Robot for automatically installing fireproof panels and method for installing fireproof panels by using same

Abstract

The present invention provides a robot for automatically installing fireproof panels, which moves a fireproof panel to the ceiling of a tunnel and then automatically installs the moved fireproof panel on the ceiling of the tunnel, and a method for installing fireproof panels by using same, the robot comprising: a fireproof panel loading unit; a fireproof panel lifting / lowering unit; a drilling operation unit; an anchoring operation unit; a moving case unit; and a control unit which is connected to the fireproof panel loading unit, the fireproof panel lifting / lowering unit, the drilling operation unit and the anchoring operation unit, and which controls the operations of the fireproof panel loading unit, the fireproof panel lifting / lowering unit, the drilling operation unit and the anchoring operation unit.

Description

Automated fire-resistant panel installation robot and fire-resistant panel installation method using the same

[0001] The present invention relates to an automatic fire-resistant panel installation robot and a method for installing fire-resistant panels using the same, and more particularly, to an automatic fire-resistant panel installation robot that automatically installs fire-resistant panels to protect concrete in the event of a fire inside a tunnel, and a method for installing fire-resistant panels in a tunnel using the same.

[0002] Referring to the background technology described in Korean Patent Publication No. 10-2024-0040328 (published on March 28, 2024), technologies are being developed to utilize tunnel space for the purpose of increasing logistics transport volume, domestic travel, shortening inter-regional travel distances, and overcoming topographical limitations. In recent years, the construction of concrete structures such as deep, long tunnels and double-deck tunnels has been greatly expanded, and the length of tunnels is also increasing.

[0003] In general, tunnels are formed as closed spaces except for the entrance and exit, but there is a problem that the concrete forming the tunnel can crack and reduce strength due to internal stress caused by differences in expansion coefficients between constituent materials such as aggregate and cement paste at high temperatures in the event of a fire, which can lead to tunnel collapse and large-scale casualties.

[0004] Therefore, in order to delay the occurrence of a fire as described above and prevent the spread of flames, the inner side of the tunnel is finished with fire-resistant boards, so that even if a fire breaks out inside the tunnel, the spread is prevented or delayed as much as possible.

[0005] In the past, when installing a fireproof board on the inner side of a tunnel, a table lift that moves the fireproof board to the ceiling of the tunnel was equipped with a separate small lift, and then the fireproof board was pressed against the ceiling of the tunnel using the small lift. After forming a number of drilling holes in the fireproof board and the ceiling for the worker to install anchors, the fireproof board was installed on the ceiling of the tunnel by installing anchors in the drilling holes. After installing one fireproof board on the ceiling of the tunnel, the table lift was moved downward, the fireproof board was mounted, and then moved to the ceiling of the tunnel. By repeating the above process to install the fireproof board, multiple fireproof boards were installed on the ceiling of the tunnel. However, there were problems such as the worker having to perform a number of drilling and anchoring operations using equipment such as a drill, which took a long time to install the fireproof board, the worker performing the drilling and anchoring operations, which caused safety accidents, and the work quality varying depending on the worker's ability.

[0006] The present invention was created to solve the above problems, and the purpose of the present invention is to provide an automatic fireproof panel installation robot and a fireproof panel installation method using the same, which can shorten the time for installing fireproof panels, prevent safety accidents, and improve work quality by having a drilling work unit and an anchoring work unit, rather than a worker, automatically perform the drilling work and anchoring work for installing fireproof panels moved to the ceiling of a tunnel.

[0007] In order to achieve the above object, the present invention provides a fireproof panel installation automation robot that moves a fireproof panel to the ceiling of a tunnel and then automatically installs the moved fireproof panel on the ceiling of the tunnel, the robot comprising: a fireproof panel mounting portion on which a fireproof panel to be installed on the ceiling of the tunnel is mounted; a fireproof panel raising / lowering portion that supports the fireproof panel mounting portion from below and raises / lowers the fireproof panel mounting portion; a drilling portion that is provided to be able to slide from one end to the other end of the fireproof panel mounting portion, and forms a through hole and a mounting hole in the fireproof panel and the ceiling of the tunnel, respectively, after being mounted on the fireproof panel mounting portion while being raised / lowered; The present invention provides a fireproof panel installation automation robot, comprising: an anchoring unit that is provided spaced apart from the drilling unit and slides from one end of the fireproof panel mounting unit to the other end, and inserts an anchor into a through hole formed in the fireproof panel and a mounting hole formed in the ceiling of the tunnel to secure the fireproof panel to the ceiling of the tunnel; a moving case unit on which the fireproof panel elevating unit is mounted on an upper surface and on which moving wheels are provided on a lower surface; and a control unit that is connected to the fireproof panel mounting unit, the fireproof panel elevating unit, the drilling unit, and the anchoring unit, and that controls the operations of the fireproof panel mounting unit, the fireproof panel elevating unit, the drilling unit, and the anchoring unit.

[0008] The automatic fireproof panel installation robot according to the present invention may further include a moving means unit that is selectively connected to the moving case unit and moves the moving case unit within the tunnel while raising and lowering the moving case unit within the tunnel.

[0009] In the automatic fireproof panel installation robot according to the present invention, the fireproof panel mounting portion may include a first support frame supported by the fireproof panel elevating / lowering portion and having the drilling work portion and the anchoring work portion installed thereon, a second support frame installed spaced apart from the front and rear ends of the first support frame, and a third support frame installed spaced apart from the second support frame in multiple pieces and having a support end on which the fireproof panel is supported protruding.

[0010] The above fire-resistant panel mounting portion may further include a moving frame that is rotatably installed on the upper portion of the second support frame, connects the second support frame provided spaced apart from the first support frame, and raises the fire-resistant panel mounted on the third support frame to the upper portion of the third support frame when moving, and a plurality of moving frames may be installed spaced apart from each other on the upper portion of the second support frame.

[0011] The above moving frame may include a mounting bar rotatably mounted on the second support frame provided spaced apart from the upper portion of the first support frame and having a plurality of rollers rotatably provided on the upper portion, a connecting bar connecting the mounting bar provided spaced apart from the upper portion of the second support frame, a hinge rod having one end hinged to one side of the mounting bar provided at one end of the upper portion of the second support frame, and a mounting bar rotation means connected to the other end of the hinge rod and providing a driving force to rotate the mounting bar by pulling in / out the other end of the hinge rod.

[0012] The lower portion of the above-mentioned mounting bar may be provided with a mounting end mounted to the second support frame, and one side of the above-mentioned mounting bar may be provided with a hinge end to which one end of the hinge rod is hinged, and the mounting end and the hinge end may protrude outward from the above-mentioned mounting bar, and the above-mentioned mounting bar may be rotated by the above-mentioned mounting bar rotating means, thereby allowing a plurality of spaced-apart mounting bars connected by the above-mentioned connecting bar to rotate.

[0013] The above fire-resistant panel elevating / lowering unit may include a mounting frame that is mounted on the moving case unit, and a plurality of mounting frames spaced apart from each other on the upper portion of the mounting frame to support the fire-resistant panel mounting unit from below, and a fire-resistant panel mounting unit elevating / lowering means that raises / lowers the fire-resistant panel mounting unit.

[0014] The above drilling work unit may include a drilling frame movably installed on the fireproof panel mounting portion, a drilling frame moving means provided on the drilling frame and connected to the fireproof panel mounting portion and moving the drilling frame from the fireproof panel mounting portion, and a drilling work tool installed on the drilling frame to form the penetration hole and the mounting hole in the fireproof panel and the ceiling of the tunnel.

[0015] The above drilling work unit may further include a drilling work tool elevating / lowering means connected to the drilling work tool and for elevating / lowering the drilling work tool in the drilling frame, and a drilling sensing means provided in the drilling frame for sensing a position at which the through hole is to be formed in the fireproof panel, wherein the drilling work tools are installed in multiple pieces spaced apart from each other in the drilling frame to form the through hole in the width direction of the fireproof panel, and then move in the length direction of the fireproof panel by the drilling frame moving means to form the through hole spaced apart in the length direction of the fireproof panel.

[0016] The above anchoring work section may include an anchoring frame movably mounted on the fire-resistant panel mounting portion, an anchoring frame moving means provided on the anchoring frame and connected to the fire-resistant panel mounting portion to move the anchoring frame from the fire-resistant panel mounting portion, and an anchoring work tool installed on the anchoring frame to insert an anchoring ring into the through hole and the mounting hole to fix the fire-resistant panel to the ceiling of the tunnel.

[0017] The anchoring work section may further include an anchoring work tool raising / lowering means that is connected to the anchoring work tool and raises / lowers the anchoring work tool from the anchoring frame, and an anchoring sensing means that is provided on the anchoring frame and detects the position of the through hole formed by the drilling work section. The anchoring work tools may be installed in the anchoring frame in a spaced manner in multiples, the number of anchoring work tools may be the same as the number of drilling work tools, and the multiple anchoring work tools and the multiple drilling work tools may be spaced apart from each other at equal intervals.

[0018] A connecting member to which one end of the moving means part is connected may be provided at the lower part of the above-mentioned moving case part, and a forklift or aerial work vehicle including a fork connected to the connecting member may be used for the moving means part.

[0019] In addition, the present invention relates to a method for installing a fire-resistant panel, which automatically installs the moved fire-resistant panel on the ceiling of a tunnel after moving the fire-resistant panel to the ceiling of a tunnel, comprising: a work preparation step of mounting a plurality of fire-resistant panels to be installed on the ceiling of a tunnel on a movable case; a work location moving step of moving the movable case on which the plurality of fire-resistant panels are mounted to a work location using a moving means; a fire-resistant panel mounting step of moving the movable case moved to the work location toward the ceiling of the tunnel and mounting the fire-resistant panels on a fire-resistant panel mounting portion provided in the movable case; a fire-resistant panel installation location moving step of moving the fire-resistant panel mounting portion on which the fire-resistant panels are mounted toward the ceiling of the tunnel using a fire-resistant panel elevating and lowering portion; a drilling and anchoring step of fixing the fire-resistant panel moved to the fire-resistant panel installation location to the ceiling of the tunnel using a drilling work portion and an anchoring work portion; And a method for installing a fireproof panel is provided, including a step of returning the fireproof panel mounting portion, drilling portion, and anchoring portion to their original state while lowering the fireproof panel mounting portion moved toward the ceiling of the tunnel to mount the fireproof panel on the fireproof panel mounting portion.

[0020] In the method for installing a fire-resistant panel according to the present invention, the drilling and anchoring work step may include a drilling work step of forming a through hole and a mounting hole in the fire-resistant panel moved to the fire-resistant panel installation location and the ceiling of the tunnel using the drilling work part, and an anchoring work step of inserting an anchor into the through hole and mounting hole formed through the drilling work step using the anchoring work part to secure one end of the fire-resistant panel to the ceiling of the tunnel.

[0021] The above drilling and anchoring work steps can be repeated five times by moving the drilling work section and the anchoring work section in the longitudinal direction of the fireproof panel.

[0022] According to the automatic fire-resistant panel installation robot according to the present invention and the fire-resistant panel installation method using the same, the work time can be shortened by simultaneously performing the work of attaching the fire-resistant panel to the ceiling of the tunnel through the fire-resistant panel elevating / lowering section, forming a through hole and a mounting hole in the fire-resistant panel and the ceiling of the tunnel through the drilling section and the anchoring section, and inserting anchoring into the through hole and the mounting hole to fix the fire-resistant panel to the ceiling of the tunnel.

[0023] In addition, since the drilling and anchoring operations are performed automatically using the drilling and anchoring units instead of the operator, the stability of the operation can be secured while ensuring the quality of the operation, and the operation cost can be reduced by reducing the number of workers.

[0024] FIG. 1 is a schematic drawing of an automatic fireproof panel installation robot according to an embodiment of the present invention.

[0025] Fig. 2 is a schematic drawing showing a state in which the moving case part is moved upward by the moving means part shown in Fig. 1.

[0026] Figure 3 is a schematic drawing showing the process of tilting the fixing frame of the fireproof panel lifting / lowering part moved upward as shown in Figure 2.

[0027] Figure 4 is a schematic drawing showing the process of the settling frame illustrated in Figure 3 moving forward, backward, and left and right.

[0028] Figure 5 is a schematic drawing showing a state in which a fireproof panel mounting part is raised and lowered by the fireproof panel raising and lowering part shown in Figure 4.

[0029] FIG. 6 is a schematic drawing showing the process of a fire-resistant panel installation sensing means provided in the fire-resistant panel mounting portion illustrated in FIG. 1 sensing the location where the fire-resistant panel is installed.

[0030] FIG. 7 is a schematic drawing illustrating a process of moving a fireproof panel sensed by the fireproof panel sensing means illustrated in FIG. 6 to the ceiling of a tunnel where the fireproof panel is to be installed.

[0031] Figure 8 is a schematic drawing illustrating a process of adjusting the position of a fireproof panel by moving the fixing frame illustrated in Figure 7 forward, backward, left, and right.

[0032] Figure 9 is a schematic drawing showing a state in which the fireproof panel, whose position is adjusted in Figure 7, is attached to the ceiling of a tunnel.

[0033] Figure 10 is a schematic drawing showing the process of performing drilling and anchoring work on a fireproof panel and the ceiling of a tunnel using the drilling work section and anchoring work section shown in Figure 9.

[0034] Figure 11 is a drawing showing a state in which a drilling work section and an anchoring work section are installed in the refractory panel mounting section illustrated in Figure 1.

[0035] Figure 12 is an enlarged drawing of the drilling work section illustrated in Figure 11.

[0036] Figure 13 is an enlarged drawing of the anchoring work section illustrated in Figure 11.

[0037] Figure 14 is an enlarged drawing showing a state in which a fireproof panel is fixed to the ceiling of a tunnel by anchoring.

[0038] FIG. 15 is a drawing schematically illustrating a process in which a mounting frame is tilted to install a fireproof panel on a curved portion of a tunnel ceiling by an automatic fireproof panel installation robot according to an embodiment of the present invention.

[0039] Figure 16 is a flowchart illustrating the sequence of a method for installing a fireproof panel according to another embodiment of the present invention.

[0040] Figure 17 is a flowchart showing the sequence of drilling and anchoring work steps illustrated in Figure 16.

[0041] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Prior to this, it should be noted that the terms and words used in this specification and claims should not be construed as limited to their conventional or dictionary meanings. Based on the principle that the inventor can appropriately define the concepts of terms to best explain his or her invention, they should be interpreted in a way that conforms to the technical spirit of the present invention.

[0042] Referring to FIGS. 1 to 10, a fireproof panel installation automation robot (100) according to an embodiment of the present invention moves a fireproof panel (10) to the ceiling (Z) of a tunnel and then automatically installs the moved fireproof panel (10) on the ceiling (Z) of the tunnel. The robot includes a fireproof panel mounting unit (1100), a fireproof panel elevating / lowering unit (1200), a drilling unit (1300), an anchoring unit (1400), a moving case unit (1500), and a control unit (1600), and may further include a moving means unit (1700).

[0043] A fireproof panel (10) installed on the ceiling (Z) of the tunnel is installed on the above fireproof panel mounting portion (1100), and the fireproof panel mounting portion (1100) includes a first support frame (1110), a second support frame (1120), a third support frame (1130), a moving frame (1140), and a fireproof panel installation sensing means (1150). The fireproof panel (10) installed on the ceiling (Z) of the tunnel is a general one, and a detailed description thereof will be omitted.

[0044] Referring to FIG. 1 and FIG. 11, the first support frame (1110) is a rectangular frame with an open top and bottom, and is supported by the fireproof panel elevating / lowering unit (1200). The drilling work unit (1300) and the anchoring work unit (1400) are installed on the first support frame (1110). It is preferable that the drilling work unit (1300) and the anchoring work unit (1400) are installed so as to be able to slide from one end of the first support frame (1110) to the other end.

[0045] A second support frame (1120) is installed spaced apart from the front and rear sides of the first support frame (1110), and the second support frame (1120) installed spaced apart from the upper portion of the first support frame (1110) is installed spaced apart from the upper portion of the first support frame (1110) so as to be more solid by being connected by a connecting frame (not shown).

[0046] A plurality of third support frames (1130) are installed spaced apart from each other on the second support frame (1120) installed spaced apart from the upper portion of the first support frame (1110), and the third support frame (1130) is provided with a protruding support member (1131) that supports the fire-resistant panel (10) installed on the ceiling (Z) of the tunnel from below, and it is preferable that the support member (1131a) be provided to smoothly support the fire-resistant panel (10) when supporting the fire-resistant panel (10) from below while buffering the impact generated between the fire-resistant panel (10) and the support member (131).

[0047] A movable frame (1140) is rotatably installed on the upper portion of the second support frame (1120), and the movable frame (1140) connects the second support frame (1120) which is provided spaced apart from the first support frame (1110).

[0048] The above moving frame (1140) serves to raise the fireproof panel (10) mounted on the third support frame (1130) to the upper part of the third support frame (1130) when moving, and it is preferable that a plurality of moving frames (1140) are installed spaced apart from each other on the upper part of the second support frame (1120).

[0049] The above moving frame (1140) includes a mounting bar (1141), a connecting bar (1142), a hinge rod (1143), and a mounting bar rotation means (1144). The mounting bars (1141) are rotatably mounted in plurality on the second support frame (1120) provided spaced apart from the upper portion of the first support frame (1110), and a plurality of rollers (1141a) are rotatably provided on the upper portion of each mounting bar (1141).

[0050] The above connecting bar (1142) connects a plurality of the mounting bars (1141) provided spaced apart from each other on the upper side of the second support frame (1120), and the hinge bar (1143) is connected to the mounting bar (1141) by having one end hinged to one side of the mounting bar (1141) provided on one end of the upper side of the second support frame (1120).

[0051] The other end of the hinge rod (1143) connected to the above-mentioned mounting bar (1141) by a hinge joint is connected to a mounting bar rotation means (1144), and the mounting bar rotation means (1144) provides a driving force to rotate the mounting end (1141) by pulling in / out the other end of the hinge rod (1143).

[0052] A mounting end (1141b) mounted on the second support frame (1120) is provided at the lower portion of the mounting bar (1141), and a hinge end (1141c) to which one end of the hinge rod (1143) is hinge-coupled is provided at one side of the mounting bar (1141), and the mounting end (1141b) and the hinge end (1141c) are provided to protrude outward from the mounting bar (11410).

[0053] The mounting bar (1141) provided at one end of the upper portion of the second support frame (1120) rotates by the driving force of the mounting bar rotation means (1144), and as a plurality of mounting bars (1141) connected by the connecting bar (1142) rotate, the fire-resistant panel (10) secured to the third support frame (1130) is raised to the upper portion of the third support frame (1130), and then a worker can conveniently move the fire-resistant panel using a plurality of rollers (1141a) provided on the mounting bar (1141).

[0054] A fire-resistant panel installation sensing means (1150) is installed in the first support frame (1110), and the fire-resistant panel installation sensing unit (1150) serves to sense the position where the fire-resistant panel (10) is installed.

[0055] The above fireproof panel mounting portion (1100) is supported by the fireproof panel elevating portion (1200), and the fireproof panel elevating portion (1200) serves to elevate and lower the fireproof panel mounting portion (1100).

[0056] Referring to FIGS. 1 to 10, the fireproof panel elevating / lowering unit (1200) includes a fixing frame (1210) and a fireproof panel fixing unit elevating / lowering means (1220), and the fixing frame (1210) is fixed to a moving case (1500) described below. The above-described settling frame (1210) includes a first settling frame (1211), a second settling frame (1212), and a third settling frame (1213). The first settling frame (1211) is settling in a moving case (1500) described below, and the second settling frame (1212) is positioned above the first settling frame (1211). It is preferable that the first settling frame (1211) and the second settling frame (1212) are connected to the upper portion of the first settling frame (1211) in a tilting manner by a tilting angle rotation means (T).

[0057] The third settling frame (1213) is positioned on the upper portion of the second settling frame (1212), and the second settling frame (1212) and the third settling frame (1213) are preferably connected by a front-rear, left-right, and right-left horizontal movement means (M), so that the third settling frame (1213) is connected so as to be able to move forward, backward, and left-right on the upper portion of the second settling frame (1212).

[0058] A plurality of fireproof panel mounting portion elevating means (1220) are provided spaced apart from each other on the upper portion of the above-mentioned mounting frame (1210), and it is preferable that a plurality of fireproof panel mounting portion elevating means (1220) are provided spaced apart from each other on the circumference of the third mounting frame (1213).

[0059] The above-described plurality of fireproof panel mounting portion elevating and lowering means (1220) serve to elevate and lower the fireproof panel mounting portion (1100) while supporting the fireproof panel mounting portion (1100) from below. It is preferable that a hydraulic cylinder or the like be used as the fireproof panel mounting portion elevating and lowering means (1220), and since the structure and operation relationship of the fireproof panel mounting portion elevating and lowering means (1220) are general, a detailed description thereof will be omitted.

[0060] Referring to FIGS. 1 to 11, a drilling operation unit (1300) is installed in the fireproof panel mounting portion (1100) so as to be able to slide from one end to the other end of the fireproof panel mounting portion (1100). The drilling operation unit (1300) slides in the fireproof panel mounting portion (1100) and then ascends and descends to be mounted on the fireproof panel mounting portion (1100), and then serves to form a through hole (11) and a mounting hole (h) in the fireproof panel (10) and the ceiling (Z) of the tunnel (not shown), respectively, so as to be in close contact with the ceiling (Z) of the tunnel (not shown).

[0061] Referring to FIGS. 1, 10, 11, and 12, the drilling operation unit (1300) includes a drilling frame (1310), a drilling frame moving means (not shown), a drilling operation tool (1320), and may further include a drilling operation tool elevating and lowering means (1330) and a drilling sensing means (not shown).

[0062] The above drilling frame (1310) is movably installed on the fireproof panel mounting portion (1100), and it is preferable that the drilling frame (1310) be installed on the first support frame (1110) among the fireproof panel mounting portions (1100) and slide from one end to the other along the longitudinal direction of the first support frame (1110).

[0063] The drilling frame (1310) is provided with a drilling frame moving means (not shown), and the drilling frame moving means (not shown) is connected to the first support frame (1110) of the fireproof panel mounting portion (1100) and serves to provide a driving force to move the drilling frame (1310) from one end to the other end of the first support frame (1110).

[0064] The above drilling frame moving means (not shown) preferably includes a rotary shaft having a rotary motor and a contact member connected to the rotary motor and in close contact with the first support frame (1100), and when the rotary motor rotates the rotary shaft forward or backward, the drilling frame (1310) connected to the first support frame (1100) by the contact member moves in the forward or reverse rotation direction of the rotary motor.

[0065] A drilling work tool (1320) is installed in the above drilling frame (1310), and the drilling work tool (1320) serves to form the through hole (11) and the mounting hole (h) in the fire-resistant panel (10) and the ceiling (Z) of the tunnel, and it is preferable that a plurality of the drilling work tools (1320) are installed spaced apart from each other in the drilling frame (1310). The number of the drilling work tools (1320) installed in the drilling frame (1310) is preferably determined by the number of the plurality of through holes (11) formed spaced apart from each other in the width direction of the fire-resistant panel (10), and the drilling work tool (1320) that forms the through hole (11) and the mounting hole (h) is a general one, and thus a detailed description thereof will be omitted.

[0066] The above drilling work tool (1320) is connected to a drilling work tool elevating and lowering means (1330), and the drilling work tool elevating and lowering means (1330) serves to elevate and lower the drilling work tool (1330) in the drilling frame (1310), and it is preferable that a hydraulic cylinder or the like be used as the drilling work tool elevating and lowering means (1330).

[0067] The drilling frame (1310) is provided with a drilling sensing means (not shown), and the drilling sensing means (not shown) serves to sense a position where the through hole (11) is to be formed in the fireproof panel (10). Since the drilling sensing means (not shown) senses the position of the through hole (11), the through hole (11) can be formed in the fireproof panel (10) at an accurate position, thereby improving work quality.

[0068] The penetration hole (11) is formed in the width direction of the fireproof panel (10) by the drilling work tool (1320) which is installed in the drilling frame (1310) of the drilling work unit (1300) at a distance from each other, and the drilling frame (1310) is moved in the length direction of the fireproof panel (10) by the drilling frame moving means (not shown) so that the penetration hole (11) can be automatically formed at a distance from each other in the length direction of the fireproof panel (10).

[0069] Referring to FIGS. 1, 10, 11, and 13, an anchoring work section (1400) is provided spaced apart from the drilling work section (1300) and slides from one end of the fireproof panel mounting section (1100) to the other end, and the anchoring work section (1400) serves to insert anchoring into the through hole (11) formed in the fireproof panel (10) and the mounting hole (h) formed in the ceiling (Z) of the tunnel, and as the anchoring work section (1400) inserts anchoring into the through hole (11) and the mounting hole (h), the fireproof panel (10) is fixed to the ceiling (Z) of the tunnel.

[0070] The above anchoring work unit (1400) includes an anchoring frame (1410), an anchoring frame moving means (not shown), and an anchoring work tool (1420), and may further include an anchoring work tool raising / lowering means (1430) and an anchoring sensor means (not shown).

[0071] The above anchoring frame (1410) is provided spaced apart from the drilling frame (1310) and is movably installed on the fireproof panel mounting portion (1100). The anchoring frame (1410) is installed on the first support frame (1110) among the fireproof panel mounting portions (1100) and slides from one end to the other along the longitudinal direction of the first support frame (1110).

[0072] The anchoring frame (1410) is provided with an anchoring frame moving means (not shown), and the anchoring frame moving means (not shown) is connected to the first support frame (1110) and serves to provide a driving force to move the anchoring frame (1410) from one end to the other end of the first support frame (1110). The anchoring frame moving means (not shown) is composed of a rotation motor and a rotation shaft, similar to the drilling frame moving means (not shown), and therefore, a detailed description of the anchoring frame moving means (not shown) overlaps with the drilling frame moving means (not shown), and thus, a detailed description thereof will be omitted.

[0073] An anchoring work tool (1420) is installed in the anchoring frame (1410), and the anchoring work tool (1420) serves to insert anchoring into the through-hole (11) and the mounting hole (h) formed in the fire-resistant panel (10) and the ceiling (Z) of the tunnel. A plurality of anchoring work tools (1420) are installed spaced apart from each other in the anchoring frame (1410), and it is preferable that the anchoring work tools (1420) be spaced apart from each other in number and at the same interval as the drilling work tool (1320). The anchoring work tool (1410) for inserting anchoring (A) into the through-hole (11) and the mounting hole (h) is a general tool, and thus a detailed description thereof will be omitted.

[0074] The above anchoring work tool (1410) is connected to an anchoring work tool raising / lowering means (1430), and the anchoring work tool raising / lowering means (1430) serves to raise / lower the anchoring work tool (1420) in the anchoring frame (1410), and it is preferable that a hydraulic cylinder or the like be used as the anchoring work tool raising / lowering means (1430).

[0075] The anchoring frame (1410) is provided with an anchoring sensing means (not shown), and the anchoring sensing means (not shown) serves to sense the position of the through hole (11) formed in the fire-resistant panel (10). Since the anchoring sensing means (not shown) senses the position of the through hole (11) and then inserts the anchoring (A) into the through hole (11), the time for inserting the anchoring (A) can be shortened.

[0076] Referring to FIGS. 1 to 14, the fireproof panel raising / lowering unit (1200) that raises / lowers the fireproof panel mounting unit (1100) is mounted on the upper surface of the moving case unit (1500), and a moving wheel (1510) for moving the moving case unit (1500) is provided on the lower surface of the moving case unit (1500), and it is preferable that the moving wheel (1510) be selectively provided on the lower portion of the moving case unit (1500).

[0077] It is preferable that a connecting member (not shown) to which one end of a moving means part (1700) described later is connected is provided at the lower part of the moving case part (1500) that supports the fireproof panel raising / lowering part (1200) from the lower part, and since one end of the moving means part (1700) is connected to the connecting member (not shown), the moving case part (1500) and the moving means part (1700) are connected, so that the moving case part (1500) moves and is raised / lowered by the moving means part (1700).

[0078] The above-mentioned fireproof panel mounting portion (1100), the fireproof panel elevating portion (1200), the drilling operation portion (1300), and the anchoring operation portion (1400) are connected to a control unit (1600), and the control unit (1600) serves to control the operations of the fireproof panel mounting portion (1100), the fireproof panel elevating portion (1200), the drilling operation portion (1300), and the anchoring operation portion (1400). Since the operations of the fireproof panel mounting portion (1100), the fireproof panel elevating portion (1200), the drilling operation portion (1300), and the anchoring operation portion (1400) are automatically controlled by the control unit (1600), the convenience of the worker is improved and the operation time can be shortened.

[0079] The above-mentioned movable case part (1500) that supports the fireproof panel elevating part (1200) from below is selectively connected to the movable means part (1700), and the movable means part (1700) functions to elevate and lower the movable case part (1500) while moving the movable case part (1500) within the tunnel where the fireproof panel (10) is installed.

[0080] As the above-mentioned moving means (1700), it is preferable to use a forklift or aerial work vehicle including a fork (1710) connected to a connecting member (not shown) of the above-mentioned moving case (1500).

[0081] Referring to FIG. 1, the automatic fireproof panel installation robot (100) according to an embodiment of the present invention is illustrated as moving a fireproof panel (10) from the ceiling (Z) of a tunnel to a flat area and then automatically installing the moved fireproof panel (10) on the ceiling (Z) of the tunnel, but is not limited thereto, and as illustrated in FIG. 15, the fireproof panel (10) may be moved to a curved area of ​​the ceiling (Z) and then automatically installed on the ceiling (Z) of the tunnel. When installing the fireproof panel (10) on the curved area of ​​the ceiling (Z), it is preferable that the fixing frame (1210) of the fireproof panel elevating / lowering part (1200) tilts at an angle of about 90° by a tilting angle rotating means (T).

[0082] By simultaneously and automatically performing the work of attaching the fireproof panel (10) to the ceiling (Z) of the tunnel (not shown) through the fireproof panel elevating / lowering part (1200) and then forming a through hole (11) and a mounting hole (h) in the fireproof panel (10) and the ceiling (Z) of the tunnel through the drilling part (1300) and the anchoring part (1400) and inserting an anchor (A) into the through hole (11) and the mounting hole (h) to fix the fireproof panel (10) to the ceiling (Z) of the tunnel, the work time can be shortened, the work quality can be secured while the work stability can be secured, and the work cost can be reduced by reducing the number of workers.

[0083] Referring to FIGS. 1, 16, and 17, a method for installing a fire-resistant panel according to another embodiment of the present invention includes moving a fire-resistant panel (10) to the ceiling (Z) of a tunnel using a fire-resistant panel installation automation robot (100) according to an embodiment of the present invention and then automatically installing the fire-resistant panel (10) on the ceiling (Z) of the tunnel, and includes a work preparation step (S100), a work location movement step (S200), a fire-resistant panel settling step (S300), a fire-resistant panel installation location movement step (S400), a drilling and anchoring work step (S500), and a fire-resistant panel settling part, drilling work part, and anchoring work part return step (S600).

[0084] Referring to FIGS. 1 to 10 and 16, the work preparation step (S100) is a step of loading a plurality of fireproof panels (10) to be installed on the ceiling (Z) of the tunnel onto the moving case part (1500) of the fireproof panel installation automation robot (100).

[0085] After the above work preparation step (S100), the work location moving step (S200) is performed, and the work location moving step (S200) is a step of moving the moving case unit (1500) having a plurality of fireproof panels (10) mounted thereon to the work location using the moving means unit (1700). By performing the above work preparation step (S100) and the work location moving step (S200), the plurality of fireproof panels (10) can be easily moved to a position where they are installed on the ceiling (Z) of the tunnel, thereby shortening the time for moving the plurality of fireproof panels (10).

[0086] After the above-described work location moving step (S200), the fireproof panel settling step (S300) is performed. The fireproof panel settling step (S300) is a step in which the movable case unit (1500), which has been moved to the work location by the movable means unit (1700), is moved toward the ceiling (Z) side of the tunnel, and the fireproof panel (10) mounted on the movable case unit (1500) is settling on the fireproof panel settling unit (1100) provided on the movable case unit (1500). By settling the fireproof panel (10) on the fireproof panel settling unit (1100), the fireproof panel (10) can be automatically moved toward the ceiling (Z) side of the tunnel.

[0087] Referring to FIGS. 6 to 8 and FIG. 16, after the fireproof panel installation step (S300) is performed, the fireproof panel installation position moving step (S400) is performed, and the fireproof panel installation position moving step (S400) is a step of moving the fireproof panel installation part (1100) on which the fireproof panel (10) is installed to the ceiling (Z) side of the tunnel using the fireproof panel elevating / lowering part (1200).

[0088] A fire-resistant panel installation sensing means (1150) is provided in the fire-resistant panel installation part (1100) where the fire-resistant panel (10) is installed, and after the fire-resistant panel installation sensing means (1150) senses the position where the fire-resistant panel (10) is installed, the fire-resistant panel (10) is moved toward the ceiling (Z) of the tunnel using the fire-resistant panel elevating / lowering part (1200), thereby enabling the fire-resistant panel (10) to be quickly and accurately moved to the installation position.

[0089] Referring to FIGS. 9 to 10 and FIGS. 16 to 17, after the step of moving the fireproof panel installation location (S400), a drilling and anchoring work step (S500) is performed, and the drilling and anchoring work step (S500) is a step of fixing the fireproof panel (10) moved to the location where the fireproof panel (10) is to be installed to the ceiling (Z) of the tunnel using a drilling work unit (1300) and an anchoring work unit (1400).

[0090] The above drilling and anchoring work step (S500) includes a drilling work step (S510) and an anchoring work step (S520). The drilling work step (S510) is a step of automatically forming a through hole (11) and a mounting hole (h) in the fireproof panel (10) moved to the fireproof panel installation location and the ceiling (Z) of the tunnel using the drilling work unit (1300). The drilling work unit (1300) is equipped with a drilling sensing means (not shown), and the drilling sensing means (not shown) serves to sense the position where the through hole (11) is to be formed in the fireproof panel (10). Since the drilling sensing means (not shown) senses the position of the through hole (11), the through hole (11) can be automatically formed in the fireproof panel (10) at an accurate position, thereby improving the work quality.

[0091] After the above drilling operation step (S510), an anchoring operation step (S520) is performed, and the anchoring operation step (S520) is a step of inserting an anchor (A) into the through hole (11) and mounting hole (h) formed through the drilling operation step (S510) using the anchoring operation part (1400), and by performing the above anchoring operation step (S520), the fireproof panel (10) is fixed to the ceiling (Z) of the tunnel.

[0092] The above anchoring work unit (1400) is equipped with an anchoring sensing means (not shown), and the anchoring sensing means (not shown) serves to sense the position of the through hole (11) formed in the fire-resistant panel (10). Since the anchoring sensing means (not shown) senses the position of the through hole (11) and then automatically inserts the anchoring (A) into the through hole (11), the time for inserting the anchoring (A) can be shortened.

[0093] It is preferable that the drilling and anchoring work step (S500) above be repeated five times, including the dddling work step (S510) and the anchoring work step (S520), while moving the drilling work unit (1300) and the anchoring work unit (1400) in the longitudinal direction of the fireproof panel (10). The repetition of the dddling work step (S510) and the anchoring work step (S520) five times is not limited thereto, and when the through holes (11) are formed in five rows spaced apart in the longitudinal direction of the fireproof panel (10), it is repeated five times. However, when the through holes (11) are not in five rows, it is preferable that the number of repetitions be changed depending on the rows in which the through holes (11) are formed spaced apart.

[0094] Referring to FIGS. 1 to 15 and 16, after the drilling and anchoring work step (S500), the fireproof panel mounting portion, drilling work portion, and anchoring work portion return step (S600) is performed, and the fireproof panel mounting portion, drilling work portion, and anchoring work portion return step (S600) is a step of lowering the fireproof panel mounting portion (1100) moved toward the ceiling (Z) of the tunnel to install the fireproof panel (10) on the fireproof panel mounting portion (1100) while returning the drilling work portion (1300) and the anchoring work portion (1400) to their original states.

[0095] After performing the above fireproof panel installation part, drilling work part, and anchoring work part return step (S600), the work location movement step (S200), the fireproof panel installation step (S300), the fireproof panel installation location movement step (S400), and the drilling and anchoring work step (S500) in sequence, and by repeatedly performing the above tasks, it is possible to automatically install and fix a new fireproof panel (10) adjacent to the fireproof panel (10) installed on the ceiling (Z) of the tunnel.

[0096] Accordingly, the work time can be shortened by simultaneously performing the work of attaching the fireproof panel (10) to the ceiling (Z) of the tunnel through the fireproof panel elevating / lowering part (1100), forming a through hole (11) and a mounting hole in the fireproof panel (10) and the ceiling (Z) of the tunnel through the drilling part (1300) and the anchoring part (1400), and inserting an anchor (A) into the through hole (11) and the mounting hole to secure the fireproof panel (10) to the ceiling of the tunnel.

[0097] In addition, since the drilling and anchoring operations are performed automatically using a drilling operation unit (1300) and an anchoring operation unit (1400) instead of a worker, the stability of the operation can be secured while ensuring the quality of the operation, and the operation cost can be reduced by reducing the number of workers.

[0098] While the present invention has been described with reference to the embodiments illustrated in the drawings, these are merely exemplary, and those skilled in the art will appreciate that various modifications and equivalent alternative embodiments are possible. Therefore, the true scope of technical protection of the present invention should be determined by the technical spirit of the appended claims.

[0099] The present invention can be used in an automatic fireproof panel installation robot and a fireproof panel installation method using the same.

Claims

1. In a fireproof panel installation automation robot that moves a fireproof panel to the ceiling of a tunnel and then automatically installs the moved fireproof panel on the ceiling of the tunnel, A fire-resistant panel mounting portion where a fire-resistant panel installed on the ceiling of the above tunnel is mounted; A fireproof panel elevating / lowering part that supports the fireproof panel mounting part from below and raises / lowers the fireproof panel mounting part; A drilling unit that is provided to be able to slide from one end to the other on the above fireproof panel mounting portion, and forms a penetration hole and a mounting hole in the above fireproof panel and the ceiling of the tunnel, respectively, after being mounted on the above fireproof panel mounting portion while being raised and lowered on the above fireproof panel mounting portion and then being in close contact with the ceiling of the tunnel; An anchoring work section that is provided apart from the drilling work section and slides from one end of the fireproof panel mounting section to the other end, and inserts an anchoring ring into a through hole formed in the fireproof panel and a mounting hole formed in the ceiling of the tunnel to secure the fireproof panel to the ceiling of the tunnel; The movable case part in which the fireproof panel elevating part is mounted on the upper surface and a movable wheel is provided on the lower surface; and A fireproof panel installation automation robot, which is connected to the fireproof panel mounting portion, the fireproof panel elevating portion, the drilling portion, and the anchoring portion, and includes a control portion that controls the operations of the fireproof panel mounting portion, the fireproof panel elevating portion, the drilling portion, and the anchoring portion.

2. In claim 1, An automated fireproof panel installation robot further comprising a moving means unit that is selectively connected to the moving case unit and moves the moving case unit within the tunnel while raising and lowering the moving case unit within the tunnel.

3. In claim 1, The above fireproof panel mounting part is, A first support frame supported by the fireproof panel elevating section and on which the drilling work section and the anchoring work section are installed; A second support frame installed spaced apart from the front and rear ends of the first support frame, An automated robot for installing a fire-resistant panel, comprising a third support frame having a plurality of support frames spaced apart from each other and having a support end on which the fire-resistant panel is supported protruding.

4. In claim 3, The above fireproof panel mounting part is, A moving frame that is rotatably installed on the upper part of the second support frame and connects the second support frame, which is provided spaced apart from the first support frame, and when the fire-resistant panel is moved on the third support frame, raises the fire-resistant panel to the upper part of the third support frame; It further includes a fire-resistant panel installation sensing means installed in the first frame and sensing the position where the fire-resistant panel is installed, The above moving frame is an automatic fireproof panel installation robot in which a plurality of moving frames are installed spaced apart from each other on the upper part of the second support frame.

5. In claim 4, The above moving frame is, A mounting bar that is rotatably mounted on the second support frame provided spaced apart from the upper portion of the first support frame and has a plurality of rollers rotatably provided on the upper portion; A connecting bar connecting the mounting bar provided spaced apart from the upper portion of the second support frame; A hinge rod having one end hinged to one side of the mounting bar provided at one end of the upper portion of the second support frame; An automated robot for installing a fireproof panel, comprising a mounting bar rotation means that is connected to the other end of the hinge bar and provides a driving force to rotate the mounting bar by pulling in / out the other end of the hinge bar.

6. In claim 5, The lower portion of the above mounting bar is provided with a mounting section mounted on the second support frame, One side of the above mounting bar is provided with a hinge end to which one end of the hinge rod is hinged. The above mounting end and the above hinge end protrude outwardly from the above mounting bar, An automatic robot for installing a fireproof panel, characterized in that the mounting bar rotates by the mounting bar rotation means, thereby rotating a plurality of spaced mounting bars connected by the connecting bar.

7. In claim 1, The above fireproof panel elevating and lowering part is, A mounting frame that is mounted on the above-mentioned moving case part, A fireproof panel installation automation robot including a fireproof panel mounting portion raising / lowering means that is provided at a plurality of intervals on the upper portion of the above mounting frame to support the fireproof panel mounting portion from the lower portion and raise / lower the fireproof panel mounting portion.

8. In claim 1, The above drilling work section, A drilling frame movably installed on the above fireproof panel mounting portion, A drilling frame moving means provided on the above drilling frame and connected to the above fireproof panel mounting portion, and moving the drilling frame from the above fireproof panel mounting portion; An automated fireproof panel installation robot including a drilling tool installed on the drilling frame to form the penetration hole and the mounting hole in the fireproof panel and the ceiling of the tunnel.

9. In claim 8, The above drilling work section, A drilling work tool lifting / lowering means connected to the above drilling work tool and lifting / lowering the drilling work tool from the drilling frame; It further includes a drilling sensing means provided in the above drilling frame and sensing a position where the penetration hole is to be formed in the above fireproof panel, The above drilling work tool is installed in multiple pieces spaced apart from each other on the drilling frame to form the penetration holes in the width direction of the fireproof panel, and then moves in the length direction of the fireproof panel by the drilling frame moving means to form the penetration holes spaced apart from each other in the length direction of the fireproof panel.

10. In claim 8, The above anchoring work section, An anchoring frame movably mounted on the above fireproof panel mounting portion, An anchoring frame moving means provided on the above anchoring frame and connected to the fire-resistant panel mounting portion, and moving the anchoring frame from the fire-resistant panel mounting portion; An automated fireproof panel installation robot including an anchoring work tool installed in the anchoring frame to insert anchoring into the through hole and the mounting hole to secure the fireproof panel to the ceiling of the tunnel.

11. In claim 10, The above anchoring work section, An anchoring work tool lifting and lowering means that is connected to the above anchoring work tool and raises and lowers the anchoring work tool from the above anchoring frame; It further includes an anchoring sensing means which is provided in the anchoring frame and detects the position of the through hole formed by the drilling work unit, The above anchoring work tool is installed in multiple numbers spaced apart from each other on the above anchoring frame, the number of the above anchoring work tools is the same as the number of the above drilling work tools, and the multiple anchoring work tools and the multiple drilling work tools are spaced at equal intervals. An automatic fireproof panel installation robot.

12. In claim 2, A connecting member to which one end of the moving means part is connected is provided at the lower part of the above moving case part, An automatic fireproof panel installation robot characterized in that the above-mentioned moving means unit uses a forklift or aerial work platform including a fork connected to the above-mentioned connecting member.

13. In a method for installing a fire-resistant panel, the fire-resistant panel is moved to the ceiling of the tunnel and then the moved fire-resistant panel is automatically installed on the ceiling of the tunnel. Preparatory stage for mounting multiple fire-resistant panels to be installed on the ceiling of the tunnel onto a movable case; A work location moving step of moving a mobile case equipped with multiple fire-resistant panels to a work location using a moving means unit; A fireproof panel installation step in which the movable case part moved to the work location is moved toward the ceiling of the tunnel and the fireproof panel is installed in the fireproof panel installation part provided in the movable case part; A step of moving the installation location of a fireproof panel by moving the fireproof panel mounting portion, on which the fireproof panel is installed, toward the ceiling of the tunnel using the fireproof panel elevating and lowering portion; Drilling and anchoring work step for fixing the fireproof panel moved to the fireproof panel installation location to the ceiling of the tunnel using a drilling work section and an anchoring work section; and A method for installing a fireproof panel, comprising a step of lowering a fireproof panel mounting portion that has been moved toward the ceiling of a tunnel to mount a fireproof panel on the fireproof panel mounting portion, and returning a drilling portion and an anchoring portion to their original state.

14. In claim 13, The above drilling and anchoring work steps are: A drilling step for forming a penetration hole and a mounting hole in the ceiling of the fireproof panel and the tunnel using the drilling work section moved to the fireproof panel installation location, A method for installing a fire-resistant panel, comprising an anchoring work step of inserting anchoring into a through hole and a mounting hole formed through the drilling work step using the anchoring work section to secure one end of the fire-resistant panel to the ceiling of a tunnel.

15. In claim 14, The above drilling and anchoring work steps are: A method for installing a fireproof panel, characterized in that the drilling work section and the anchoring work section are moved in the longitudinal direction of the fireproof panel while repeating the drilling work step and the anchoring work step five times.

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