METHOD FOR CONSTRUCTING ACCESS FLOOR BY USING UNMANNED ROBOT

Abstract

The present invention provides a method for constructing an access floor by using unmanned robot, the method comprising: a first step (S100) of constructing an installation frame (10) and a peripheral slab (60) formed on the periphery of the installation frame; a second step (S200) of positioning the unmanned robot on the peripheral slab (60); and a third step (S300) of coupling a floor (30) to the installation frame (10) by the unmanned robot while moving along the peripheral slab (60). According to the present invention, an automated robot can install a mat and floor in place of a worker performing dangerous floor installation work, so as to prevent the occurrence of workplace safety accidents. Furthermore, through the installation of a mat and floor by the robot, floor installation location selection and leveling work can be quickly performed, so as to reduce the construction costs and shorten the construction period.

Claims

1. A method for constructing an access floor by using an unmanned robot, comprising: a first step (S100) of constructing an installation frame (10) and a peripheral slab (60) formed on a periphery of the installation frame; a second step (S200) of positioning the unmanned robot on the peripheral slab (60); and a third step (S300) of coupling a floor (30) to the installation frame (10) by the unmanned robot while moving along the peripheral slab (60).

2. The method of claim 1, wherein the unmanned robot comprises: a pad installation robot (100) configured to attach a pad (20) to the installation frame (10); a floor installation robot (200) configured to mount the floor (30) on the pad (20); and a bolting robot (300) configured to fasten the pad (20) and the floor (30) by using a fastening means (40), wherein the third step (S300) comprises: a pad attaching step (S310) of attaching the pad (20) to the installation frame (10) by using the pad installation robot (100); a floor mounting step (S320) of mounting the floor (30) to the pad (20) by using the floor installation robot (200); and a pad and floor fastening step (S330) of fastening the pad (20) and the floor (30) by using the fastening means (40) of the bolting robot (300).

3. The method of claim 2, wherein the pad installation robot (100) comprises: a first detection sensor (110) configured to sense an installation position (11) of the pad (20) on the installation frame (10); a first installation arm (120) configured to move the pad (20) to the installation position (11); a first transportation means (130) configured to move the first installation arm (120); and an adhesive supply part (140) configured to supply an adhesive to a bottom surface of the pad (20), wherein the pad attaching step (S310) comprises: an adhesive applying step (S311) of gripping the pad (20) by the first installation arm (120) and applying the adhesive supplied from the adhesive supply part (140) to a rear surface of the pad (20); and a pad installation step (S312) of transporting the pad (20) by the first installation arm (120) so that the rear surface of the pad (20) contacts a top surface of the installation frame (10).

4. The method of claim 3, wherein the floor installation robot (200) comprises: a transportation unit (210) configured to transport the floor (30) in a loaded state; and an installation unit (220) configured to mount the floor (30) disposed on the transportation unit (210) to the pad (20), wherein the floor mounting step (S320) comprises: a transportation step (S321) of moving the floor (30) to a periphery of the installation unit (220) by using the transportation unit (210); and a mounting step (S322) of mounting the floor (30) loaded on the transportation unit (210) to the pad (20) by using the installation unit (220).

5. The method of claim 4, wherein the installation unit (220) comprises: a second detection sensor (221) configured to sense a mounting position (12) of the floor (30); a second installation arm (222) configured to move the floor (30) to the mounting position (12); and a second transportation means (230) configured to move the second installation arm (222), wherein the mounting step (S322) comprises: a sensing step (S3221) of sensing the mounting position (12) of the floor (30) by using the second detection sensor (221); and a moving step (S3222) of moving the floor (30) loaded on the transportation unit (210) to the mounting position (12) by using the second installation arm (222).

6. The method of claim 5, wherein the bolting robot (300) comprises: a third detection sensor (310) configured to sense an insertion hole (13) to which the fastening means (40) is inserted; a third installation arm (320) configured to move the fastening means (40) to the insertion hole (13); and a third transportation means (330) configured to move the third installation arm (320), wherein the pad and floor fastening step (S330) comprises: an insertion hole sensing step (S331) of sensing the insertion hole (121) by using the third detection sensor (310); and a fastening means transportation step (S332) of moving the fastening means (40) to the insertion hole (13) by using the third installation arm (320).

7. The method of claim 6, wherein the bolting robot (300) further comprises a bolting part (340) configured to fasten the fastening means (40) to the insertion hole (13), wherein the pad and floor fastening step (S330) further comprises a bolting step (S333) of fastening the fastening means (40) to the insertion hole (13) by using the bolting part (340).

8. The method of claim 7, wherein the bolting robot (300) further comprises a horizontal level measuring part (350) configured to measure a horizontal level of the floor (30), wherein the pad and floor fastening step (S330) is performed only when a horizontal level (A) measured by the horizontal level measuring part (350) is within a predetermined value.

9. The method of claim 7, wherein the unmanned robot comprises: a position sensor (410) configured to generate position information (B) on a current position; and a distance sensor (420) configured to generate distance information (C) on a distance between a plurality of unmanned robots.

10. The method of claim 9, wherein the first step (S100) comprises an elevator construction step (S110) of constructing an elevator (50) configured to transport the unmanned robot to a level of the peripheral slab (60).

11. The method of claim 10, wherein the first installation arm (120) comprises: a first gripper (121) configured to suction the pad (20); and a second gripper (122) configured to surround a side surface and a bottom surface of the pad (20) suctioned to the first gripper (121).

12. The method of claim 11, wherein the first gripper (121) uses a vacuum suction method, and the second gripper (122) comprises: a first guide part (122a) protruding from an end of the first installation arm (120) in a downward direction (a); and a second guide part (122b) extending from the first guide part (122a) in an inward direction (b), wherein the first guide part (122a) is hinged with respect to the first installation arm (120).

13. The method of claim 12, wherein the second guide part (122b) is: hinged in the inward direction (b) in a state in which the pad (20) is suctioned to the first gripper (121); and hinged in an outward direction (c) in a state in which the pad (20) is separated from the first gripper (121).

14. The method of claim 13, wherein the pad installation robot (100) further comprises a main body (150) on which the first installation arm (120) is mounted, wherein the adhesive supply part (140) is disposed on the main body (150), and a discharge hole (141) through which an adhesive is discharged is defined in the adhesive supply part (140).

15. An access floor constructed by the method for constructing the access floor according to claim 1.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0030] FIG. 1 is a plan view illustrating a configuration of an installation frame, an elevator, and a peripheral slab in a process of constructing an access floor according to an embodiment of the present invention.

[0031] FIG. 2 is detail view illustrating a first installation arm of a pad installation robot according to an embodiment of the present invention.

[0032] FIG. 3 is detail view illustrating a second installation arm of a floor installation robot according to an embodiment of the present invention.

[0033] FIG. 4 is detail view illustrating a third installation arm of a bolting robot according to an embodiment of the present invention.

[0034] FIG. 5 is a view illustrating a state in which an unmanned robot is inserted to a peripheral slab through an elevator.

[0035] FIGS. 6 and 7 are views illustrating a state in which the unmanned robot is aligned around the installation frame for construction of the access floor.

[0036] FIGS. 8 to 11 are views illustrating a process in which the pad installation robot attaches a pad to the installation frame.

[0037] FIGS. 12 to 20 are views illustrating a process in which the floor installation robot mounts a floor on the pad.

[0038] FIGS. 21 to 22 are views illustrating a process in which the bolting robot fastens the pad and the floor by using a fastening means.

[0039] FIG. 23 is a plan view illustrating the pad used for unmanned access floor construction according to an embodiment of the present invention.

[0040] FIGS. 24 to 26 are views illustrating a movement path of the unmanned robot according to an embodiment of the present invention.

[0041] FIG. 27 is a view illustrating a movement path of a transportation unit of the pad installation robot according to an embodiment of the present invention.

[0042] FIG. 28 is a flowchart illustrating a method for constructing an access floor according to an embodiment of the present invention.

MODE FOR CARRYING OUT THE INVENTION

[0043] Hereinafter, embodiments of a method for constructing an access floor by using an unmanned robot according to the present invention will be described in more detail with reference to the accompanying drawings and, while describing of the accompanying drawings, the same or corresponding components are given with the same drawing number. Therefore, redundant description thereof will be omitted.

[0044] Also, though terms like a first and a second are used to describe various members, components, regions, layers, and/or portions in various embodiments of the present invention, the members, components, regions, layers, and/or portions are not limited to these terms.

[0045] When it is described that an element is “coupled to”, “engaged with”, or “connected to” another element, it should be understood that the element may be directly coupled or connected to the other element but still another element may be “coupled to”, “engaged with”, or “connected to” the other element between them.

[0046] The present invention relates to a method for constructing an access floor by using an unmanned robot, which allows unmanned construction of an access floor.

[0047] The access floor constructed by the method for constructing the access floor by using the unmanned robot according to an embodiment of the present invention includes an installation frame 10, a pad 20 attached to the installation frame 10, and a floor 30 coupled to the pad 20.

[0048] The installation frame 10 that is a basic framework allowing the floor 30 to be spaced a predetermined distance from the ground forms a lower space below the floor 30, in which all sorts of equipment is installed and an air-conditioning system is constructed.

[0049] The pad 20 is a component that is generally bonded and installed to the installation frame 10, and one corner of the floor 30 is mounted on the pad 20. In general, four corners of the floor 30 are mounted to a top surface of the pad 20.

[0050] The pad 20 may include a mounting part 21 to which the corner of the floor 30 is mounted, a guide part 22 dividing the corners of the floor 20, and a through-hole 23 to which a bolt 41 for fastening the pad 20 to the floor 30 is inserted (refer to FIG. 23).

[0051] The pad 20 serves to couple the floor 30 with the installation frame 10 and specify an installation position of the floor 30.

[0052] However, since exact leveling and position setting of the floor 30 are difficult when the pad 20 is installed by manpower, there is a problem of requiring a complicated process in which the floor 30 is temporarily installed and then removed again, and the pad 20 is bonded. Accordingly, a problem such as a safety accident and strain on a worker’s body occurs because much time is consumed for constructing the access floor, and also a worker needs to install the floor 30 two times.

[0053] In order to resolve the above-described problem, the present invention allows the unmanned robot to perform an entire process of installation of the pad 20, mounting of the floor 30, and fastening the pad 20 with the floor 30, which are required for constructing the access floor.

[0054] The method for constructing the access floor according to an embodiment of the present invention includes: a first step S100 of constructing an installation frame 10 and a peripheral slab 60 formed on a periphery of the installation frame 100; a second step S200 of positioning the unmanned robot on the peripheral slab 60; and a third step S300 of coupling the floor 30 to the installation frame 10 by the unmanned robot while moving along the peripheral slab 60.

[0055] In the present invention, the unmanned robot that is an object of constructing the access floor instead of manpower is connected to a control server 1 by wired or wireless communication.

[0056] The control server 1 includes an operation module for drive and movement of the construction robot, and the control server 1 may be mounted to the construction robot itself.

[0057] In the present invention, the unmanned robot may include a pad installation robot 100 for attaching the pad 20 to the installation frame 10, a floor installation robot 200 for mounting the floor 30 on the pad 20, and a bolting robot 300 for fastening the pad 20 to the floor 30 by using a fastening means 40 (refer to FIG. 5).

[0058] Specifically, the pad installation robot 100 that is an unmanned robot for attaching the pad 20 to the installation frame 10 (refer to FIGS. 8 to 11) may include a first detection sensor 110 sensing an installation position 11 of the pad 20 on the installation frame 10, a first installation arm 120 moving the pad 20 to the installation position 11, a first transportation means 130 moving the first installation arm 120, and an adhesive supply part 140 supplying an adhesive to a bottom surface of the pad 20 (refer to FIG. 2).

[0059] The first detection sensor 110 includes components such as a vision sensor.

[0060] The first installation arm 120 that is a component for gripping and moving the pad 20 to the installation position 11 may include a first gripper 121 for suctioning and gripping the pad 20 and a second gripper 122 surrounding a side surface and a bottom surface of the pad 20 suctioned to the first gripper 121.

[0061] The first gripper 121 suctions and grips one surface of the pad 20 by a vacuum suction method.

[0062] The second gripper 122 serves as a safety device that surrounds the pad 20 so that the pad 20 is not separated from the first installation arm 120 when the pad 20 suctioned to the first gripper 121 is separated due to an impact or an error.

[0063] To this end, the second gripper 122 may include a first guide part 122a protruding from an end of the first installation arm 120 in a downward direction a and a second guide part 122b extending from the first guide part 122a in an inward direction b.

[0064] The first guide part 122a may be hinged with respect to the first installation arm 120. In this case, the second guide part 122b is hinged in the inward direction b to surround the pad 20 suctioned to the first gripper 121 in a state in which the pad 20 is suctioned to the first gripper 121. In comparison, in a state in which the pad 20 is separated from the first gripper 121, the second guide part 122b may be hinged in an outward direction c, and the pad 20 separated from the first gripper 121 may be separated from the first installation arm 120.

[0065] The pad installation robot 100 may further include a main body 150 on which the first installation arm 120 is mounted. In this case, the adhesive supply part 140 may be disposed on the main body 150, and a discharge hole 141 through which the adhesive is discharged may be defined in the adhesive supply part 140.

[0066] The first installation arm 120 grips the pad 20 loaded on a pad loading part 150 and allows the pad 20 to contact the discharge hole 141 so that the adhesive is applied on a contact surface of the pad 20.

[0067] Thereafter, the first installation arm 120 transfers the pad 20 so that the contact surface of the pad 20 contacts the installation position 11.

[0068] The floor installation robot 200 serves to mount the floor 30 on the pad 20 (refer to FIGS. 12 to 20). In general, the corner of the floor 30 is mounted on the mounting part 21 of the pad 20.

[0069] To this end, the floor installation robot 200 may include a transportation unit 210 transporting the floor 30 in a loaded state and an installation unit 220 mounting the floor 30 on the transportation unit 210 to the pad 20 (refer to FIG. 6).

[0070] *Since the floor 30 is a large construction material with a heavy weight, when the floor 30 is loaded and transported in one unmanned robot, a size of the unmanned robot may increase, and construction efficiency may decrease.

[0071] Thus, in the present invention, the transportation unit 210 loading and transporting the floor 30 is separately provided to load and transport the floor 30 around the installation unit 220.

[0072] Alternatively, the transportation unit 210 and the installation unit 220 may be integrated into a single unit depending on circumstances.

[0073] The installation unit 220 may include a second detection sensor 221 sensing a mounting position 12 of the floor 30, a second installation arm 222 moving the floor 30 to the mounting position 12, and a second transportation means 230 moving the second installation arm 222 (refer to FIG. 3).

[0074] Components corresponding to the first gripper 121 and the second gripper 122 of the above-described pad installation robot 100 may be also formed on the second installation arm 222 of the installation unit 220, and in this case, an object to be installed is changed from the pad 20 to the floor 30.

[0075] The bolting robot 300 serves to fasten the floor 30 to the pad 20 by using the fastening means 40 (refer to FIGS. 21 to 22).

[0076] To this end, the bolting robot 300 may include a third detection sensor 310 sensing an insertion hole 13 to which the fastening means 40 is inserted, a third installation arm 320 moving the fastening means 40 to the insertion hole 13, and a third transportation means 330 moving the third installation arm 320 (refer to FIG. 4).

[0077] In general, the fastening means 40 is a bolt 41, and the insertion hole 13 is defined in the pad 20 and the floor 30. In this case, the bolting robot 300 may include a bolting part 340 fastening the bolt 41 to the insertion hole 13.

[0078] The unmanned robot including the pad installation robot 100, the floor installation robot 200, and the bolting robot 300 may include a position sensor 410 and a distance sensor 420.

[0079] Since the unmanned construction system for the access floor according to the present invention includes a plurality of unmanned robots, a position and a distance of an individual unmanned robot and contents of a work to be performed at the corresponding position may be controlled through the position sensor 410 and the distance sensor 420 mounted to each unmanned robot.

[0080] The operation module contained in the control server 1 defines operation contents of the unmanned robot by using information generated in the position sensor 410 and the distance sensor 420 of the unmanned robot.

[0081] The method for constructing the access floor by using the unmanned robot according to an embodiment of the present invention includes: a first step S100 of constructing an installation frame 10 and a peripheral slab 60 formed on a periphery of the installation frame 100; a second step S200 of positioning the unmanned robot on the peripheral slab 60; and a third step S300 of coupling the floor 30 to the installation frame 10 by the unmanned robot while moving along the peripheral slab 60.

[0082] The unmanned robot installs the floor 30 in a predetermined direction and repeatedly performs the third step S300 to construct the access floor (FIGS. 24 to 26).

[0083] When the peripheral slab 60 is formed at a high floor, the first step S100 may include an elevator construction step S110 of constructing the elevator 50 transporting the unmanned robot to a level of the peripheral slab 60.

[0084] The third step S300 may include a pad attaching step S310 of attaching the pad 20 to the installation frame 10 by using the pad installation robot 100, a floor mounting step S320 of mounting the floor 30 to the pad 20 by using the floor installation robot 200, and a pad and floor fastening step S330 of fastening the pad 20 and the floor 30 by using the fastening means 40 of the bolting robot 300.

[0085] In this case, the pad attaching step S310 may include an adhesive applying step S311 of gripping the pad 20 by the first installation arm 120 to apply the adhesive supplied from the adhesive supply part 140 to a rear surface of the pad 20 and a pad installation step S312 of transporting the pad 20 by the first installation arm 120 so that the rear surface of the pad 20 contacts a top surface of the installation frame 10.

[0086] Also, the floor mounting step S320 may include a transportation step S321 of moving the floor 30 to a periphery of the installation unit 220 by using the transportation unit 210 and a mounting step S322 of mounting the floor 30 loaded on the transportation unit 210 to the pad 20 by using the installation unit 220.

[0087] The mounting step S322 may include a sensing step S3221 of sensing the mounting position 12 of the floor 30 by using the second detection sensor 221 and a moving step S3222 of moving the floor 30 loaded on the transportation unit 210 to the mounting position 12 by using the second installation arm 222.

[0088] The pad and floor fastening step S330 may include an insertion hole sensing step S331 of sensing the insertion hole 121 by using the third detection sensor 310, a fastening means transportation step S332 of moving the fastening means 40 to the insertion hole 13 by using the third installation arm 320, and a bolting step S333 of fastening the fastening means 40 to the insertion hole 13 by using the bolting part 340.

[0089] The bolting robot 300 according to an embodiment of the present invention may further include a horizontal level measuring part 350 measuring a horizontal level of the floor 30 (refer to FIG. 4).

[0090] In this case, the pad and floor fastening step S330 may be performed only when a horizontal level A measured by the horizontal level measuring part 350 is within a predetermined value. Accordingly, the bolting robot 300 may maintain an overall horizontal level of the floor 30 within a predetermined error range because the construction is performed in a method of fastening the next floor 30 to the pad 20 while maintaining the horizontal level of the constructed floor 30 within a predetermined value.

[0091] Thus, the access floor constructed by the method for constructing the access floor according to an embodiment of the present invention has an advantage capable of securing a high horizontal level construction quality.

[0092] The horizontal level measuring part 350 may use all sorts of methods capable of measuring the horizontal level such as a level sensor.

[0093] The method for constructing the access floor according to the present invention performs a minimum construction including only the elevator 50 for movement of the unmanned robot and the peripheral slab 60 formed on the periphery of the installation frame 10 by manpower and then performs the construction for forming the access floor by the unmanned robot to exhibit an effect of increasing a quality and efficiency of the access floor construction and remarkably decreasing a risk of occurrence of a safety accident or damage of the worker.

[0094] The above-disclosed subject matter is to be considered illustrative, and not restrictive, and the appended claims are intended to cover all such modifications, enhancements, and other embodiments, which fall within the true spirit and scope of the present invention. Thus, to the maximum extent allowed by law, the scope of the present invention is to be determined by the broadest permissible interpretation of the following claims and their equivalents, and shall not be restricted or limited by the foregoing detailed description.

INDUSTRIAL APPLICABILITY

[0095] The present invention has industrial applicability in relation to the construction of the access floor. [0096] 10: Installation frame [0097] 20: Pad [0098] 30: Floor [0099] 100: Pad installation robot [0100] 200: Floor installation robot [0101] 300: Bolting robot