Joint sealing device

Abstract

The invention relates to a joint sealing device (1) for introducing a flowable joint sealant containing a liquid into a joint (2) of a floor covering (3), in particular a plaster, wherein the device (1) has a nozzle (4) for introducing the joint sealant into the joint (2) and a sensor (5) for detecting the course and the width, and preferably also the depth, of the joint (2), a movement device (6) for moving the nozzle (4) along the joint (2) and a control device (7) for controlling the movement device (6) depending on the detection result of the sensor (5).

Description

[0001]

[0002] Grouting device

[0003] The present invention relates to a jointing device for introducing a flowable joint compound containing a liquid into a joint of a floor covering.

[0004] Furthermore, the invention also relates to a method for introducing a flowable jointing compound containing a liquid into a joint of a floor covering using such a jointing device.

[0005] Floor coverings such as paving have a wide variety of

[0006] Forms of construction Joints that must be filled with a joint compound. This so-called grouting, i.e. the

[0007] The application of the joint compound into the joint is now carried out by

[0008] Hand .

[0009] The object of the invention is to provide a possibility for mechanical or automated introduction of the joint compound into the joint.

[0010] For this purpose, the invention proposes a jointing device for introducing a flowable jointing compound containing a liquid into a joint of a floor covering, in particular a pavement, wherein the device comprises a nozzle for introducing the jointing compound into the joint and a sensor for detecting the course and the width, and preferably also the depth, of the joint and a movement device for moving the nozzle along the joint and a control device for controlling the movement device depending on the

[0011] detection result of the sensor.

[0012] The jointing device according to the invention makes it possible to introduce a flowable joint compound containing a liquid into a joint in an automated and mechanical manner.

[0013] A jointing device could also be referred to as a device for jointing. Ultimately, it is a device with which a flowable, liquid-containing jointing compound can be mechanically introduced into a joint. A joint is, as is known per se, an intentional and / or tolerance-dependent gap or space between two partial areas, in particular between two stones or individual bodies, of the floor covering. The floor covering is advantageously a floor covering with stones and joints arranged between them. The joints to be jointed with the jointing device according to the invention and also with the inventive method described below can be straight or non-straight, e.g., branched or curved, as is known per se. The width of the joints can vary but can also be constant. The same applies to the depth of the joints.Grout is a flowable substance that contains at least one liquid as one component. In addition to the liquid, it can also contain various solids. The grout can therefore be more or less liquid. Its viscosity can vary greatly depending on the composition of the grout. However, the grout can also consist solely of a liquid or a mixture of different liquids. The grout can, for example, be more or less viscous cement. Other flowable grouts that contain a liquid can, however, include polyurethanes, acrylates, silicones, silanes, siloxanes, silicic acid esters, latex, epoxy resins, polybutadienes, as well as various mortars such as cement mortar, lime mortar, or gypsum mortar. However, this is only an example and not an exhaustive list of possible grouts.For the sake of linguistic simplicity, the flowable joint compound containing a liquid is also referred to simply as joint compound.

[0014] Jointing devices and methods according to the invention can be used for jointing a wide variety of floor coverings. These floor coverings can consist, for example, of stones laid with appropriate joints, such as concrete blocks, paving stones, clinker bricks, but also tiles, as well as other corresponding materials and components.

[0015] The shape and type of nozzle are best selected depending on the type of grout to be applied to the joint. The nozzle outlet for the grout should ideally be sized to match the smallest width of the joint to be grouted. Joints should preferably have a width of less than 2 cm, preferably less than 1 cm, and particularly preferably less than 0.5 cm.

[0016] The sensor used in the grouting device serves to detect the course and width of the joint to be grouted. In preferred embodiments, the depth of the joint can also be detected with the sensor. The detection result of the sensor is accordingly the course and width of the joint and, if applicable, also the depth of the joint. Different types of sensors can be used in grouting devices and methods according to the invention. These can be known optical systems, such as stereo camera systems, but also mono camera systems with or without depth correction, or even mono camera systems with markers. Suitable image processing algorithms with which the images from these camera systems can be evaluated to determine the course and width and, if applicable, also the depth of the joint are known in the art and need not be explained further.Alternatively, laser scanners can also be used as corresponding sensors, in particular 3D laser scanners, such as line scanners or a scanner that works with stripe light projection. Corresponding laser scanners and their evaluation algorithms are also known per se, so that the course and width of the respective joint and preferably also its depth can be determined from their measurement data or detection results. Tactile systems can also be used as sensors in jointing devices according to the invention. For example, the course and width and, if necessary, also the depth of the joint to be jointed can be determined using a mechanical probe. Suitable probes and suitable evaluation methods for evaluating their measurement results are also known in the prior art.

[0017] The control device of the grouting device according to the invention determines, depending on the detection result of the respective sensor and thus the detected course and the width and, if applicable, also the depth of the joint to be grouted, how the movement device must be moved so that the nozzle for introducing the joint compound into the joint is guided along the joint. The control device could therefore also be referred to as a regulating device. Particularly in the case of joints with a simple joint geometry, i.e. in particular with straight joints of constant width, it is conceivable that a constant quantity of joint compound is dispensed from the nozzle per unit of time. Especially in the case of joints with a complex geometry, such asHowever, with an uneven course and varying width and / or depth, preferred embodiments provide for the grouting device to have a dosing device controlled by the control device for dosing the amount of joint compound dispensed from the nozzle depending on the sensor's detection result. In such preferred variants, the amount of joint compound dispensed from the nozzle can thus be adapted to the course and the respective width in the area of ​​the joint currently being grouted, as well as its depth, if applicable.

[0018] It should be noted that all components of the grouting device, initially mentioned in the singular, can be present only once or multiple times. For example, it is entirely conceivable that the grouting device has multiple sensors, especially different types of sensors, multiple nozzles, and even multiple movement devices for moving the nozzles. The singular used here is therefore intended merely as a linguistic simplification and not as a limitation.

[0019] It is fundamentally conceivable for the jointing device or its nozzle to be supplied with the joint compound via a hose or the like. Preferred variants of the invention, however, provide for the jointing device to have a storage container for the joint compound which is connected to the nozzle. The movement device serves to move the nozzle along the joint. This can be designed in very different ways within the scope of the invention. For example, it is conceivable for the jointing device to have a steerable vehicle or a steerable aircraft, wherein the movement device comprises the drive and steering of the vehicle or aircraft. This can be used to drive or fly the jointing device with the nozzle along the joint to be sealed with the vehicle or aircraft in such a way that the nozzle is arranged or guided above or in the joint for introducing the joint compound. In this case, the nozzle can be fixed in a position on the vehicle or aircraft.aircraft.

[0020] Other embodiments of jointing devices according to the invention can also provide for the jointing device to have a base body which can be placed on the floor covering and to which the movement device is fixed, wherein the nozzle can be moved relative to the base body by means of the movement device. Such base bodies can be placed on or next to the floor covering to be jointed. The nozzle is then moved relative to the base body by means of the movement device so that it travels along the joint to be jointed. A wide variety of systems known per se from the prior art can be used as movement devices. For example, these can be axis systems which, with two or three axes, for example orthogonal to one another, can move the nozzle horizontally and, if necessary, vertically along the joint. Such axis systems with correspondingly driven axes can be composed of various linear drives.This is known per se and needs no further explanation. Alternatively, such designs can also be provided as a movement device, such as robot arms, which are attached to the base body on the one hand and can guide the nozzle along the joint on the other.

[0021] These are just examples; ultimately, any known drive mechanism, especially arm-like systems, can be used to move the nozzle relative to the base body along the joint. Rollers or gliders can be attached to the base body, for example, to allow the base body to be moved across a substrate or floor covering.

[0022] However, combinations of the above-mentioned possibilities are also conceivable, for example if the base body is part of the above-mentioned steerable vehicle or aircraft.

[0023] Methods according to the invention for introducing a flowable joint compound containing a liquid into a joint of a floor covering, in particular a pavement, using a jointing device according to the invention provide that the course and the width and preferably also the depth of the joint are detected with the sensor and the movement device is controlled by the control device to move the nozzle along the joint depending on the detection result of the sensor and the joint compound is introduced into the joint with the nozzle.

[0024] Preferred variants of the method according to the invention provide for the joint compound to be introduced exclusively into the joint. This means, in particular, that the paving stones or other stones or areas of the flooring outside the joint are not contaminated with joint compound, in order to provide a visually very high-quality type of application. In the method according to the invention, the joint compound can also be applied to a layer of granular material previously present in the joint. The granular material can be sand or gravel, for example, or mixtures thereof, just to name one example. As already explained with regard to the jointing device according to the invention, the method according to the invention can also provide for a constant amount of joint compound to be dispensed per unit of time via the nozzle. This is particularly suitable for very straight joints that are always the same width.For joints that vary in their course, width, and possibly also their depth, jointing devices according to the invention are advantageously used, comprising a dosing device controlled by the control device for dosing the amount of joint compound dispensed from the nozzle depending on the detection result of the sensor. Then, with the method according to the invention, the amount of joint compound dispensed from the nozzle can be dosed by the dosing device. Depending on how much joint compound and what type of joint compound is introduced into the joint, the joint can subsequently be watertight. With the method according to the invention, however, it is also possible to joint the joint in such a way that water, in particular rainwater, can still flow through the joint into the subsurface. If this is the goal, the joint compound can be dosed with the method according to the invention in such a way that a porous, water-permeable layer of joint compound is formed in the joint.For this purpose, a suitable joint compound can be used, which develops a corresponding water permeability or porosity after curing. However, it is also conceivable to apply only enough joint compound to the joint using the method according to the invention so that the entire cavity of the joint, or in particular the pore space of the pre-existing material, is not filled, so that even after grouting, the joint remains water permeable and, in particular, allows rainwater to drain away.

[0025] In the method according to the invention, it can also be provided that the jointing device is suitable for distinguishing whether the respective joint is already grouted or not yet grouted. For this purpose, preferred

[0026] Embodiments of the method according to the invention provide that the control device, depending on the detection result of the sensor, distinguishes between a joint into which joint compound has already been introduced and a joint into which joint compound still has to be introduced.

[0027] In this way, methods according to the invention can automatically decide whether or not more joint compound should be introduced into a joint.

[0028] Methods according to the invention can comprise the following method steps, preferably in this order. First, the position of the joint can be determined using the sensor and its width, and preferably also its depth, can be ascertained. In this process, a distinction can also be made between a joint that has already been grouted and one that still needs to be grouted. Using the method according to the invention, the joint compound can then be precisely introduced into the joint and metered depending on the type, width and preferably also depth of the joint. Various types of pumps can be used as the metering device, for example. These can be single-component or multi-component joint compounds. The position of the pump or the metering device can be chosen relatively freely. It can, for example, be on or in the storage container, or in the immediate vicinity of the nozzle or be integrated into the nozzle.The storage container can also be pressurized to support or ensure the flow of the grout, although this is not mandatory.

[0029] In the case of jointing devices which are placed on the substrate with a base body, all the

[0030] Range of the movement device currently available

[0031] Joints must first be grouted and then the grouting device can be moved into its base body in order to grout another area of ​​the floor covering.

[0032] Further features and details of preferred

[0033] Embodiments of the invention are explained below with reference to the figures attached here, each of which represents a schematic embodiment of the invention.

[0034] Show it;

[0035] Fig. 1 and 2 show representations of a first embodiment according to the invention;

[0036] Figs. 3 and 4 show representations of a second embodiment according to the invention;

[0037] Figs. 5 and 6 show illustrations of a third embodiment according to the invention;

[0038] Figs. 7 and 8 show representations of a fourth embodiment according to the invention;

[0039] Figs. 9 and 10 show illustrations of a fifth embodiment of the invention;

[0040] Fig. 11 and 12 representations of a sixth embodiment according to the invention and

[0041] Fig. 13 and 14 representations of a seventh embodiment according to the invention.

[0042] Fig. 1 shows, in a perspective view obliquely from above, a first embodiment of a jointing device 1 according to the invention on a floor covering 3 to be jointed. The joints 2 to be jointed are located between the paving stones shown here. The jointing device 1 shown in this first embodiment serves, as in the other embodiments, to introduce a flowable jointing compound containing a liquid into the joints 2 of the floor covering 3. For this purpose, the device 1 has a nozzle 4, which can be clearly seen in the side view according to Fig. 2. With this nozzle 4, the jointing compound is introduced into the joints 2. In addition, the jointing device 1 also has a sensor 5 for detecting the course and the width and preferably also the depth of the joint 2 to be jointed. In the first embodiment, this sensor 5, which is fixed to the base body 13 via a corresponding fastening arm 22, can be, for example,an optical sensor 16 or a laser scanner 17. The nozzle 4, with the dosing device 8 present here, is movably mounted on the base body 13 of the grouting device 1 by means of a movement device 6, so that the nozzle 4 can be moved relative to the base body 13 by means of the movement device 6 in order to move the nozzle 4 along the joint 2 to be grouted by means of the movement device 6. In this first embodiment according to Fig.1 and 2, the movement device 6 comprises two movement axes arranged orthogonally to one another, wherein the nozzle 4 can be moved together with the dosing device 8 along the first of the movement axes 20 and this first movement axis 20 together with the nozzle 4 and the dosing device 8 is guided along the second movement axis 21, so that the nozzle 4 as a whole can be moved horizontally in two mutually orthogonal directions relative to the base body 13 by means of the movement device 6. Such axis systems are known per se and need not be explained further. Preferably, it is provided that the nozzle 4 can additionally be moved in the vertical direction relative to the first movement axis 20.The control device 7 for controlling the movement device 6 and the nozzle 4 depending on the detection result of the sensor 5 is integrated into the base body 13 in this exemplary embodiment and is not shown as a separate component. However, there are, of course, many possible configurations in practice.

[0043] In preferred embodiments, such as the one shown here, the control device 7 also controls the dosing device 8 for dosing the amount of joint compound dispensed from the nozzle 4 depending on the detection result of the sensor 5. The nozzle 4 is here controlled by means of the

[0044] Connecting line 14 connects to the storage container 9, in which the joint compound is stored. As an alternative to the embodiment shown here, the dosing device 8 can also be integrated into the storage container 9. Typically, the dosing device 8 is designed as a pump, which is suitable for supplying the joint compound from the storage container 9 in the required quantity via the connecting line 14 to the nozzle 4, so that the joint compound can be dispensed from the nozzle 4 into the joint 2 to be grouted.

[0045] The base body 13 rests on rollers 12 on the floor covering 3. Once all joints 2 that can be reached from one location of the grouting device 1 with the nozzle have been grouted, the grouting device 1 can be pushed a little further on the rollers 12 in order to then grout the next section of the floor covering 3. Instead of the rollers 12, gliders can of course also be provided on the base body 13. It is also conceivable to provide neither gliders nor rollers 12 on the base body 13, so that the grouting device 1 can then be transported or lifted a little further by hand.

[0046] In the first embodiment according to Figs. 1 and 2, the sensor 5, which is preferably designed as an optical sensor 16 or a laser scanner 17, is, as mentioned, attached to the base body 13 via a mounting arm 22. Of course, it would also be possible to attach the sensor 5, preferably together with the nozzle 4 and / or the dosing device 8, to the movement device 6.

[0047] With the grouting device 1 according to the invention, the initially mentioned method according to the invention for introducing the flowable, liquid-containing joint compound into the joints 2 of the floor covering 2 can be carried out. In this case, the joint compound is preferably introduced exclusively into the joint 2. The joint compound can be applied, for example, to a layer of granular material, preferably sand and / or gravel, previously present in the joint 2. The amount of joint compound dispensed by the nozzle 4 is metered by the metering device 8. For this purpose, the metering device 8, in preferred embodiments, is controlled by the control device 7 depending on the detection result of the sensor 5. Depending on the joint compound and the amount of joint compound used, the joint 2 can either be sealed watertight by the grouting or be designed so that water or rainwater can still flow through it. This was already explained above.

[0048] As already explained at the beginning, the sensor 5 can also be used to detect whether or not joint compound has already been introduced into the joint 2. The further introduction of joint compound into the joint 2 can then be controlled depending on this. Even if this is not explicitly shown, it is nevertheless possible for the jointing device 1 to have a housing, for example, attached to the base body 13, which encloses the working area of ​​the nozzle 4 and the movement device 6. This can help prevent dirt from getting into the area being jointed from the outside, but can also ensure that no joint compound escapes to the outside during grouting.

[0049] In the following, further exemplary embodiments of a jointing device 1 according to the invention, only the differences from the first and the preceding exemplary embodiments will be pointed out. Otherwise, the above statements apply. It should also be noted that, for the sake of simplicity, the floor covering 3 with the joints 2 is no longer shown in the following examples.

[0050] The second exemplary embodiment of a jointing device 1 according to the invention, shown in Fig. 3 in a perspective view from below and in Fig. 4 in a side view, differs from the first exemplary embodiment in the type and positioning of the sensor 5. In this second exemplary embodiment according to Figs. 3 and 4, the sensor 5 is a probe head 15, with which the course, the

[0051] Width and preferably also the depth of the joint 2 can be determined. In the exemplary embodiment shown here, the scanning head 15 is located in the immediate vicinity of the nozzle 4 below the dosing device 8. The movement device 6 here again has a first movement axis 20 and a second movement axis 21 arranged orthogonally thereto. Here, too, it is advantageously provided that the nozzle 4, here together with the scanning head 15, can be moved not only horizontally in two mutually orthogonal directions, but also vertically relative to the base body 13.

[0052] The third embodiment according to Figs. 5 and 6 of the grouting device 1 according to the invention is also a modification of the first embodiment. The difference from the first embodiment in the third embodiment according to Figs. 5 and 6 is that the movement device 6 is designed as a robot arm 23. This robot arm 23 also allows the nozzle 4 to be moved in two mutually orthogonal horizontal directions and preferably also in the vertical direction relative to the base body 13, in order to guide the nozzle 4 along the joint 2 to be grouted.

[0053] While in the embodiment according to Figs. 5 and 6 the sensor 5 is again advantageously designed as an optical sensor 16 or laser scanner 17, the fourth embodiment according to Figs. 7 and 8 again shows a variant in which the sensor 5 is designed as a probe 15.

[0054] In Figs. 7 and 8, the scanning head 15 is located in the immediate vicinity of the nozzle 4 on the movement device 6 designed as a robot arm 23.

[0055] While in the exemplary embodiments described so far the movement device 6 serves to move the nozzle 4 and optionally also the sensor 5 relative to the base body 13, Figs. 9 and 10 show a fifth exemplary embodiment of a grouting device 1 according to the invention, in which the grouting device 1 has a steerable vehicle 10, wherein the movement device 6 comprises the drive and steering of the vehicle 10. The storage container 9, which in turn is connected to the nozzle 4 and the dosing device 8 via the connecting line 14, is also located on the vehicle 10. In this exemplary embodiment, the dosing device 8 and the nozzle 4 are fixedly attached to the vehicle 10. The steerable and accordingly driven vehicle 10 can be driven with its wheels 18 by the control device 7 along the joint 2 to be grouted in such a way that the nozzle 4 is always arranged directly above the joint 2.The information required for this purpose regarding the course and width and, if applicable, also the depth of the joint 2 is also provided here by the sensor 15, which in this exemplary embodiment is again advantageously designed as an optical sensor 16 or as a laser scanner 17. Of course, this sensor 5 could also be arranged in the immediate vicinity of the nozzle 4. Alternatively, the nozzle 4 could also be movable relative to the vehicle 10 via a further movement device 6. In this case, the vehicle 10 would only have to be driven approximately close to the joint 2 to be jointed. The nozzle 4 could then be moved relative to the base body 13 or to the vehicle 10 by the movement device 6 (not shown here) in order to thus follow the course of the joint 2.

[0056] The sixth embodiment according to Figs. 11 and 12 differs from the fifth embodiment according to Figs. 9 and 10 only in the type of sensor 5. Here, the sensor 5 is again designed as a probe 15. Otherwise, there are no changes to the fifth

[0057] Example of implementation .

[0058] Figs. 13 and 14 show a seventh embodiment of a grouting device 1 according to the invention. Here, the grouting device 1 comprises a steerable aircraft 11 in the form of a drone. The movement device 6 comprises the steering and drive of the aircraft 11. The drone or aircraft 11, as is known per se, has several rotors 19. The sensor 5 is advantageously again designed as an optical sensor 16 or a laser scanner 17. The nozzle 4 is located on the underside of the aircraft 11.

[0059] It is supplied with joint compound taken from the storage container 9 via the dosing device 8 and the connecting line 14. The control device 7 integrated into the base body of this aircraft 11 steers the aircraft 11 along the joint 2 in the floor covering 3 depending on the detection result of the sensor 5 so that the joint compound can be introduced into the joint 2 by means of the nozzle 4.

[0060] Finally, it should be noted that with all these embodiments of jointing devices 1 according to the invention, the method according to the invention for introducing a flowable, liquid-containing jointing compound into the respective joint 2 of the floor covering 3 can of course also be implemented in various embodiments. Key to the reference numbers: 1 Jointing device

[0061] 2 Fugue

[0062] 3 Floor covering

[0063] 4 Nozzle 5 Sensor

[0064] 6 Movement device

[0065] 7 Control device

[0066] 8 Dosing device

[0067] 9 Storage container 10 Vehicle

[0068] 11 aircraft

[0069] 12 rolls

[0070] 13 basic bodies

[0071] 14 Connecting cable 15 Probe

[0072] 16 optical sensor

[0073] 17 laser scanners

[0074] 18 wheel

[0075] 19 Rotor 20 first movement axis

[0076] 21 second axis of movement

[0077] 22 Mounting arm

[0078] 23 Robot arm

Claims

Patent claims 1. Jointing device (1) for introducing a flowable jointing compound containing a liquid into a joint (2) of a floor covering (3), in particular a pavement, wherein the device (1) has a nozzle (4) for introducing the jointing compound into the joint (2) and a sensor (5) for detecting the course and the width, and preferably also the depth, of the joint (2) and a movement device (6) for moving the nozzle (4) along the joint (2) and a control device (7) for controlling the movement device (6) depending on the detection result of the sensor (5).

2. Jointing device (1) according to claim 1, wherein the jointing device (1) has a dosing device (8) controlled by the control device (7) for dosing the amount of jointing compound dispensed from the nozzle (4) depending on the detection result of the sensor (5).

3. Jointing device (1) according to claim 1 or 2, wherein the The grouting device (1) has a storage container (9) for the jointing compound connected to the nozzle (4).

4. The grouting device (1) according to one of claims 1 to 3, wherein the grouting device (1) has a steerable vehicle (10) or a steerable aircraft (11), wherein the movement device (6) comprises the drive and steering of the vehicle (10) or aircraft (11).

5. Grouting device (1) according to one of claims 1 to 3, wherein the grouting device (1) has a base body (13) that can be placed on the floor covering (3), preferably by means of rollers (12), to which the movement device (6) is fixed, wherein the nozzle (4) is movable relative to the base body (13) by means of the movement device (6).

6. A method for introducing a flowable joint compound containing a liquid into a joint (2) of a floor covering (3), in particular a pavement, with a jointing device (1) according to one of claims 1 to 5, wherein the sensor (5) detects the course and the width, and preferably also the depth, of the joint (2) and the movement device (6) is controlled by the control device (7) to move the nozzle (4) along the joint (2) depending on the detection result of the sensor (5) and the joint compound is introduced into the joint (2) with the nozzle (4), 7.Process according to claim 6, wherein the joint compound is introduced exclusively into the joint (2). 8.Process according to claim 6 or 7, wherein the joint compound is applied to a layer of granular material, preferably sand or gravel, previously present in the joint (2). 9.Procedure according to one of claims 6 to 8, wherein the grouting device (1) comprises a dosing device (8) controlled by the control device (7) for dosing the from the nozzle (4) dispensed. amount of joint compound depending on the detection result of the sensor (5) and the amount of joint compound dispensed by the nozzle (4) is dosed by the dosing device (8), wherein it is preferably provided that the joint compound is dosed such that a porous, water-permeable layer of joint compound is formed in the joint (2).

10. Method according to one of claims 6 to 9, wherein the control device (7) in dependence on the Detection result of the sensor (5) between a joint (2) into which joint compound has already been introduced and a joint (2) into which joint compound is still to be introduced.

Images