Construction method

Abstract

Provided is a construction method with which it is possible to construct an adhesive with an appropriate adhesion area. The construction method is for constructing, in a state where a movable device at least partially movable with respect to a pedestal is fixed to the pedestal, a gel-like support member interposed between the pedestal and a floor surface and supporting the pedestal, and an adhesive interposed between the pedestal and the floor surface for adhering the pedestal to the floor surface. The construction method includes: calculating a required adhesion area on the basis of design values of the pedestal and the movable device and the tensile strength of the adhesive; determining an adhesive safety factor for the construction area of the adhesive according to a load level estimated on the basis of an operation condition including the speed, operation rate, installation environment, and weight of the movable device; and calculating the width of the adhesive to be constructed on the basis of the adhesive safety factor, the required adhesion area, and the length for which the adhesive is applied.

Description

Construction method

[0001] The present disclosure relates to an installation method.

[0002] There are known conveyance devices such as palletizing devices and depalletizing devices that load and unload items onto pallets, or transfer items from one pallet to another. Palletizing devices and depalletizing devices are, for example, robots with articulated arms.

[0003] Various methods for fixing and holding such movable devices, such as robots, to floors or walls via pedestals have been disclosed (e.g., Patent Documents 1, 2, and 3). However, the fixing method using magnets in Patent Document 1 is limited to metal floors and has weaker fixing strength than anchor bolts. Furthermore, Patent Documents 2 and 3 fix devices using hooks installed on the floor or wall, which requires prior construction work at the installation site and makes them unremovable.

[0004] Furthermore, in order to obtain vibration-damping effects in addition to supporting and fixing the load of the movable device and base, a method of applying a fall-suppression device using a silicone-based elastic adhesive, as disclosed in Patent Document 4, for example, can be considered. Note that this method allows for easy relocation because the device is removable, but the fixing force is weak, so it is necessary to use another fixing method (for example, adhesive) in combination to prevent horizontal displacement.

[0005] JP 2021-171784 A JP 2013-061053 A JP 2020-138289 A JP 2019-120358 A

[0006] The support and fixing members described above gradually deteriorate due to wear caused by the weight of the base and the operation of the device, reducing their vibration-damping effect and fixing force. Furthermore, if they are not installed properly, wear and deterioration may occur more quickly.

[0007] The present disclosure is intended to solve the above-mentioned problems, and aims to provide an application method that can apply an adhesive with an appropriate adhesive area.

[0008] In order to achieve the above-mentioned object, one aspect of the present disclosure provides an installation method for installing a gel-like support member interposed between a base and a floor surface to support the base, and an adhesive interposed between the base and the floor surface to adhere the base to the floor surface, while the movable device is fixed to the base and at least a portion of the movable device is movable relative to the base. The installation method includes calculating a required adhesive area based on design values ​​of the base and the movable device and the tensile strength of the adhesive, determining an adhesive safety factor for the adhesive application area in accordance with a load level estimated based on operating conditions including the speed, operating rate, installation environment, and weight of the movable device, and calculating the width of the adhesive to be installed based on the adhesive safety factor, the required adhesive area, and the length to which the adhesive is applied.

[0009] According to the present disclosure, an effect can be obtained in which an adhesive can be applied with an appropriate adhesive area.

[0010] Fig. 1 is a schematic diagram of a conveying device installed using the application method according to this embodiment. Fig. 2 is a plan view of the base shown in Fig. 1. Fig. 3 is a schematic diagram showing an example of application of the adhesive shown in Fig. 1. Fig. 4 is a schematic diagram showing an example of application of the gel shown in Fig. 1. Fig. 5 is a flowchart explaining the flow of the application method according to this embodiment. Fig. 6 is a schematic diagram showing an example of a gel arrangement map. Fig. 7 is a schematic diagram showing an example of a gel arrangement map. Fig. 8 is a flowchart explaining the flow of the re-application method according to this embodiment.

[0011] (Embodiments) Hereinafter, embodiments according to the present disclosure will be described in detail with reference to the drawings. Note that the present invention is not limited to these embodiments. Furthermore, the components in the following embodiments include those that are easily replaceable by those skilled in the art, those that are substantially identical, or those that are equivalent. Furthermore, the components in the following embodiments can be variously omitted, replaced, or modified without departing from the gist of the present disclosure. In the following embodiments, components necessary for illustrating the embodiments will be described, and other components will be omitted. The same components will be assigned the same reference numerals, and different components will be assigned different reference numerals.

[0012] <Conveying device> Fig. 1 is a schematic diagram of a conveying device to which the construction method according to this embodiment is applied. The conveying device 1 shown in Fig. 1 is a device that stacks (palletizes) items R onto a pallet P1, unloads (depalletizes) items R from a pallet P2, or transfers items from an arbitrary pallet P2 to another pallet P1 in a facility that is subject to logistics management, such as a warehouse.

[0013] Here, the definition of a pallet by the Japan Pallet Association (general incorporated association) is "a surface on which a single unit of cargo can be placed, with a structure that allows for all loading, transport, and storage by hand or by dedicated vehicles such as forklifts. This includes those with superstructures." In this embodiment, a pallet refers to a container or platform on which goods R are stacked. In other words, the pallet referred to here is not limited to a so-called flat platform, but also includes a cart or the like, and may be of any shape. Goods R are things that are stacked on a pallet, such as goods to be shipped. Note that goods R are also referred to as plastic containers, cardboard boxes, bags, etc., in which goods are packaged.

[0014] 1, the conveying device 1 includes a base 10, a gel 20 and an adhesive 30 serving as support members, and a movable device 40. In this embodiment, a horizontal direction is defined as the X-axis direction, a horizontal direction perpendicular to the X-axis direction is defined as the Y-axis direction, and a vertical direction perpendicular to the X-axis and Y-axis directions is defined as the Z-axis direction. The conveying device 1 is supported and fixed on a horizontal surface Gr parallel to the X-axis and Y-axis directions and made of highly rigid material such as concrete.

[0015] The base 10 is a plate-shaped object made of a highly rigid material such as a steel plate. The base 10 is supported and fixed on the underside to the floor Gr, which is the installation surface, via a gel 20 and an adhesive 30, which are support members. Ideally, the base 10 is supported and fixed in a substantially horizontal position, but as will be described later, when the thickness of the gel 20 decreases, the amount of reduction varies within the horizontal plane, causing the base 10 to tilt relative to the horizontal position. The base 10 supports the movable device 40 on the upper side.

[0016] FIG. 2 is a plan view of the base shown in FIG. 1. As shown in FIG. 2, the base 10 of this embodiment includes four areas 10-1, 10-2, 10-3, and 10-4. Each of the areas 10-1, 10-2, 10-3, and 10-4 is a square plate, with two areas arranged side by side in the X-axis direction and two areas arranged side by side in the Y-axis direction. Each of the areas 10-1, 10-2, 10-3, and 10-4 collectively supports and fixes a movable device 40 (described below). Each of the areas 10-1, 10-2, 10-3, and 10-4 supports and fixes one of the legs 421 provided at each of the four corners of a robot pedestal 42 of the movable device 40 (described below). Bolt holes (not shown) are formed in the base 10 for inserting anchor bolts 422 to fix the legs 421 to the base 10.

[0017] 1 is a gel-like support member that has adhesiveness and is in the shape of a plate made of an elastic material, for example, a silicone-based resin or a rubber-based material. The gel 20 is disposed between the floor surface Gr and the underside of the base 10, and supports the load applied from the base 10 and the movable device 40 supported by the base 10 in the Z-axis direction by compression, and also damps vibrations.

[0018] The adhesive 30 is, for example, a silicone resin that has adhesive properties that allow it to bond at least between the floor surface Gr and the pedestal 10, and is stored in a liquid state and hardens by drying, etc. The adhesive 30 fixes the floor surface Gr and the pedestal 10 by filling the gap between the floor surface Gr and the pedestal 10 and hardening, for example, with the pedestal 10 supported by the gel 20.

[0019] The movable device 40 is a device that operates while supported and fixed to the base 10. In this embodiment, the movable device 40 is a palletizing device, and is a robot with an articulated arm. The movable device 40 experiences shaking, vibration, and shifts in its center of gravity due to the rotation and deformation of the arm 44 and the load of the article R held by the end effector 46. In other words, operation of the movable device 40 generates an excitation force on the base 10.

[0020] The movable device 40 includes a robot pedestal 42, an arm 44 including a plurality of links 442 connected to a plurality of joints 441, and an end effector 46. The robot pedestal 42 is a rectangular parallelepiped base member made of a highly rigid material such as carbon steel (SS material). As shown in FIG. 2, the robot pedestal 42 has legs 421 at each of the four corners on the underside. Each leg 421 is fixed with an anchor bolt 422, thereby fixing the robot pedestal 42 to the pedestal 10. In the example shown in FIG. 2, one leg 421 is fixed to the pedestal 10 with two anchor bolts 422.

[0021] 1 is supported on the robot base 42 so as to be able to rotate about an axis and move up and down. A joint 441 is an axis of rotation that serves as a joint of the arm 44. A link 442 connects adjacent joints 441. An end effector 46 is connected to the tip of the arm 44. The end effector 46 is a gripping unit that grips an item R by suction, clamping, or a combination of these.

[0022] The movable device 40 also includes a drive unit (not shown). The drive unit includes, for example, a rotation mechanism that rotates the links 442 relative to each other at the joint 441, and a suction mechanism or clamping mechanism that drives the end effector 46. The rotation mechanism in the joint 441 is realized by a well-known mechanism, such as a rotary actuator including a motor, a rack-and-pinion mechanism including an air cylinder, or a wire or link mechanism. The suction mechanism in the end effector 46 is realized by a mechanism that drives a rotary cylinder or a piston cylinder with a motor or a compressor, or a well-known mechanism that includes a suction source, such as a vacuum pump or an ejector. The clamping mechanism in the end effector 46 is realized by a well-known mechanism, such as a rotary actuator including a motor, a linear actuator including a motor or an air cylinder, a rack-and-pinion mechanism including an air cylinder, or a wire or link mechanism.

[0023] The conveying device 1 may further include, for example, an imaging device, a lighting device, an alarm device, a control device, and an input device (not shown). The imaging device captures images of the pallets P1 and P2 on which the items R are to be loaded or unloaded, the items R loaded on the pallet P2, and the stacked arrangement of the items R, and acquires image data that allows the position and individual items of the imaged objects to be identified. The lighting device irradiates light onto the object imaged by the imaging device. The alarm device includes a display device, a light-emitting device, a speaker, a vibrator, etc. for allowing the operator to recognize predetermined alarm information. The control device is a computer that controls the conveying device 1 and includes an arithmetic processing unit, a storage device, an input / output interface, etc. The input device is realized by, for example, a keyboard, a mouse, a physical switch, a button, or a touch panel. Note that in this embodiment, the conveying device 1 including the imaging device, the lighting device, the alarm device, the control device, and the input device also includes an embodiment in which the functions of each of these devices are configured as part of the conveying device 1 or a conveying system in which the conveying device 1 is deployed.

[0024] The conveying device 1 is managed by a management device (not shown). The management device is a system that manages the operation of each device in a logistics management facility in which the conveying device 1 of this embodiment is deployed. The management device is, for example, a warehouse control system (WCS) or a warehouse management system (WMS). However, the management device is not limited to a WCS or a WMS and may be any system, such as a back-end system such as another production management system. The management device may be installed at any location, and may be installed within the facility in which the conveying device 1 is deployed, or may be installed at a location remote from the facility to manage the facility from that location.

[0025] <Method of applying adhesive> The adhesive 30 undergoes changes in physical properties, such as a decrease in adhesive strength, due to deterioration over time. In addition, a horizontal displacement force is applied to the base 10 when the movable device 40 rotates on the base 10. This causes shear deformation or breakage of the adhesive 30, causing the base 10 to shift in the X-axis and Y-axis directions relative to the floor surface Gr. For example, when the base 10 rotates relative to the floor surface Gr, the adhesive surface of the base 10 shifts in the X-axis and Y-axis directions relative to the adhesive surface of the floor surface Gr. Therefore, the adhesive 30 needs to be applied with an appropriate adhesive area and be reapplied periodically.

[0026] Fig. 3 is a schematic diagram showing an example of application of the adhesive shown in Fig. 1. As shown in Fig. 3, adhesive 30 is applied, for example, to one area 10-1 in a ring shape with a substantially constant width along a position at a predetermined distance from the periphery of base 10. The same is true for the other areas 10-2, 10-3, and 10-4.

[0027] The application area of ​​the adhesive 30 per area is As [mm ２ ], the width of the adhesive 30 to be applied is Aw [mm], and the perimeter is Al [mm], the application area As is given by the following formula (1): As = Aw × Al (1)

[0028] In addition, the required adhesive area per area is As ０ [mm ２ ] and the safety factor is Q, the construction area As per one area is expressed by the following formula (2): As = Q × As ０ ... (2)

[0029] The required adhesive area As ０ is calculated based on the bolt fastening force per area of ​​the anchor bolts 422 fastening the movable device 40 to the base 10. The bolt fastening force per area is defined as Bf [N], and the anchor strength per anchor bolt 422 is defined as Bs [N / mm ２] and the number of anchor bolts 422 per area is Bn [pieces], the bolt tightening force Bf per area is given by the following formula (3). Note that the anchor strength Bs of the anchor bolt 422 is a value specified by the manufacturer. Bf = Bs × Bn (3)

[0030] The tensile strength per unit area of ​​the adhesive 30 is Af [N / mm ２ ], then the required adhesive area As ０ is expressed by the following formula (4): The tensile strength Af per unit area of ​​the adhesive 30 is a value specified by the manufacturer. ０ =Bf / Af... (4)

[0031] Here, the safety factor Q is determined according to the load level applied to the adhesive 30, as shown in Table 1. The load level is determined by the integrated value of the load points (1) to (4). When the load point number is 3 or less, the load level is I and the safety factor Q is 2. When the load point number is 4 or more and 12 or less, the load level is II and the safety factor Q is 4. When the load point number is 13 or more and 27 or less, the load level is III and the safety factor Q is 6.

[0032]

[0033] As shown in Table 2, the load score (1) is determined based on the operating condition (1). The operating condition (1) is the weight (box weight) of the item R conveyed by the conveying device 1. When the box weight is less than 10 kg, the load score (1) is 1 point. When the box weight is 10 kg or more but less than 20 kg, the load score (1) is 2 points. When the box weight is 20 kg or more, the load score (1) is 3 points.

[0034]

[0035] As shown in Table 3, the load score (2) is determined based on the operating condition (2). The operating condition (2) is the speed of the arm 44. If the speed override with respect to the maximum speed of the arm 44 is less than 30%, the load score (2) is 1 point. If the speed override is 30% or more but less than 80%, the load score (2) is 2 points. If the speed override is 80% or more, the load score (2) is 3 points.

[0036]

[0037] As shown in Table 4, the load score (3) is determined based on the operating condition (3). The operating condition (3) is the operating rate of the movable device 40. If the operating rate is several hours per day, the load score (3) is 1 point. If the operating rate is 10 hours per day, the load score (3) is 2 points. If the operation is continuous, the load score (3) is 3 points.

[0038]

[0039] As shown in Table 5, the load score (4) is determined based on the operating condition (4). The operating condition (4) is the installation environment in which the movable device 40 is installed. If the movable device 40 is installed in an enclosed space where the temperature and humidity are stable, the load score (4) is 1 point. If the movable device 40 is installed in an open space where the temperature and humidity fluctuate, the load score (4) is 3 points. If the movable device 40 is installed in an environment between these two, the load score (4) is 2 points.

[0040]

[0041] <Gel Application Method> The gel 20 undergoes plastic deformation and reduces in thickness as a result of the continuous application of load from the base 10 and the movable device 40 supported by the base 10. This reduces the vibration-damping effect and causes the base 10 and the movable device 40 to sink, resulting in a discrepancy between the control value of the coordinates and the actual position when the movable device 40 is operated to transport the item R. Furthermore, if there is variation in the amount of thickness reduction of multiple gels 20, the base 10 and the movable device 40 will tilt, increasing the load on each part of the movable device 40. Therefore, the gel 20 needs to be applied with an appropriate adhesive area and be reapplied periodically.

[0042] FIG. 4 is a schematic diagram showing an example of application of the gel shown in FIG. 4. As an example, FIG. 4 shows an example of the arrangement of gel 20 in area 10-1 of base 10. As shown in FIG. 4, gel 20 is distributed and arranged at multiple locations within area 10-1 in a plan view. In the example shown in FIG. 4, gel 20 is arranged near the four corners and in the center of area 10-1 with a normal shape. Of these, four gels 20 are arranged in the corner directly below the legs 421 of robot pedestal 42 of movable device 40 (described below), and one gel 20 is arranged in each of the other corners and the center.

[0043] The number of gel sheets 20 to be placed between the base 10 and the floor surface Gr is Gn [sheets], the number of areas on the base 10 is Pn [pieces], and the number of gel sheets required per area is Gn ０ When the number of gel sheets is [sheets] and the safety factor is S, the number of gel sheets Gn is expressed by the following formula (5): Gn = S × Gn ０ × Pn ... (5)

[0044] The required number of gel sheets is Gn ０ is calculated based on the total weight of the object supported by the gel 20. The total weight is W [N], and the weight of the base 10 is W １ [N], and the weight of the movable device 40 is W ２ [N], and the maximum weight of the article R that the movable device 40 can transport is W ３ [N], the total weight W is expressed by the following equation (6): W = W １ +W ２ +W ３ ... (6)

[0045] In addition, if the load capacity per gel 20 is Gf [N], the number of gels required per area is Gn ０ is expressed by the following formula (7). Note that the load capacity Gf per sheet of gel 20 is a value specified by the manufacturer. ０ =W / Gf / Pn... (7)

[0046] Here, the safety factor S is determined according to the load level applied to the gel 20, as shown in Table 6. The load level is determined by the integrated value of the load points (1) to (3). The load points are the same as those in Tables 2 to 4. When the load point number is 3 or less, the load level is I and the safety factor S is 3. When the load point number is 4 or more and 12 or less, the load level is II and the safety factor S is 5. When the load point number is 13 or more and 27 or less, the load level is III and the safety factor S is 7.

[0047]

[0048] <Flow of Construction Method> Fig. 5 is a flowchart illustrating the flow of the construction method according to this embodiment. The flowchart shown in Fig. 5 is executed by the calculation unit of the control device or management device of the conveyance device 1 based on programs and data stored in advance in the storage unit. For example, upon receiving a predetermined start command input by an operator, the calculation unit proceeds to step S1 shown in Fig. 5 and starts processing.

[0049] The storage unit stores in advance the type and maximum weight W of the article R to be transported by the transport device 1. ３ , the operating conditions of the conveying device 1, and the weight W of the base 10 １ and the number of areas Pn, the number of anchor bolts 422 per area Bn, the circumferential length Al to which the adhesive 30 is applied, and the weight W of the movable device 40. ２ , and various manufacturer-specified values ​​are stored. The operating conditions of the transport device 1 include at least the speed (override) of the arm 44, the availability rate, and the installation environment. The memory unit is also assumed to have stored in advance the shape of the base 10, the fixed position of the robot pedestal 42, the number Gn of gel sheets to be applied, a gel 20 placement map, and corresponding placement rules.

[0050] In step S1, the calculation unit calculates the bolt fastening force Bf of the anchor bolts 422 per area (areas 10-1, 10-2, 10-3, 10-4) of the base 10 using the anchor strength Bs per anchor bolt 422 and the number Bn of anchor bolts 422 per area using the above-mentioned formula (3).

[0051] Next, in step S2, the calculation unit calculates the required adhesive area As per one area of ​​the base 10. ０ is calculated from the bolt fastening force Bf and the tensile strength Af per unit area of ​​the adhesive 30 using the above-mentioned formula (4). ０ is determined by the design values ​​of the base 10 and the movable device 40 and the manufacturer-specified value of the adhesive 30.

[0052] Next, in step S3, the calculation unit determines the safety factor Q of the application area As of the adhesive 30 using Table 1 above, based on the operating conditions shown in Tables 2 to 5 above.

[0053] Next, in step S4, the calculation unit calculates the application area As of the adhesive 30 as the required adhesive area As ０ and the safety factor Q, using the above-mentioned formula (2). Next, the calculation unit calculates the width Aw of the adhesive 30 from the application area As and the circumferential length Al of the adhesive 30 applied to one area, using the above-mentioned formula (1).

[0054] Next, in step S5, the calculation unit calculates the total weight W of the objects supported by the gel 20 by multiplying the weight W of the base 10 by the １ and the weight W of the movable device 40 ２ and the maximum weight W of the article R that the movable device 40 can transport. ３ From this, it is calculated using the above-mentioned formula (6).

[0055] Next, in step S6, the calculation unit calculates the number of gel sheets required per area Gn ０ is calculated from the total weight W, the load capacity Gf per sheet of gel 20, and the number of areas Pn of the base 10 using the above-mentioned formula (7).

[0056] Next, in step S7, the calculation unit determines the safety factor S of the number of gel sheets Gn using Table 6 above, based on the operating conditions shown in Tables 2 to 4 above.

[0057] Next, in step S8, the calculation unit calculates the number of gel sheets Gn of the gel 20 to be placed between the base 10 and the floor surface Gr as the required number of gel sheets Gn ０The safety factor S and the number of areas Pn of the base 10 are used to calculate the safety factor S and the number of areas Pn of the base 10 using the above-mentioned formula (5).

[0058] Next, in step S9, the calculation unit determines the placement of the gel based on the shape of the base 10, the fixed position of the robot pedestal 42 relative to the base 10, the number of gel sheets Gn, and a predetermined placement rule. In this way, the application method of the adhesive 30 and the gel 20 is determined, and the processing of the flowchart shown in FIG. 5 is completed.

[0059] <Example of Gel Arrangement Map> As described above, an arrangement rule is prepared in advance that associates the shape of the base 10, the fixed position of the robot pedestal 42, the number of gel sheets Gn to be applied, and the arrangement map of the gel 20. An example of the arrangement map of the gel 20 is, for example, as shown in the application example in Fig. 4. Figs. 6 and 7 are schematic diagrams showing examples of the gel arrangement map.

[0060] 6, the base 10A is a square of one area, the fixed position of the robot pedestal 42 is in the center, and the number of gel sheets Gn is 9. In this case, one gel sheet 20 is placed at each of the four corners of the base 10, one gel sheet at each of the four corners of the robot pedestal 42, and the remaining one gel sheet is placed in the center.

[0061] 7, the base 10B has a circular shape of one area, the robot pedestal 42 is fixed at the center, and the number of gel sheets Gn is 9. In this case, one gel sheet 20 is placed at each of the four corners of the robot pedestal 42, and the remaining five gel sheets are placed at equal intervals along the periphery of the base 10.

[0062] <Reapplication Method Flow> The support and fixation provided by the gel 20 and adhesive 30 determined and applied by the above-described application method gradually deteriorates due to wear caused by the weight from the base and the operation of the device, reducing the vibration-damping effect and fixation force, so reapplication must be performed at an appropriate time. This appropriate time can be predicted, for example, by monitoring the amount of displacement of the base 10. Vertical subsidence of the base 10 indicates a decrease in the thickness of the gel 20, and horizontal displacement of the base 10 indicates deformation or breakage of the adhesive 30.

[0063] Appropriate application ensures sufficient operating time (number of transfers) for the movable device 40 between application and reapplication. However, if the load level of the actual operating conditions is higher than the assumed operating conditions, the increase in the amount of misalignment of the base 10 may accelerate, and the operating time of the movable device 40 until the tolerance value requiring reapplication is reached may decrease. Therefore, when reapplication is performed, it is preferable to correct the width Aw of the adhesive 30, the number Gn of gel sheets, and the arrangement of the gel 20 according to the actual operating conditions.

[0064] 8 is a flowchart illustrating the flow of the re-application method according to this embodiment. The flowchart shown in FIG. 8 is executed by the calculation unit of the control device or management device of the transport device 1 based on the program and data stored in advance in the storage unit. For example, the calculation unit receives a predetermined start command input by an operator, and then proceeds to step S11 shown in FIG. 8 and starts processing.

[0065] In step S11, the calculation unit acquires the actual operating status of the conveyance device 1. The acquired information on the operating status includes at least the items in Tables 2 to 5 described above.

[0066] Next, in step S12, the calculation unit corrects the safety factor Q of the application area As of the adhesive 30 using Tables 1 to 5 described above, based on the operating status acquired in step S11.

[0067] Next, in step S13, the calculation unit recalculates and corrects the width Aw of the adhesive 30 using the above-described formula (1) based on the corrected safety factor Q. The calculation method is the same as step S4 in the flowchart shown in FIG.

[0068] Next, in step S14, the calculation unit corrects the safety factor S of the number of gel sheets Gn of the gel 20 based on the operating status acquired in step S11 using Table 6 and Tables 2 to 4 described above.

[0069] Next, in step S15, the calculation unit recalculates and corrects the number Gn of gel sheets 20 to be placed between the base 10 and the floor surface Gr using the above-mentioned formula (5) based on the corrected safety factor S. The calculation method is the same as step S8 in the flowchart shown in FIG.

[0070] Next, in step S16, the placement of the gel is corrected based on the corrected number of gel sheets Gn. The method for determining the placement of the gel is the same as step S9 in the flowchart shown in Figure 5. As a result, the reapplication method for the adhesive 30 and the gel 20 is determined, and the processing of the flowchart shown in Figure 8 is completed.

[0071] <Method for predicting the time for re-application> In this embodiment, the time for re-application may be predicted using machine learning. For example, predictions based on machine learning are realized by accumulating data that correlates safety factors Q and S during application, actual operating conditions, and operating time from application to re-application, and then performing machine learning. Furthermore, data accumulated in each factory, such as data on replacement times predicted by machine learning and results of comparison with past re-application records, may be managed by a management device or by remote monitoring further upstream from the management device, thereby improving prediction accuracy.

[0072] (Operation and Effect of the Embodiment) The construction method described in the embodiment can be understood, for example, as follows.

[0073] The construction method according to the first aspect is a construction method in which, in a state in which a movable device 40, at least a portion of which is movable relative to the base 10, is fixed to the base 10, a gel-like support member (gel 20) is interposed between the base 10 and a floor surface Gr to support the base 10, and an adhesive 30 is interposed between the base 10 and the floor surface Gr to bond the base 10 to the floor surface Gr, and a required adhesive area As is determined based on the design values ​​of the base 10 and the movable device 40 and the tensile strength Af of the adhesive 30. ０ and determining a safety factor Q of the application area As of the adhesive 30 according to a load level estimated based on the operating conditions including the speed, operating rate, installation environment, and weight of the movable device 40; and calculating a safety factor Q and a required adhesive area As ０and calculating the width Aw of the adhesive 30 to be applied based on the length Al of the adhesive 30 to be applied.

[0074] In the construction method according to the first aspect, the load applied from the base 10 is supported by a support member (gel 20), and the base 10 and floor surface Gr are fixed with adhesive 30. This construction method does not require construction work on the floor surface Gr, and is relocatable, as compared to fixing using anchor bolts. Furthermore, the safety factor Q is determined according to the load level estimated based on the operating conditions of the movable device 40, and the width Aw of the adhesive 30 to be applied is calculated taking this safety factor Q into consideration. This allows the adhesive 30 to be applied over an appropriate application area As, and ensures sufficient operating time (number of transports) for the movable device 40 from application to reapplication.

[0075] The construction method according to the second aspect is the construction method according to the first aspect, and includes acquiring actual operating conditions including the speed, operating rate, installation environment, and weight of the movable device 40, correcting the safety factor Q based on the actual operating conditions, and calculating the width Aw of the adhesive 30 to be re-applied based on the corrected safety factor Q.

[0076] In the application method according to the second aspect, the safety factor Q is corrected based on the actual operating conditions, so that the adhesive 30 can be applied to a more appropriate application area As from the second application onwards.

[0077] The construction method according to the third aspect is the construction method according to the second aspect, and includes accumulating data correlating the safety factor Q used when applying the adhesive 30, the actual operating status, and the operating time of the movable device 40 from application to reapplication, and performing machine learning, and predicting when the adhesive 30 should be reapplicationed using machine learning.

[0078] In the construction method according to the third aspect, even if there is a large difference between the safety factor Q used during construction and the safety factor Q calculated based on the actual operating conditions, by predicting the time for re-construction, it is possible to carry out re-construction before the amount of deviation of the base 10 due to deterioration of the adhesive 30 exceeds the allowable value.

[0079] The construction method according to the fourth aspect is a construction method according to any one of the first to third aspects, and is a construction method in which the number of gels required to be constructed (required number of gels Gn) is determined based on the total weight W of the object supported by the support member (gel 20) and the load capacity Gf of each support member. ０ ) and determining a safety factor S of the number of support members to be installed (number of gel sheets Gn) according to a load level estimated based on operating conditions including the speed, operating rate, and weight of the movable device 40; and calculating the safety factor S and the required number of installed sheets (required number of gel sheets Gn ０ ) and calculating the number of support members to be installed (number of gels Gn) based on the above.

[0080] The construction method according to the fourth aspect determines a safety factor S according to the load level estimated based on the operating conditions of the movable device 40, and calculates the number of support members (gels 20) to be constructed (number of gels Gn) taking into account the safety factor S, so that an appropriate number of support members can be constructed (number of gels Gn), and sufficient operating time (number of transports) of the movable device 40 from construction to re-construction can be ensured.

[0081] The construction method according to the fifth aspect is the construction method according to the fourth aspect, and includes acquiring the actual operating status including the speed, operating rate, and weight of the movable device 40, correcting the safety factor S based on the actual operating status, and calculating the number of support members (gels 20) to be re-constructed (number of gels Gn) based on the corrected safety factor S.

[0082] The construction method of the fifth aspect corrects the safety factor S based on the actual operating conditions, so that from the second construction onwards, the support member (gel 20) can be constructed with a more appropriate number of construction sheets (number of gels Gn).

[0083] The construction method according to the sixth aspect is the construction method according to the fifth aspect, and includes accumulating data correlating the safety factor S used when constructing the support member (gel 20), the actual operating status, and the operating time of the movable device 40 from construction to re-construction, and performing machine learning, and predicting the time to re-construct the support member using machine learning.

[0084] In the construction method of the sixth aspect, even if there is a large difference between the safety factor S used during construction and the safety factor S calculated based on the actual operating conditions, by predicting the time for re-construction, re-construction can be carried out before the amount of deviation of the base 10 due to deterioration of the support member (gel 20) exceeds the allowable value.

[0085] Although the embodiments of the present disclosure have been described above, the embodiments are not limited to the contents of the description of these embodiments.

[0086] 1 Conveying device 10, 10A, 10B Base 10-1, 10-2, 10-3, 10-4 Area 20 Gel (supporting member) 30 Adhesive 40 Movable device 42 Robot stand 421 Leg 422 Anchor bolt 44 Arm 441 Joint 442 Link 46 End effector Al Circumference Aw Width Gr Floor surface P1, P2 Pallet Q, S Safety factor R Item

Claims

1. A method for applying a gel-like support member that is interposed between a pedestal and a floor surface to support the pedestal, and an adhesive that is interposed between the pedestal and the floor surface to adhere the pedestal to the floor surface, when the pedestal is fixed to a movable device that is at least partially movable relative to the pedestal, the method comprising: calculating a required adhesive area based on design values ​​of the pedestal and the movable device and the tensile strength of the adhesive; determining an adhesive safety factor for the adhesive application area according to a load level estimated based on operating conditions including the speed, operating rate, installation environment, and weight of the movable device; and calculating a width of the adhesive to be applied based on the adhesive safety factor, the required adhesive area, and the length to which the adhesive is applied.

2. The construction method according to claim 1, comprising: acquiring actual operating conditions including the speed, operating rate, installation environment, and weight of the movable device; correcting the adhesive safety factor based on the actual operating conditions; and calculating the width of the adhesive to be re-applied based on the corrected adhesive safety factor.

3. The construction method described in claim 2, comprising: accumulating data correlating the adhesive safety factor used when applying the adhesive, the actual operating status, and the operating time of the movable device from application to re-application, and performing machine learning; and predicting the time to re-apply the adhesive using the machine learning.

4. A construction method according to any one of claims 1 to 3, further comprising: calculating the number of support members required to be constructed based on the total weight of the object supported by the support members and the load capacity of each support member; determining a support member safety factor for the number of support members to be constructed in accordance with a load level estimated based on operating conditions including the speed, operating rate, and weight of the movable device; and calculating the number of support members to be constructed based on the support member safety factor and the required number of support members to be constructed.

5. The construction method according to claim 4, comprising: acquiring actual operating conditions including the speed, operating rate, and weight of the movable device; correcting the support member safety factor based on the actual operating conditions; and calculating the number of support members to be re-constructed based on the corrected support member safety factor.

6. The construction method described in claim 5, comprising: accumulating data correlating the support member safety factor used when constructing the support member, the actual operating status, and the operating time of the movable device from construction to re-construction, and performing machine learning; and predicting the time to re-construct the support member using the machine learning.

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