Slab anchoring robot device for extension, and slab anchoring method therefor

Abstract

The slab anchoring robot device for an extension, according to an embodiment of the present invention, may comprise: a robot body; and a tool module provided in the robot body to perforate a slab and then carry out an anchoring process on the slab.

Description

Slab anchoring robot device for extension and slab anchoring method thereof

[0001] The present invention relates to a slab anchoring robot device for expansion and a slab anchoring method thereof, and more particularly, to a slab anchoring robot device for expansion and a slab anchoring method thereof, which enables the robot device to move on a slab at a work site by wireless control to a work position and execute an anchoring process on the slab, thereby reducing manpower and reducing work time, as well as reducing work fatigue and improving productivity.

[0002] In addition to constructing new buildings like houses, there are many cases where existing houses are remodeled to continue to be used.

[0003] In the case of the process of horizontally adding a frame at a house remodeling site, the work was previously done using an aerial work platform on a newly installed slab so that workers could perform the work.

[0004] Therefore, in the past, work was only possible after the new slab was completed, and there was a limitation that work could only be done from the lower layer to the upper layer.

[0005] In addition, in the conventional expansion slab anchoring process, the work crew had to climb up to the high-altitude work platform to perform the work, which not only took a long time but also had poor work efficiency, and because the work was performed on a high-altitude work platform, there were safety risks such as falling or dropping.

[0006] Accordingly, there is a need to develop a new type of slab anchoring device for extension that can reduce the work time by reducing the number of workers, improve productivity by reducing work fatigue, and eliminate safety risks such as falling and crashing.

[0007] Related prior art includes Korean Patent Registration No. 10-2281666 (Title of invention: Smart drill machine, smart drill system and control method thereof).

[0008] An embodiment of the present invention provides a slab anchoring robot device for expansion and a slab anchoring method thereof, which can move a robot device on a slab of a work site by wireless control to a work position and execute an anchoring process on the slab, thereby reducing the number of workers and reducing the work time, as well as reducing work fatigue and improving productivity, and further eliminating safety risks such as worker falls and falls because the worker is not working.

[0009]

[0010] The problems to be solved by the present invention are not limited to the problem(s) mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0011] A slab anchoring robot device for expansion according to an embodiment of the present invention may include a robot body and a tool module provided on the robot body to punch a slab and then execute an anchoring process on the slab.

[0012] According to one aspect, the tool module may include a drilling unit that forms an installation hole by drilling the slab, and an anchoring unit that executes an anchoring process using a wet method of anchoring in the installation hole using a chemical anchor or a dry method of using an anchor bolt in the installation hole.

[0013] According to one aspect, the tool module is provided such that the drilling portion or the anchoring portion can be replaced, and the anchoring portion may include a dispenser that injects an anchor for chemical anchoring into the installation hole of the slab when a wet method is applied, and a reinforcing bar handling member that handles reinforcing bars supplied by a reinforcing bar supply portion and installs them on the anchor.

[0014] According to one aspect, the tool module further includes a cleaning unit, and the cleaning unit can perform a cleaning operation between the punching and anchoring processes of the slab.

[0015] According to one aspect, the robot body may include a body member, a movable member provided at a lower portion of the body member and enabling movement on the slab, and a module mounting portion movably mounted on the body member and on which the tool module is mounted.

[0016] According to one side, the above-mentioned moving member can be provided as a caterpillar track wheel type, a differential drive type, or a quad type, which are wheels for driving on a construction site.

[0017] Meanwhile, a slab anchoring method of a slab anchoring robot device for expansion according to an embodiment of the present invention may include a moving step of moving the slab anchoring robot device to a position on a slab where an anchoring process is required, and an anchoring step of operating the tool module to punch a hole in the slab and then executing an anchoring process on the slab.

[0018] According to one aspect, the anchoring step may include a drilling step of forming an installation hole by drilling the slab with a drilling unit provided in the tool module.

[0019] According to one side, the anchoring step may further include an anchoring process execution step of executing the anchoring process using a wet method of anchoring using a chemical anchor in the installation hole or a dry method of using an anchor bolt in the installation hole.

[0020] According to one aspect, the anchoring step may further include a cleaning step of cleaning any remaining dust in the installation hole of the slab drilled by the drilling unit using a cleaning unit between the drilling step and the anchoring process execution step.

[0021] According to an embodiment of the present invention, a robotic device can move on a slab at a work site by wireless control to a work position and execute an anchoring process on the slab, thereby reducing the number of workers and reducing the work time, as well as reducing work fatigue and improving productivity, and since the worker is not working, safety risks such as falling or dropping can be eliminated.

[0022] FIG. 1 is a drawing schematically illustrating a configuration of a slab anchoring robot device for expansion according to one embodiment of the present invention.

[0023] Figure 2 is a drawing showing the basic state of the slab anchoring robot device for expansion illustrated in Figure 1.

[0024] Figure 3 is a drawing showing a state in which the robot device of Figure 1 moves to a working position and is supported by upper and lower slabs.

[0025] Figure 4 is a drawing for explaining the operating principle of the tool module of the robot device of Figure 1.

[0026] Figure 5 is a flowchart of a slab anchoring method of a slab anchoring robot device for expansion according to one embodiment of the present invention.

[0027] The advantages and / or features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms. These embodiments are provided only to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

[0028]

[0029] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0030] FIG. 1 is a drawing schematically showing the configuration of a slab anchoring robot device for expansion according to one embodiment of the present invention, FIG. 2 is a drawing showing the basic state of the slab anchoring robot device for expansion illustrated in FIG. 1, FIG. 3 is a drawing showing a state in which the robot device of FIG. 1 moves to a working position and is supported by upper and lower slabs, and FIG. 4 is a drawing for explaining the operating principle of a tool module of the robot device of FIG. 1.

[0031] As illustrated in these drawings, a slab anchoring robot device (100) for expansion according to one embodiment of the present invention may include a robot body (110) that forms a basic frame and is movable on a slab, and a tool module (150) provided on the robot body (110) to execute an anchoring process on the slab.

[0032] By this configuration, the robot device (100) of the present embodiment can smoothly move to a place where slab anchoring is required at the work site, and the anchoring process can be performed by the tool module (150) at the work location. At this time, the tool module (150) can be replaced with a tool selected from among several tools by the tool changer (163) described later, so that the process of forming a hole in the slab, the process of cleaning, and the process of anchoring can be performed efficiently and accurately.

[0033] When explaining each configuration, first, the robot body (110) of the present embodiment forms the basic frame of the robot device (100), as shown in FIGS. 1 to 4, and has a structure that can move on its own, and is equipped with the configurations described below so that it can move to a work position and perform the corresponding task.

[0034] Such a robot body (110) may include, as illustrated in FIGS. 1 to 4, a body member (120), a movable member (130) provided at the lower end of the body member (120) to enable movement on a slab, and a module mounting portion (140) mounted on the body member (120) so as to be movable in horizontal and vertical directions and on which a tool module (150) is mounted.

[0035] Referring to FIG. 3, the body member (120) of the present embodiment may be provided with an elevating fixing member (147) that is provided so as to be able to be lifted. The elevating fixing member (147) may be supported on the bottom surface by having its end raised to the bottom surface of the upper slab, thereby firmly and securely fixing the robot device (100) of the present embodiment at the working position.

[0036] In detail, there is a risk of the robot device (100) falling over when working in an unfixed state. However, in the present embodiment, the position of the robot device (100) is fixed by the lifting fixing member (147), thereby preventing such falling over.

[0037] The movable member (130) of the present embodiment may be provided with a caterpillar track wheel, which is a driving wheel used in construction sites, as illustrated in FIGS. 1 to 4. Since the movable member (130) is provided with a track wheel, stable movement on the slab can be achieved, and the slab can be prevented from falling over or deviating from its path during movement.

[0038] However, the type of moving part is not limited to this, and it is obvious that it can be provided as a differential drive type or a quad type, for example.

[0039] Meanwhile, the module mounting portion (140) of the present embodiment may include, as illustrated in FIGS. 1 to 4, a mounting member (141) on which a tool module (150) is mounted at an upper end, a first cylinder (142) that generates a driving force for vertically elevating the mounting member (141), and a second cylinder (143) that has one end connected to the first cylinder (142) and the other end connected to the body member (120) to move the first cylinder (142) in a horizontal direction, thereby adjusting the horizontal position of the mounting member (141).

[0040] Here, the mounting member (141) can be provided as a linear module and can be raised and lowered in linear motion by the force provided by the first cylinder (142). Through this, the tool module (150) coupled to its upper end can be moved to a desired vertical position.

[0041] The first cylinder (142) of the present embodiment may be provided as an electric cylinder. This allows for precise movement of the mounting member (141). However, the type of the first cylinder (142) is not limited thereto. For example, it goes without saying that the cylinder structure and linear module structure of the present embodiment may be replaced with a scissor lift, a telescopic lift, or the like.

[0042] The second cylinder (143) may also be provided as an electric cylinder. This allows the first cylinder (142) equipped with the mounting member (141) to be precisely moved in a horizontal direction, thereby allowing the tool module (150) coupled to the mounting member (141) to be moved to a desired horizontal position.

[0043] In addition, referring to FIGS. 3 and 4, the module mounting portion (140) of the present embodiment may further include a linear guide rail (144) that is connected at both ends to the first cylinder (142) and the body member (120) at the upper portion thereof so as to be parallel to the second cylinder (143) and guides the movement of the first cylinder (142) in a linear motion when the first cylinder (142) is moved horizontally by the second cylinder (143).

[0044] That is, the body member (120) and the first cylinder (142) are connected by a second cylinder (143) and a linear guide rail (144) that are arranged in parallel, and when the first cylinder (142) is moved by the driving force of the second cylinder (143), it is guided by the linear guide rail (144), enabling precise driving.

[0045] In addition, an auxiliary wheel (145) is provided at the lower end of the first cylinder (142), so that the first cylinder (142) to which the mounting member (141) is coupled can smoothly move horizontally on the slab.

[0046] In addition, the module mounting member (140) of the present embodiment may include a handling member (160) mounted on the mounting member (141) to handle the tool module (150), as illustrated in FIG. 4. That is, the handling member (160) enables various operations of the tool module (150). For example, by enabling the tool module (150) to perform operations similar to a human arm at a fixed position, various processes of the tool module (150) to be described later may be possible.

[0047] This handling member (160) may be equipped with a plurality of driving motors and a reducer and a link coupled thereto, through which the tool module (150) can perform various operations such as rolling or tilting, so that the tool module (150) coupled thereto can smoothly approach the work position and precisely perform the relevant process.

[0048] In addition, referring to FIG. 4, the module mounting portion (140) of the present embodiment may further include a fall detection member (170) that detects that the first cylinder (142) to which the mounting member (141) is coupled falls from the end of the slab.

[0049] Since the robot device (100) of this embodiment moves on a slab, there is a risk that the first cylinder (142) of the module mounting portion (140) located at the tip may detach from the slab and fall, but the fall detection member (170) can detect this and thereby firmly maintain the position of the robot device (100).

[0050] In detail, the fall detection member (170) may be provided with a depth camera that captures depth, a sonar sensor that detects a fall at the end, a linear sensor, etc.

[0051] In addition, the module mounting portion (140) of the present invention may further include a photographing member (161) mounted on the mounting member (141) to check a work area, such as a punching area, before or during work with the tool module (150), as schematically illustrated in FIG. 4. The photographing member (161) may be, for example, a vision camera, but is not limited thereto.

[0052] After the corresponding image is obtained by the photographing member (161), when a work command is given to the tool module (150) by the automatic control unit (124) described later, the tool module (150) can perform the corresponding work on the work area. In addition, after punching a hole in the slab by the tool module (150), dust remaining in that area can be removed, and thereafter, the work position can be accurately read using the photographing member (161).

[0053] Meanwhile, the tool module (150) of the present embodiment, as described above, executes an anchoring process on a slab, and may include a drilling unit (151) that forms an installation hole by drilling a slab, as shown in FIGS. 1 to 4, and an anchoring unit (155) that injects a chemical solution into the installation hole cleaned by a cleaning unit (180) that cleans any remaining dust or the like that may remain in the installation hole of the slab drilled by the drilling unit (151) and then inserts a reinforcing bar.

[0054] By this configuration, an installation hole is first formed in the slab using a drilling section (151), then residual dust, etc. in the installation hole is removed using a cleaning section (180), and then anchoring can be performed using a chemical anchoring section (155).

[0055] To elaborate, the tool module (150) of the present embodiment may be provided as a manipulator type. However, it is not limited thereto, and it is obvious that the tool module may be provided as a combination of orthogonal robots, as well as a SCARA robot, a cylindrical robot, etc.

[0056] Here, the drilling section (151), the cleaning section (180), and the chemical anchoring section (155) are used sequentially. For this purpose, the tool module (150) is equipped with a tool changer (163), and the drilling section (151), the cleaning section (180), and the anchoring section (155) can be automatically replaced using the tool changer (163).

[0057] However, the type of tool changer is not limited to this, and for example, a mechanical tool changer may be applied, or the tool may be changed manually by the operator.

[0058] To elaborate, a hammer drill may be used as the drilling unit (151), but is not limited thereto. A vacuum cleaner may be used as the cleaning unit (180), but is not limited thereto.

[0059] And, the anchoring part (155) of the present embodiment may include, when a wet method is applied, a dispenser (152) that injects an anchor for chemical anchoring into an installation hole of a slab, and a reinforcing bar handling member (153) that handles reinforcing bars supplied by a reinforcing bar supply part (154) and installs the reinforcing bars in the anchor.

[0060] However, the type of anchoring part is not limited to this, and it is obvious that the anchoring process can be carried out using a dry method using anchor bolts.

[0061] Meanwhile, as illustrated in FIGS. 1 to 4, the robot device (100) of the present embodiment may further include a safety lidar (122) provided in the robot body (110) to detect the safety of a worker, an automatic control unit (124) for automatic control and monitoring, an automatic operation unit (125) for automatic operation, and a power supply unit (121) for supplying power. In addition, the robot device (100) may further include a handling controller (126) for controlling a handling member (160) for handling the tool module (150) described above.

[0062] Here, the automatic control unit (124) for automatic control may be provided as a PLC, the automatic operation unit (125) may be provided as an embedded PC, and the power supply unit (121) for supplying power may be provided as a rechargeable battery. However, the types of these are not limited thereto.

[0063] In addition, the robot device (100) of the present embodiment can be remotely controlled by the administrator (101). The administrator can precisely control the operation of the robot device (100) through a control application equipped on the administrator's (101) portable smart device (123), for example, a tablet PC or a smart phone. At this time, as described above, the administrator can check the information acquired by the photographing member (161) and the fall detection member (170) through his / her portable smart device (123), and can control the robot device (100) based on the information.

[0064] In this way, according to the robot device (100) of the present embodiment, the robot device (100) can move on a slab at a work site by wireless control to a work position and execute an anchoring process on the slab, thereby reducing the number of workers and reducing the work time, as well as reducing work fatigue and improving productivity, and also eliminating safety risks such as worker falls or falls because the worker is not working.

[0065] Meanwhile, below, a slab anchoring method of a slab anchoring device for expansion according to one embodiment of the present invention will be described with reference to the drawings.

[0066] Figure 5 is a flowchart of a slab anchoring method of a slab anchoring robot device for expansion according to one embodiment of the present invention.

[0067] As illustrated herein, the slab anchoring method of the present embodiment may include a moving step (S100) of moving the slab anchoring robot device (100) to a position on the slab where the anchoring process is required, and an anchoring step (S300) of operating the tool module (150) to execute the anchoring process on the slab.

[0068] However, prior to these steps, a preparatory step may be performed by a worker. First, for example, a worker may perform maintenance on work tools and consumables at a robot maintenance site. Then, the worker may automatically move the robot device (100) to the floor where the slab requiring work is located. Furthermore, a consumables transport robot may also be moved to the corresponding floor.

[0069] Thereafter, the moving step (S100) of the present embodiment can be performed, in which the robot device (100) can be moved to a position on the slab where the anchoring process is required.

[0070] Meanwhile, although not shown in the drawing, after the moving step (S100), a fixing step can be performed to firmly fix the slab anchoring robot device (100) to the work site by raising and supporting the lifting and fixing member (147) mounted on the robot body (110) to the bottom surface of the upper slab. By raising and lowering the lifting and fixing member (147) and supporting it to the bottom surface of the upper slab, the position of the robot device (100) can be fixed at the work location.

[0071] Thereafter, the anchoring step (S300) can be executed under the operator's control, and the position of the tool module (150) can be adjusted by operating the first cylinder (142) and the second cylinder (143).

[0072] Before the anchoring step (S300) is executed, the work area can be identified and coordinates can be calculated using the photographing member (161). Then, the anchoring step (S300) is executed, and the anchoring step is as follows.

[0073] The anchoring step (S300) of the present embodiment may include a drilling step (S310) of forming an installation hole by drilling a slab with a drilling unit (151), and an anchoring process execution step (S330) of executing an anchoring process in an installation hole cleaned by a cleaning unit (180) using an anchoring unit (155).

[0074] In addition, although not shown, a cleaning step may be included to clean any remaining dust that may remain in the installation hole of the slab drilled by the drilling unit (151) using the cleaning unit (180).

[0075] And, the anchoring process execution step (S330) here may include, although not shown, an injection step of injecting an anchor for chemical anchoring into an installation hole of a slab using a dispenser (152) provided in an anchoring section (155) when a wet method is applied, and a reinforcing bar installation step of handling reinforcing bars supplied by a reinforcing bar supply section (154) using a reinforcing bar handling member (153) provided in an anchoring section (155) and installing them in an anchor.

[0076] However, when the dry method is applied during the anchoring process execution stage, the anchoring process can be executed using anchor bolts instead of rebar in the installation hole, as described above.

[0077] In addition, in the anchoring step (S300) of the present embodiment, the drilling unit (151), cleaning unit (180), and anchoring unit (155) can be automatically replaced using a tool changer (163) that can be equipped in the tool module (150).

[0078] After executing the slab anchoring process by the robot device (100) in this way, the robot device (100) can be moved to another location at the work site through the reverse process. For example, after removing the drilling unit (151), cleaning unit (180), or anchoring unit (155) from the mounting portion of the tool module (150), the position of the tool module (150) can be returned to the initial position, the lifting fixing member (147) can be lowered, and then the robot device (100) can be moved to the original position.

[0079]

[0080] While specific embodiments of the present invention have been described so far, it is clear that various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the scope of the claims set forth below, but also by equivalents thereof.

[0081] Although the present invention has been described with reference to limited embodiments and drawings, it is not limited to the above-described embodiments. Those skilled in the art will appreciate that various modifications and variations are possible based on this disclosure. Therefore, the scope of the present invention should be understood solely by the scope of the claims set forth below, and all equivalent or equivalent modifications thereof are deemed to fall within the scope of the present invention.

Claims

1. Robot body; and A tool module provided on the robot body to punch a slab and then execute an anchoring process on the slab; A slab anchoring robot device characterized by including:

2. In paragraph 1, The above tool module, A drilling part that forms an installation hole by punching the above slab; and An anchoring part that performs an anchoring process using a wet method of anchoring using a chemical anchor in the above-mentioned installation hole or a dry method of anchoring using an anchor bolt in the above-mentioned installation hole; A slab anchoring robot device for expansion, characterized by including:

3. In paragraph 2, The above tool module, The above drilling part or the above anchoring part is provided so that it can be replaced, A slab anchoring robot device for expansion, characterized in that the above anchoring unit is provided with a dispenser that injects an anchor for chemical anchoring into the installation hole of the slab when a wet method is applied, and a rebar handling member that handles rebar supplied by a rebar supply unit and installs it in the anchor.

4. In paragraph 2, The above tool module further includes a cleaning unit, A slab anchoring robot device for expansion, characterized in that the cleaning unit performs a cleaning operation between the slab punching and the anchoring process.

5. In paragraph 1, The above robot body is, body member; A moving member provided at the lower end of the above body member and enabling movement on the above slab; and An extension slab anchoring robot device characterized in that it includes a module mounting portion that is movably mounted on the body member and on which the tool module is mounted.

6. In paragraph 5, A slab anchoring robot device for expansion, characterized in that the above-mentioned moving member is provided with a caterpillar track wheel type, a differential drive type, or a quad type, which are wheels for driving on a construction site.

7. In the slab anchoring method of the slab anchoring robot device for expansion according to Article 1, A moving step of moving the slab anchoring robot device to a position on the slab where an anchoring process is required; and An anchoring step of operating the tool module to punch a hole in the slab and then executing an anchoring process on the slab; A slab anchoring method of a slab anchoring robot device for expansion, characterized in that it includes.

8. In paragraph 7, The above anchoring step is, A slab anchoring method of a slab anchoring robot device for expansion, characterized in that it includes a drilling step of forming an installation hole by drilling the slab with a drilling unit provided in the tool module.

9. In paragraph 8, The above anchoring step is, A slab anchoring method of a slab anchoring robot device for expansion, characterized in that it further includes a cleaning step of cleaning any remaining dust in the installation hole of the slab drilled by the drilling unit using a cleaning unit between the drilling step and the anchoring process execution step.

10. In paragraph 8, The above anchoring step is, A slab anchoring method of a slab anchoring robot device for expansion, characterized in that it further includes an anchoring process execution step of executing an anchoring process using a wet method of anchoring using a chemical anchor in the above installation hole or a dry method of executing an anchoring process using an anchor bolt in the above installation hole.

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