Board mounting device

Abstract

To provide a board attaching device with reduced power in movement.SOLUTION: A board-attaching device comprises a first carriage and a board-attaching robot detachably connected to the first carriage, the first carriage comprises a loading platform for loading a board, and wheels for movably supporting the loading platform. The board-attaching robot comprises a robot hand that grasps a board loaded on the loading platform and attaches the grasped board to a base material, a robot arm that moves the robot hand, a support leg that supports the robot arm, and an air cushion connected below the support leg that expands when air is supplied. Air is supplied to the air cushion and the first carriage is driven to move the board-attaching robot.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] One embodiment of the present invention relates to a board pasting device for pasting a board on a base material.

Background Art

[0002] In interior construction work of buildings, there are cases where a gypsum board is pasted as a wall material on a wall surface composed of a base material such as a steel frame. In recent years, automation has also been promoted in such interior construction work. For example, Patent Document 1 discloses an automated board pasting device that can paste a gypsum board on a wall surface and drive screws.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The board pasting device described in Patent Document 1 includes casters and outriggers. That is, in the board pasting device described in Patent Document 1, the outriggers are grounded on the floor surface to fix the position, and the process of pasting the board on the wall surface is executed. Further, when moving the board pasting device, the outriggers are separated from the floor surface, and the casters are used for movement.

[0005] However, such a board pasting device becomes heavy, and when moving, the load concentrates on the floor surface where the casters are in contact. Therefore, depending on the load-bearing capacity of the floor surface, the board pasting device cannot be used. Further, when the board pasting device moves, a very large power is required.

[0006] One aspect of one embodiment of the present invention is to provide a board attachment device that reduces the power required for movement, in view of the above-mentioned problems. [Means for solving the problem]

[0007] A board-attaching apparatus according to one embodiment of the present invention includes a first trolley and a board-attaching robot detachably connected to the first trolley, wherein the trolley includes a platform for loading boards and wheels for supporting the platform so as to be movable, and the board-attaching robot includes a robot hand for gripping boards loaded on the platform and attaching the gripped boards to a base material, a robot arm for moving the robot hand, support legs for supporting the robot arm, and an air cushion connected below the support legs that inflates when air is supplied, wherein air is supplied to the air cushion and the first trolley is driven to move the board-attaching robot.

[0008] The board mounting device further includes a second trolley connected to the board mounting robot, the second trolley may include a compressor that supplies air to the air cushion.

[0009] When the board-attaching robot performs the board-attaching process, the compressor may be stopped, and the position may be fixed by the weight of the board-attaching robot itself.

[0010] When the first trolley moves the board-attaching robot, the first trolley may also tow the board-attaching robot.

[0011] The wheels include two drive wheels and two driven wheels connected to the four corners of the platform, and the first carriage and the board-attaching robot may be connected such that the two drive wheels are further away from the board-attaching robot than the two driven wheels.

[0012] The first trolley may further include a rechargeable battery.

[0013] The first trolley may further include a sensor for detecting markers placed on the floor.

[0014] The board-attaching robot does not need to include outriggers. [Effects of the Invention]

[0015] In one embodiment of the present invention, a board-attaching device is provided, in which a board-attaching robot that performs the board-attaching process is connected to a trolley that moves the board-attaching robot. The board-attaching robot is also equipped with an air cushion, and by supplying air to the air cushion, the board-attaching robot can be levitated. This reduces the frictional force between the board-attaching robot and the floor surface, so the board-attaching device can be easily moved even when driven by a trolley with reduced power. Furthermore, since the load is not concentrated on the contact surface between the board-attaching robot and the floor surface during the movement of the board-attaching device, the board-attaching device can be used even on floor surfaces with low load-bearing capacity. In addition, when air is not supplied to the air cushion, the position of the board-attaching robot can be fixed by the weight of the board-attaching robot itself, and it is also possible to configure the device without outriggers. [Brief explanation of the drawing]

[0016] [Figure 1] This is a schematic diagram illustrating the usage of a board mounting device according to one embodiment of the present invention. [Figure 2A] This is a schematic side view of a board mounting device according to one embodiment of the present invention. [Figure 2B] This is a schematic top view of a board mounting device according to one embodiment of the present invention. [Figure 3A] This is a schematic diagram illustrating the operation of the air cushion in a board mounting device according to one embodiment of the present invention. [Figure 3B] This is a schematic diagram illustrating the operation of the air cushion in a board mounting device according to one embodiment of the present invention. [Figure 4] It is a block diagram showing the configuration of the control panel of the board pasting device according to an embodiment of the present invention. [Figure 5] It is a flowchart for explaining the movement process in the board pasting device according to an embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0017] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the embodiments are merely examples, and those that can be easily conceived by those skilled in the art by appropriately changing them while maintaining the gist of the invention are naturally included in the scope of the present invention. Also, for the sake of clarity in the explanation, in the drawings, the width, thickness, shape, etc. of each part may be represented schematically compared to the actual aspect. However, the illustrated shapes and the like are merely examples and do not limit the interpretation of the present invention.

[0018] In this specification, for the sake of convenience in the explanation, terms such as "upper" or "above" or "lower" or "below" are used, but these terms merely explain the vertical relationship of each component.

[0019] In this specification, for the sake of convenience in the explanation, terms such as "floor surface", "ceiling surface", and "wall surface" are used. The "floor surface" is the surface on which the screw-driving robot is installed, the "ceiling surface" is the surface located opposite to the "floor surface", and the "wall surface" is the surface connecting the "floor surface" and the "ceiling surface".

[0020] In this specification, the characters such as "first", "second", or "third" appended to each component are convenient identifiers used to distinguish each component, and unless otherwise specified, they do not have any further meaning.

[0021] In this specification and drawings, identical or similar components are denoted by the same reference numeral. However, if each component is distinct, each component may be denoted by a capital letter. Furthermore, if a component is divided into multiple parts, these parts may be denoted by lowercase letters or by a hyphen and a natural number.

[0022] A board mounting device 1 according to one embodiment of the present invention will be described with reference to Figures 1 to 5.

[0023] [1. Usage of the board mounting device 1] Figure 1 is a schematic diagram illustrating the usage of a board-attaching device according to one embodiment of the present invention. Figure 1 shows a wall surface of a building where interior construction work is carried out using the board-attaching device 1. In the following, the floor surface and the wall surface are formed as the XY plane and the ZX plane, respectively. The X, Y, and Z directions are orthogonal to each other (including cases where they intersect at approximately 90°), and the Z direction is approximately perpendicular to the floor surface (vertical direction). In the following, depending on the operation of the board-attaching device 1, the X, Y, and Z directions may also be referred to as the left-right direction, the front-back direction, and the up-down direction, respectively.

[0024] A base material 1100 extending in the Z direction is provided on the wall surface of the building. In this embodiment, a board 1000 is attached to the base material 1100 on the wall surface using a board attachment device 1. Specifically, the board attachment device 1 holds the board 1000 and places it in a predetermined position on the wall surface, and then drives screws 1200 into the board 1000 to fix the board 1000 to the base material 1100.

[0025] Board 1000 refers to a plate-like material such as gypsum board used in interior construction of buildings. Substrate material 1100 refers to materials such as furring strips or light gauge steel (LGS) used as a base for ceilings or walls in buildings. Several standard values ​​exist for both board 1000 and substrate material 1100. An example of a standard value for board 1000 is length l. b The width is 1820mm, and the width is w b The dimensions are 606mm or 910mm, and the thickness is t b The dimensions are 12.5 mm or 21.0 mm. The standard value for base material 1100 is the cross-sectional length (hereinafter simply referred to as "length") l s and cross-sectional width (hereinafter simply referred to as "width") w s These are 100 mm and 40 mm, respectively. The material of the base material 1100 is not limited, but it is preferably a conductor or dielectric.

[0026] The wall surface of a building is defined by the area of ​​one board (1000 cubic meters). b ×w b It is often larger than ). Therefore, multiple boards 1000 can be attached to the wall surface. The board attachment device 1 can move along the direction parallel to the wall surface (X direction) and attach the boards 1000 to the wall surface.

[0027] Furthermore, the board attachment device 1 can attach boards not only to the walls of buildings but also to the ceilings.

[0028] [2. Configuration of the board mounting device 1] The configuration of the board mounting device 1 will be described with reference to Figure 1, as well as Figures 2A and 2B. Figures 2A and 2B are schematic side and top views of the board mounting device 1 according to one embodiment of the present invention, respectively. The board mounting device 1 shown in Figure 1 is a front view, a side view of the board mounting device 1 is shown in Figure 2A, and a top view of the board mounting device 1 is shown in Figure 2B. In Figure 2B, for convenience, some components located on the bottom side rather than the top side are shown by dotted lines.

[0029] As shown in Figures 1, 2A, and 2B, the board mounting device 1 comprises a first trolley 10, a board mounting robot 20, and a second trolley 30. The first trolley 10 and the board mounting robot 20 are detachably connected. The first trolley 10 and the second trolley 30 are also detachably connected. The configurations of the first trolley 10, the board mounting robot 20, and the second trolley 30 will be described in detail below.

[0030] [2-1. Configuration of the first bogie 10] The first bogie 10 includes a loading platform 11, wheels 12, locking rods 13, and couplers 14 and 15. The wheels 12 are connected to the underside of the loading platform 11. The locking rods 13 are installed above the loading platform 11. Coupler 14 is installed at one end of the loading platform 11, and coupler 15 is installed at the other end of the loading platform 11, different from the end where coupler 14 is installed.

[0031] Multiple wheels 12 are connected to the underside of the loading platform 11. That is, the multiple wheels 12 support the loading platform 11 so that it can move. For example, the number of wheels 12 is four, but is not limited to this. When four wheels 12 are connected to the loading platform 11, it is preferable that the four wheels 12 are connected to the four corners of the loading platform 11. The multiple wheels 12 may consist only of drive wheels, or a combination of drive wheels and driven wheels may be used. By controlling the drive of the drive wheels among the wheels 12, the first trolley 10 can move in a predetermined direction. For convenience, in the following, the drive of the drive wheels may be referred to as the drive of the first trolley 10.

[0032] In the board-attaching device 1, the board-attaching robot 20 cannot move on its own. In the board-attaching device 1, the board-attaching robot 20 can be moved by connecting a first trolley 10 to the board-attaching robot 20 and towing the board-attaching robot 20 with the first trolley 10. When the first trolley 10, which has two drive wheels and two driven wheels connected to the four corners of the loading platform 11, tows the board-attaching robot 20, it is preferable that the first trolley 10 and the board-attaching robot 20 are connected such that the two drive wheels are further away from the board-attaching robot 20 than the two driven wheels. By connecting the first trolley 10 and the board-attaching robot 20 in this way, when the board-attaching robot 20 is moved by towing, the position of the board-attaching robot 20 can be stopped with high precision at a predetermined position.

[0033] In addition, in the board-attaching device 1, the first trolley 10 may not only pull the board-attaching robot 20, but may also move the board-attaching robot 20 by pushing it.

[0034] Boards 1000 for attachment to a wall surface are loaded onto the loading platform 11. The two locking rods 13 are spaced apart to match the length or width of the boards 1000, and can hold down the boards 1000 loaded on the loading platform 11, preventing the load from collapsing. When the first trolley 10 moves in the X direction, pulling the board attachment robot 20, it is preferable that the two locking rods 13 are positioned along the X direction.

[0035] The locking rods 13 only need to be shaped to hold down the boards 1000 placed on the loading platform 11, and may be plate-shaped rather than rod-shaped. Also, the number of locking rods 13 is not limited to two, but may be three or more. Furthermore, the loading platform 11 may be equipped with a lifter to lift the loaded boards 1000. The lifter can adjust the position of the top board 1000 in the Z direction, regardless of the number of boards 1000 loaded.

[0036] The coupler 14 engages with the coupler 27 of the board-attaching robot 20, which will be described later, thereby connecting the first trolley 10 and the board-attaching robot 20. The configuration of the coupler 14 and the coupler 27 is not particularly limited, and any configuration that allows the first trolley 10 and the board-attaching robot 20 to be connected and disconnected is acceptable.

[0037] The coupler 15 can connect the first bogie 10 and the second bogie 30 by engaging with the coupler 35 of the second bogie 30, which will be described later. The configuration of the coupler 15 and the coupler 35 is not particularly limited, and any configuration that allows the first bogie 10 and the second bogie 30 to be connected and disconnected is acceptable.

[0038] Although not shown in the diagram, it is preferable that the first trolley 10 includes a rechargeable battery. By having a battery mounted on the first trolley 10, the connection with the board-attaching robot 20 can be disconnected, and only the first trolley 10 can be automatically transported using the battery. In other words, a first trolley 10 that has run out of boards 1000 can be replaced with a first trolley 10 that has another board 1000 placed on it. Therefore, the time required to replenish the boards 1000 can be reduced, and accidents caused by contact when placing the boards 1000 can be reduced.

[0039] Although not shown in the diagram, the first trolley 10 may also include a sensor that detects markers placed on the floor. In this case, the markers are placed along the direction of movement of the first trolley 10, the sensor detects the markers, and the movement of the first trolley 10 can be controlled according to the type of marker.

[0040] Since the boards 1000 necessary for attachment are placed on the first trolley 10, the first trolley 10 is sometimes referred to as a board trolley.

[0041] [2-2. Configuration of the second bogie 30] The second bogie 30 includes a loading platform 31, wheels 32, a control panel 33, a compressor 34, and a coupler 35. The wheels 32 are connected to the underside of the loading platform 31. The control panel 33 and the compressor 34 are installed above the loading platform 31.

[0042] Multiple wheels 32 are connected to the underside of the loading platform 31. That is, the multiple wheels 32 support the loading platform 31 so that it can move. For example, the number of wheels 32 is four, but is not limited to this. When four wheels 32 are connected to the loading platform 31, it is preferable that the four wheels 32 are connected to the four corners of the loading platform 31. The wheels 32 are driven wheels. The second trolley 30 is connected to the first trolley 10. Therefore, when the first trolley 10 pulls the board-attaching robot 20, the second trolley 30 also moves in accordance with the movement of the first trolley 10. However, the wheels 32 may also be drive wheels.

[0043] A control panel 33 and a compressor 34 are installed on the loading platform 31. The details of the control panel 33's configuration will be described later, but the control panel 33 controls the first trolley 10 and the board-attaching robot 20, thereby enabling the board-attaching process by the board-attaching robot 20 and the movement process of the board-attaching device 1. The compressor 34 can supply air (compressed air) to the air cushion 23 of the board-attaching robot 20, which will be described later.

[0044] In the board-attaching device 1, the control panel 33 that controls the board-attaching robot 20 is separated from the board-attaching robot 20, so the board-attaching robot 20 cannot be operated by itself. Therefore, malfunctions of the board-attaching robot 20 can be suppressed and safety can be ensured. Furthermore, by installing the control panel 33 on the second trolley 30, the weight of the board-attaching robot 20 can be reduced.

[0045] As described above, the coupler 35 can connect the second bogie 30 to the first bogie 10 by engaging with the coupler 15 of the first bogie 10. The second bogie 30 may also be connected to the board-attaching robot 20.

[0046] Since the second trolley 30 is equipped with equipment necessary for controlling the operation of the board-attaching robot 20, such as a control panel 33 and a compressor 34, the second trolley 30 is sometimes referred to as a trolley for control equipment.

[0047] Although not shown in the diagram, the first trolley 10 and the second trolley 30 may be integrated into a single trolley. In this case, the board is placed on the loading platform of the integrated trolley, and the control panel 33, compressor 34, and battery are installed there. By distributing the weight, the load on the drive wheels of the board mounting device 1 can be further reduced.

[0048] [2-3. Configuration of the board-attaching robot 20] The board-attaching robot 20 includes a base 21, support legs 22, an air cushion 23, a robot hand 24, a robot arm 25, a lifting mechanism 26, and a coupler 27. The support legs 22 and the air cushion 23 are installed below the base 21. The air cushion 23 is located between the floor surface and the support legs 22. The coupler 27 is installed at one end of the base 21.

[0049] Multiple support legs 22 are connected to the base 21, and an air cushion 23 is connected to each of the support legs 22. In other words, the air cushion 23 is installed between the floor surface and the support legs 22. The air cushion 23 is connected to a compressor 34. The air cushion 23 expands when air is supplied from the compressor 34 and contracts when the air supply from the compressor 34 is stopped. Also, when the amount of air inside the air cushion 23 exceeds a certain amount, air is discharged from the bottom of the air cushion 23. By controlling the expansion and contraction of the air cushion 23, the position of the board-attaching robot 20 can be fixed or the board-attaching robot 20 can be made to float, but the details of the operation of the air cushion 23 will be described later.

[0050] A lifting mechanism 26 is installed on the base 21. The robot arm 25 is mounted on the lifting mechanism 26 so that it can move (i.e., move up and down) in the Z direction. Furthermore, a robot hand 24 is connected to one end of the robot arm 25. The robot arm 25 has a multi-joint arm and can move or rotate the connected robot hand 24. The robot hand 24 can grasp the board 1000 and drive screws 1200 into the board 1000.

[0051] In the board attachment process, the robot hand 24 is moved onto the board 1000 loaded on the loading platform 11, and the robot hand 24 grasps the board 1000. Next, the robot hand 24, which is grasping the board 1000, is moved to position the board 1000 on the wall surface. Then, screws 1200 are driven into the board 1000 positioned on the wall surface, and the board 1000 and the base material 1100 are fixed using the screws 1200. The screws 1200 may be driven into the board 1000 multiple times.

[0052] As described above, the coupler 27 engages with the coupler 14, connecting the first trolley 10 and the board-attaching robot 20. Multiple couplers 27 may be provided. For example, two couplers 27 can be provided at both ends of the base 21. With this configuration, the board-attaching robot 20 can be towed by the first trolley 10 from either the left or right direction.

[0053] [3. Operation of Air Cushion 23] Next, the operation of the air cushion 23 will be described with reference to Figures 3A and 3B. In the board mounting device 1, the position of the board mounting robot 20 can be fixed or the board mounting robot 20 can be levitated and moved by controlling the supply of air to the air cushion 23.

[0054] Figures 3A and 3B are schematic diagrams illustrating the operation of the air cushion 23 of a board attachment device 1 according to one embodiment of the present invention. Specifically, Figure 3A is an enlarged view of area A in Figure 2A, showing the board attachment robot 20 fixed in place on the floor surface, while Figure 3B shows the board attachment robot 20 floating and movable in area A.

[0055] When the board-attaching process is performed using the board-attaching device 1, the board-attaching robot 20 is fixed in place on the floor. In this case, air is not supplied to the air cushion 23 from the compressor 34. Therefore, the air cushion 23 remains in a contracted state and in contact with the floor (see Figure 3A). At this time, the weight of the robot arm 25 and other components is transmitted to the air cushion 23 via the support legs 22, increasing the frictional force between the air cushion 23 and the floor. Consequently, the board-attaching robot 20 is fixed in place on the floor by its own weight. In this way, the board-attaching robot 20 can be fixed in place by its own weight, so it is also possible to configure the board-attaching robot 20 without outriggers.

[0056] On the other hand, in the board-attaching device 1, the board-attaching robot 20 can be moved by the first trolley 10 pulling the board-attaching robot 20. When the board-attaching robot 20 is moved, air is supplied from the compressor 34 to the air cushion 23. The supplied air accumulates inside the air cushion 23, causing the air cushion 23 to expand. When more air is supplied and the amount of air inside the air cushion 23 exceeds a certain amount (or the pressure inside the air cushion 23 exceeds a certain amount), the air is blown out through the opening 23a provided on the bottom surface of the air cushion 23. At this time, an air layer is formed on the bottom side of the air cushion 23 by the flow of the blown-out air, and the air cushion 23 is lifted by the air layer (see Figure 3B). In other words, the board-attaching robot 20 floats up. In this case, the frictional force between the air cushion 23 and the floor surface is reduced, so the board-attaching robot 20 can be easily pulled even by the first trolley 10 with reduced power.

[0057] [4. Configuration of control panel 33] Figure 4 is a block diagram showing the configuration of a control panel 33 of a board mounting device 1 according to one embodiment of the present invention. As shown in Figure 4, the control panel 33 includes a computer, such as a control unit 331 and a storage unit 332. The control unit 331 includes, for example, a central processing unit (CPU), a microprocessor (MPU), a graphics processing unit (GPU), or a digital signal processor (DSP). The storage unit 332 includes, for example, random access memory (RAM), read-only memory (ROM), flash memory, a hard disk drive (HDD), or a solid state drive (SSD). The program executed by the control unit 331 may be stored in the storage unit 332. The control panel 33 can execute various processes of the board mounting device 1 (for example, board mounting processes by the board mounting robot 20 or movement processes of the board mounting device 1) by executing programs on the computer. Specifically, the control unit 331 includes a drive wheel control unit 331a, an air cushion control unit 331b, a robot hand control unit 331c, and a robot arm control unit 331d, and the storage unit 332 includes movement processing setting data 332a and board attachment processing setting data 332b.

[0058] The drive wheel control unit 331a can control the driving of the drive wheels of the wheel 12 based on the movement processing setting data 332a. In other words, the drive wheel control unit 331a can drive the first trolley 10 and move the first trolley 10 in a predetermined direction. For example, the drive wheel control unit 331a can move the first trolley 10 by a predetermined distance in the X direction.

[0059] In addition to the control unit 331, another control unit including a drive wheel control unit 331a may be installed on the first trolley 10. In this case, the drive wheel control unit 331a can move only the first trolley 10 when the connection between the first trolley 10 and the board-attaching robot 20 is released. For example, if there are no more boards 1000 on the loading platform 11 of the first trolley 10, the first trolley 10 can be moved to the board storage area and boards 1000 can be loaded. In this way, the drive wheel control unit 331a can also control the automatic transport process of the first trolley 10.

[0060] The movement processing setting data 332a includes data necessary for the movement processing of the board mounting device 1 or the automatic transport processing of the first trolley 10. For example, it includes, but is not limited to, the distance traveled by the board mounting robot 20 in the X direction, the speed of travel, or the position information of the board storage area.

[0061] The air cushion control unit 331b can control the compressor 34 to start or stop the supply of air to the air cushion 23. As described above, by controlling the supply of air to the air cushion 23, the frictional force between the air cushion 23 and the floor surface can be controlled.

[0062] The robot hand control unit 331c can control the robot hand 24 to grasp the board 1000 or to drive screws 1200 into the board 1000.

[0063] The robot arm control unit 331d can control the robot arm 25 to move the robot hand 24 to a predetermined position or to rotate it.

[0064] The robot hand control unit 331c and the robot arm control unit 331d can execute the board attachment process by controlling the robot hand 24 and the robot arm 25, respectively, based on the board attachment process setting data 332b.

[0065] The board mounting process setting data 332b includes data necessary for the board mounting process. For example, the board mounting process setting data 332b includes, but is not limited to, the length, width, and thickness of the board 1000, the width of the base material 1100, the spacing between the base materials 1100, and the length and height of the wall surface.

[0066] [5. Movement process of board mounting device 1] Figure 5 is a flowchart illustrating the movement process in a board mounting device 1 according to one embodiment of the present invention. Specifically, Figure 5 is a flowchart illustrating the process in which the board mounting device 1 drives the first trolley 10 along a direction parallel to the wall surface and tows and moves the board mounting robot 20. The flowchart shown in Figure 5 includes steps S10 to S30. Steps S10 to S30 will be described in order below.

[0067] In step S10, the air cushion control unit 331b starts supplying air from the compressor 34 to the air cushion 23. As a result, air fills the air cushion 23 and it expands, and when the amount of air supplied to the air cushion 23 exceeds a certain amount, air is blown out from the opening 23a, forming an air layer between the air cushion 23 and the floor surface. The formation of this air layer lifts the air cushion 23, and the frictional force between the air cushion 23 and the floor surface is greatly reduced, allowing the board-attaching robot 20 to move.

[0068] In step S20, the drive wheel control unit 331a drives the first trolley 10 (more specifically, the drive wheels of the wheels 12) to move the first trolley 10 in the X direction, that is, in a direction parallel to the wall surface. As the first trolley 10 moves, the board-attaching robot 20 and the second trolley 30, which are towed by the first trolley 10, also move in the X direction. As described above, since the frictional force between the air cushion 23 and the floor surface is greatly reduced, the board-attaching robot 20 can be easily moved even with the reduced traction force of the first trolley 10. When the board-attaching robot 20 has moved to a predetermined position to perform the board-attaching process, the drive wheel control unit 331a stops driving the first trolley 10.

[0069] In step S30, the air cushion control unit 331b stops supplying air from the compressor 34 to the air cushion 23. The weight of the board-attaching robot 20 causes the air inside the air cushion 23 to be expelled from the opening 23a, causing the air cushion 23 to contract and come into contact with the floor surface. Furthermore, the weight of the board-attaching robot 20 presses the air cushion 23 against the floor surface, increasing the frictional force between the air cushion 23 and the floor surface. As a result, the board-attaching robot 20 is fixed in place.

[0070] When step S30 is completed, the movement process of the board attachment device 1 is finished. By repeating the board attachment process and the movement process of the board attachment device 1, the board 1000 can be attached to the entire surface of the wall.

[0071] As described above, the board-attaching device 1 has a board-attaching robot 20 that performs the board-attaching process, and a first trolley 10 that moves the board-attaching robot 20 is connected to it. The board-attaching robot 20 is also equipped with an air cushion 23, and by supplying air to the air cushion 23, the board-attaching robot 20 can be levitated. This reduces the frictional force between the board-attaching robot 20 and the floor surface, so the board-attaching device 1 can be easily moved even when driven by the first trolley 10 with reduced power. Furthermore, since the load is not concentrated on the contact surface between the board-attaching robot 20 and the floor surface when the board-attaching device 1 is moved, the board-attaching device 1 can be used even on floor surfaces with low load-bearing capacity. In addition, when air is not supplied to the air cushion 23, the position can be fixed by the weight of the board-attaching robot 20 itself, and it is also possible to configure it without outriggers.

[0072] The embodiments of the present invention can be implemented by combining configurations as appropriate, as long as they do not contradict each other. Furthermore, any additions, deletions, or design modifications made by those skilled in the art based on the embodiments, or additions, omissions, or changes in processes, are also included within the scope of the present invention, as long as they retain the essence of the present invention.

[0073] Any effects or benefits other than those brought about by the embodiments described above, if they are clear from the description herein or easily predictable to a person skilled in the art, are naturally considered to be brought about by the present invention. [Explanation of Symbols]

[0074] 1: Board attachment device, 10: First trolley, 11: Platform, 12: Wheels, 13: Locking rod, 14, 15: Couplers, 20: Board attachment robot, 21: Base, 22: Support legs, 23: Air cushion, 23a: Opening, 24: Robot hand, 25: Robot arm, 26: Lifting device, 27: Coupler, 30: Second trolley, 31: Platform, 32: Wheels, 33: Control panel, 34: Compressor, 35: Coupler, 331: Control unit, 331a: Drive wheel control unit, 331b: Air cushion control unit, 331c: Robot hand control unit, 331d: Robot arm control unit, 332: Memory unit, 332a: Movement processing setting data, 332b: Board attachment processing setting data, 1000: Board, 1100: Substrate material, 1200: Screws

Claims

1. The first bogie and The system includes a board-attaching robot that is detachably connected to the first trolley, The first bogie is, A loading platform for the boards, The aforementioned loading platform includes wheels that support the loading platform in a movable manner, The aforementioned board-attaching robot, A robotic hand that grips the boards loaded on the aforementioned loading platform and attaches the gripped boards to the base material, A robotic arm that moves the aforementioned robotic hand, Support legs for supporting the robot arm, It includes an air cushion connected below the support leg, which inflates when air is supplied to it, A board-attaching device that supplies air to the air cushion and drives the first trolley to move the board-attaching robot.

2. Furthermore, it includes a second bogie connected to the first bogie, The board mounting apparatus according to claim 1, wherein the second trolley includes a compressor that supplies the air to the air cushion.

3. The board-attaching apparatus according to claim 2, wherein when the board-attaching robot performs the board-attaching process, the operation of the compressor is stopped and the position is fixed by the weight of the board-attaching robot.

4. The board-attaching apparatus according to claim 1, wherein when the first trolley moves the board-attaching robot, the first trolley pulls the board-attaching robot.

5. The wheels include two drive wheels and two driven wheels connected to the four corners of the cargo bed. The board-attaching apparatus according to claim 1, wherein the first carriage and the board-attaching robot are connected such that the two drive wheels are further from the board-attaching robot than the two driven wheels.

6. The board mounting apparatus according to claim 1, wherein the first trolley further includes a rechargeable battery.

7. The board mounting device according to claim 1, wherein the first trolley further includes a sensor for detecting markers installed on the floor surface.

8. The board-attaching robot, as described in claim 1, does not include outriggers.

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