work tool (90A, 90F) or the coating device (980) between its valve positions depending on at least one physical variable, characterized in that the at least one physical variable comprises an angular position of the working device (50) relative to an underlying surface and the suction controller (80) adjusts the valve member (86) depending on the angular position of the working device (50) relative to the underlying surface.

2. The machine tool (51) according to claim 1, characterized in that the suction controller (80) comprises a motorized valve drive and / or a spring arrangement for adjusting the valve member (86).

3. The machine tool according to claim 1 or 2, characterized in that the valve (85) comprises a manually operable operating handle for adjusting the valve member (86).

4. The machine tool according to any one of the preceding claims, characterized in that the suction controller (80) comprises a position sensor (83A) for detecting an angular position of the working device (50) relative to an underlying surface as the at least one physical variable.

5. The machine tool according to any one of the preceding claims, characterized in that the valve member (86) is mounted in a valve housing (87) of the valve (85) for movement between at least two valve positions depending on an angular position of the working device (50) relative to an underlying surface, wherein the valve member (86) independently takes the valve positions by moving the working device (50) into a respective angular position.

6. The machine tool according to any one of the preceding claims, characterized in that the at least one physical variable comprises a motor output or motor current of the drive motor (53).

7. The machine tool according to any one of the preceding claims, characterized in that the suction controller (80) comprises a motor sensor (83B), particularly a current sensor, for detecting the motor output or motor current.

8. The machine tool according to any one of the preceding claims, characterized in that the at least one physical variable comprises a pressure and / or a flow rate of an intake air flow in the suction region.

9. The machine tool according to any one of the preceding claims, characterized in that the suction controller (80) comprises a pressure sensor (83C) for detecting the pressure and / or a flow sensor (83D) for detecting the flow rate.

10. The machine tool according to any one of the preceding claims, characterized in that the suction controller (80) comprises at least one force sensor (83F) for detecting the pressing force as the at least one physical variable of the work tool (90A, 90F) or a guide contour onto the surface to be processed.

11. The machine tool according to any one of the preceding claims, characterized in that the suction controller (80) comprises a regulating device for regulating a negative pressure in the suction region depending on the at least one physical variable.

12. The machine tool according to any one of the preceding claims, characterized in that the suction device (70) comprises at least one other manually operable valve (685M) for influencing the negative pressure and / or the intake air flow in the suction region.