KR101747325B1 - Ceil Moving type Bolt-unscrew Robot - Google Patents

Abstract

The ceiling movable type bolt disassembling robot of the present invention is provided with a robot plate 60 divided into three parts by left and right side plates 63A and 63B arranged on both right and left sides of the middle plate 61, a hinge support 403A, The front and rear flexible units 400-1 and 400-2 to which the left and right side plates 63A and 63B are respectively coupled to the left and right sides of the middle plate 61 via the side hinges 430B and 430C, And a robot connecting device installed using a robot as a platform, the three-divided robot plate 60 is mounted on a multi-folded mecha- nism wheel type traveling wheel 500, which rides over the protruded magnetic force reducing projection 500-1 of the ceiling deck 500 The third and fourth magnets 300-1 and 300-2 are connected to the first wheel 110 and the omni-wheel type auxiliary wheel 210 by the flexible motion of the three-divided robot plate 60, 2,300-3) and the ceiling deck 500 at all times, the robots It has a characteristic that is not solved the possibility of moving or falling.

Description

Ceil Moving type Bolt-unscrew Robot

The present invention relates to a bolt disassembling robot, and more particularly, to a ceiling movable bolt disassembling robot capable of moving over a step without changing magnetic force even in a weakened protrusion due to a deformation of a ceiling deck due to a flexible motion of a robot floor.

Generally, a bolt disassembly robot is suitable for bolt disassembly for separating deck panel padded on the outer surface of a reinforced concrete structure, and especially for bolt disassembly for deck panel separation on wall or ceiling.

For this purpose, the bolt disassembling robot is composed of a deck panel and a permanent magnet which forms a fixing force, a wheel for movement, and a driving motor for rotating the wheel. In particular, strong magnetic force of the permanent magnet is called gravity It prevents the dropping of the bolt disassembling robot under the action.

Therefore, when the deck panel is removed from the wall or ceiling concrete of a building, apartment, parking lot, etc., the bolt disassembling robot is moved by the strong magnetic force of the permanent magnet to the wall or ceiling The bolt can be disassembled while moving. Therefore, the bolt disassembly robot can not only provide convenient convenience but also prevent worker safety accidents by disassembling the bolt of the deck panel when the building is constructed.

Korean Patent Registration No. 10-1243599 (Mar. 07, 2013)

However, since the bolt disassembly robot can not sufficiently consider the specificity of the ceiling concrete structure, there is always a risk of falling under gravity, even when the strong magnetic force is used.

Particularly, the ceiling deck is constructed such that the ceiling decks of a predetermined size are connected to each other to cover the entirety of the ceiling concrete structure, and the ceiling concrete structure causes a concrete load under gravity at the time of curing, and a part of the ceiling deck has a concrete load load) to be pressed.

As a result, after the concrete curing, the ceiling deck frequently causes the protruding section to be formed due to the downward deflection of the ceiling deck connection portion subjected to the concrete load. In this situation, the bolt disassembly robot, which is inserted into the ceiling deck, can not move the robot due to the change of the magnetic force to the ceiling deck, or the gravity force acts to drop the bolt, which makes it difficult to secure the safety of the bolt disassembly work.

For example, if the distance between the robot floor and the ceiling deck is narrowed in the protruding section of the ceiling deck, the bolt disassembling robot further strengthens the magnetic force of the permanent magnet, thereby preventing the bolt disassembling robot from moving in the ceiling deck. On the other hand, when the gap between the robot floor and the ceiling deck increases in the protruding section of the ceiling deck, the bolt demolition robot weakens the magnetic strength of the permanent magnet so that the bolt demolition robot can not be magnetically attached to the ceiling deck, This increases the risk that the bolt breakdown robot will fall from the ceiling.

In addition, the bolt disassembly robot must move by attaching to the ceiling by using the magnetic force so as to maintain a constant gap between the magnet and the steel, to overcome the gravity by the force of the magnetic force and to move by the rotational force of the driving wheel while being attached to the ceiling. The metal structure that maintains a hard flat surface like the magnet face has a fundamental limitation that it is impossible for the bolt disassembly robot to maintain proper spacing because the steel surface is not flat and rugged condition is formed.

According to the present invention, the floor of the robot is divided into a plurality of sections, and the motion of each divided section is interlocked with the motion of the wheel passing over the ceiling deck protruding portion, Even when the distance is changed, the magnetic force maintaining section of the magnet is maintained at an appropriate interval at all times. In particular, the flexible motion of the robot floor causes different levels of ceiling decks It is aimed to provide a ceiling moving type bolt disassembling robot which does not fall into a dangerous situation when the step of the ceiling deck is overcome due to the magnetic force which is constantly maintained constantly without strengthening or weakening even if it goes over the ride.

In order to achieve the above object, the ceiling-movable bolt disassembling robot of the present invention comprises a middle plate supported by four omni-wheel type auxiliary wheels coupled to an intermediate portion, a middle plate supported by a front portion and a rear portion, 1 and 3 grounded Mekhorn wheel type Left side plate supported by driving wheels, 2nd and 4th multi-ground Meknem wheel type coupled to front and rear parts respectively, and divided into three by right side plate supported by driving wheels, A robot platform provided as a platform for mounting a robot moving part; The left side plate and the right side plate are coupled to each other so that the left side plate and the right side plate are positioned to the left and right sides of the middle plate, A left and right shape retaining spring for holding the interlocking link by an elastic force, and a hinge having a left and right side portions as hinge points while supporting an intermediate portion of the interlocking link, respectively; Is included.

Each of the first, second, third, and fourth ground Mekanum wheel type traveling wheels is connected to a main driving motor that transmits rotational force. The multi-ground Mekmond wheel is composed of a plurality of wheels arranged to overlap with the traveling wheels. The four omni-wheel type auxiliary wheels comprise two omni-wheel type auxiliary wheels as the first pair and the remaining two omni-wheel type auxiliary wheels as the second pair And each of the first and second pairs is connected to an auxiliary driving motor for transmitting rotational force. The omni-wheel type auxiliary wheel is a double wheel structure with an outer omni-wheel and an inner omni-wheel.

Wherein the hinge support comprises a hinge support, a left side hinge and a right side hinge, the hinge support supporting the middle plate at an intermediate portion of the interlocking link, the left side hinge being located on the left side of the interlocking link, Serves as a hinge point for moving the plate, and the right side hinge serves as a hinge point for moving the right side plate at the right side of the interlocking link.

The flexible unit includes a front flexible unit for binding the middle plate, the left side plate, and the right side plate at a front position of the first and second multi-ground mecha- nism wheel type traveling wheels, And a rear flexible unit for binding the middle plate, the left side plate and the right side plate at a rear position of the wheel type traveling wheel.

Wherein a magnet is provided on a bottom surface of the platform of the robot platform, the magnet is composed of a magnet jig, and the magnet jig is a permanent magnet having a pair of N poles and S poles, It is wrapped with a paramagnetic material for delivery to the deck only. The magnet is arranged in the middle plate, the left side plate and the right side plate, respectively. The magnet is divided into first, second and third magnets; The first magnet is arranged at the front position of the first and second multi-contact mecha- nism wheel type traveling wheels to the middle plate, the left side plate, and the right side plate, respectively, And the second magnet is arranged at the rear position of the multi-ground Mekhorn wheel type traveling wheel to the middle plate, the left side plate and the right side plate, respectively, And the third and fourth multi-ground Mekhorn wheel type traveling wheels are respectively arranged in the middle plate, the left side plate and the right side plate.

The robot operating parts include a robot computer for controlling the movement and stop of the robot, a bolt disassembling tool driven by a tool motor to disassemble the bolt, a contact sensor for contacting the bolt, a bolt detection camera for photographing the position of the bolt, A battery for driving the robot, a traveling guide roller provided on the middle plate for guiding movement of the robot, a roller lift motor for lifting and lowering the traveling guide roller, and a tool lift motor for lifting and lowering the bolt disassembling tool do.

In particular, the robot computer is provided on the side of the traveling wheels of the third and fourth multi-ground Mekanum wheel type so as to be mounted on the rear portion of the middle plate; And a controller for controlling the motor, the contact sensor, the bolt detection camera, the battery, the roller lift motor, the tool lift motor, the main drive motor for transmitting rotational force to the multi- wheel type auxiliary wheels and a torque sensor provided in the tool motor, the roller lift motor, and the tool lift motor, respectively.

Such a ceiling movable type bolt disassembling robot of the present invention maintains the magnetic force of the permanent magnet which can move while overcoming the gravity even on the uneven surface of the ceiling deck, thereby greatly improving the movement stability on the wall surface or the ceiling. The risk of a safety accident is greatly improved.

In addition, the ceiling-mounted bolt disassembling robot of the present invention is particularly suited to bolt disassembly work of a ceiling deck connected in a plurality of sections so that a protruding portion due to a concrete load can be formed at the time of curing of a ceiling concrete structure.

In addition, the ceiling-mounted bolt disassembling robot of the present invention solves the danger of falling through a simple mechanism mechanism capable of flexible motion of the floor of the robot, so that the performance can be improved without mechanical complexity.

FIG. 1 is a perspective view of a ceiling-moving bolt disassembling robot according to the present invention, FIG. 2 is a side cross-sectional view of a ceiling-moving bolt disassembling robot according to the present invention, FIG. 3 is a diagram of a traveling mechanism of a ceiling- FIG. 6 is a view showing a structure of a flexible link mechanism of a ceiling-moving bolt disassembling robot according to the present invention, and FIG. FIG. 7 is a state in which the ceiling-moving bolt disassembling robot according to the present invention approaches a step through a side running, FIG. 8 is a state in which the ceiling-moving bolt disassembling robot according to the present invention is lifted up a step by a first driving wheel, 9 is a state in which the ceiling moving type bolt disassembling robot according to the present invention moves beyond the step by the auxiliary wheel in the center, 11 is a state in which the ceiling moving type bolt disassembling robot according to the present invention crosses a step by the opposite traveling wheel. FIG. 12 is a view showing a state where the ceiling moving type bolt disassembling robot according to the present invention FIG. 13 is a state in which the bolt disassembly operation of the ceiling-movable bolt disassembling robot according to the present invention is completed.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which illustrate exemplary embodiments of the present invention. The present invention is not limited to these embodiments.

1 and 2 show the structure of a ceiling-mounted bolt disassembling robot according to the present embodiment.

As shown in the figure, the ceiling-mounted bolt disassembling robot includes a robot platform 60 divided into three parts by left and right side plates 63A and 63B respectively arranged on both left and right sides of the middle plate 61, First and second magnets 300-1, 300-2, and 300-3, front and rear flexible units 400-1 and 400-2 that flexibly move the three divided sections of the robot platform 60, And a robot moving part installed using the platform 60 as a platform.

Hereinafter, the relative arrangement positions and fixing or engagement positions of the respective components to be described will be described centering on the middle plate 61, the left side plate 63A, and the right side plate 63B of the robot platform 60. For example, the robot operating component includes a robot computer 10, a first and second bolt disassembling units 20-1 and 20-2, a first and second bolt detection cameras 40- Front and rear contact sensors 30A and 30B, front and rear travel guide rollers 70-1 and 70-2, lifting unit 80, and first and second auxiliary travel units 200- 1,200-2), which can be classified as a robot operating part for a center tower. The robot operating component includes a first battery 50-1 installed on the left side plate 63A as a platform, a left-mounted robot moving component including first and fourth main driving units 100-1 and 100-4, A second battery 50-2 installed as a platform on the side plate 63B, and right and left robot moving parts including the second and third main travel units 100-2 and 100-3.

In detail, the robot computer 10 is provided on the side of the traveling wheel 110 of the third and fourth multi-ground mechatum wheel type so as to be mounted on the rear portion of the middle plate 61, And is positioned inside the rear flexible unit 400-2 that connects the right side plates 63A and 63B. Particularly, the robot computer 10 constitutes a robot operation part and a control circuit mounted to operate as a main controller for controlling all operations such as robot running and bolt disassembly work, and may be a microcomputer or a notebook computer, Communication can be performed. For example, the robot computer 10 receives power from the first and second batteries 50-1 and 50-2 and analyzes the images of the first and second bolt detection cameras 40-1 and 40-2. And recognizes the signals of the front and rear contact sensors 30A and 30B and controls the first and second tool motors 21A and 21B of the first and second bolt dismantling units 20-1 and 20-2 and the lifting unit The roller lift motor 81-1 and the tool lift motor 81-2 and the main drive motor 120 of the first, second, third and fourth main drive units 100-1, 100-2, 100-3, The auxiliary driving motor 220 of the first and second auxiliary driving units 200-1 and 200-2, and the like, and the control logic for the auxiliary driving motors 220 and 220 is mounted. Here, the control logic of the robot computer 10 means a basic function implemented by a ceiling-mounted bolt disassembling robot.

The first and second bolt disassembling units 20-1 and 20-2 are mounted on the middle plate 61 and positioned at the center of the robot computer 10 so that the first and second batteries 50- 1,50-2) occupying the inner space. To this end, the first bolt dismounting unit 20-1 includes a first tool motor 21A for generating rotational power, a gear for receiving the rotational force of the first tool motor 21A, And a first bolt disassembling tool 23A for applying a loosening torque to the bolts. The second bolt dismounting unit 20-2 includes a second tool motor 21B for generating rotational power and a gear for receiving the rotational force of the second tool motor 21B, And a second bolt disassembling tool 23B for applying a loosening torque to the second bolt disassembling tool 23B. Particularly, the first tool motor 21A and the second tool motor 21B have the same configuration, and the first bolt disassembling tool 23A and the second bolt disassembling tool 23B have the same configuration. Therefore, the first and second bolt disassembling units 20-1 and 20-2 provide convenience that can be constituted by one type of tool motor and a bolt disassembling tool.

The first and second bolt dismounting units 20-1 and 20-2 include front and rear contact sensors 30A and 30B for accurately detecting a bolt position and a lifting unit 80 for moving up and down the detected bolt, The robot can be disengaged by loosening the bolt while the robot is stopped on the bolt head. Particularly, each of the first and second tool motors 21A and 21B has a torque sensor for providing the detected value to the robot computer 10. Therefore, when each of the first and second bolt dismantling tools 23A and 23B is lowered toward the bottom of the ceiling deck in a state in which the robot computer 10 does not correctly fit the position of the bolt head, It is possible to confirm whether or not the robot is overloaded by the load (the load in the reverse gravity direction produced by the magnetic force) of the robot transmitted to the torque sensor provided to each of the motors 21A and 21B. Therefore, the robot computer 10 can perform the bolt disassembly operation without the risk of the robot falling by merely connecting the torque sensor.

Specifically, the front and rear contact sensors 30A and 30B are mounted using the middle plate 61 at a position close to each of the first and second bolt disassembling tools 23A and 23B, And are located forward and backward of the bolt disassembling tools 23A and 23B. In particular, the front and rear contact sensors 30A and 30B directly contact the bolt head portion in the movement path of the robot, so that the robot computer 10 can accurately recognize the position of the bolt and decelerate the moving speed of the robot . Therefore, the front and rear contact sensors 30A and 30B can complement the function that the robot can not accurately stop at the bolt position only by the images provided by the first and second bolt detection cameras 40-1 and 40-2 . The front and rear contact sensors 30A and 30B are configured together with a guide module (not shown), and the guide module can be detachably coupled to the middle plate 61. [

Specifically, the first and second bolt detection cameras 40-1 and 40-2 are mounted on the middle plate 61. The first and second bolt detection cameras 40-1 and 40-2 are mounted on the middle plate 61, and the front and rear contact sensors 30A and 30B, , And is located at the rear side. In particular, each of the first and second bolt detection cameras 40-1 and 40-2 includes a circular lens, and a circular infrared LED light is mounted on the outer periphery of the circular lens, The position of the bolt can be detected. Therefore, the robot computer 10 receives the images before and after the robot traveling path by the first and second bolt detection cameras 40-1 and 40-2, The detection of the bolt position can be performed without rotation control of the robot.

Specifically, the first and second batteries 50-1 and 50-2 are mounted on the left and right side plates 63A and 63B, respectively. The first and second batteries 50-1 and 50-2 are mounted on the front side of the robot computer 10 Therefore, the first and second batteries 50-1 and 50-2 can be used as an advantage for maintaining the center of gravity and balance in terms of the weight of the relatively heavy weight among the robot parts, The wiring cable can also supply power to the peripheral drive motor and control device.

Specifically, the robot platform 60 includes left and right side plates 63A and 63B arranged on both sides of the middle plate 61 and the middle plate 61, thereby constituting a robot floor divided into three parts And is provided as a platform on which the robot parts are mounted. To this end, the middle plate 61 and the left and right side plates 63A and 63B are formed in a substantially rectangular shape. Particularly, the hinge structure type interlocking link 410 located at the front and rear sides of the robot is flexibly connected to the front and rear flexible units 400-1 and 400-2.

More specifically, the front and rear travel guide rollers 70-1 and 70-2 are mounted using the middle plate 61, and the first and the rear travel guide rollers 70-1 and 70-2 are disposed at positions close to the first and second batteries 50-1 and 50-2, And two free rotation type rollers which are provided on the front and rear sides of the two batteries 50-1 and 50-2 and which are located on the left and right of the middle plate width, respectively. In addition, the front and rear travel guide rollers 70-1 and 70-2 are raised and lowered by the roller lift motor 81-1 of the lifting unit 80 so as to be in contact with or spaced from the ceiling deck.

Specifically, the lifting unit 80 is mounted on the middle plate 61, and is positioned at the center of the robot computer 10 from the front, thereby occupying the inner space of the first and second batteries 50-1 and 50-2. do. The lifting unit 80 is connected to the front and rear travel guide rollers 70-1 and 70-2 and the first and second bolt dismounting units 20-1 and 20-2 or the first and second bolt dismounting tools 23A, and 23B, respectively. To this end, the lifting unit 80 includes a roller lift motor 81-1 for raising and lowering the front and rear travel guide rollers 70-1 and 70-2 with rotational force, a first and a second bolt dismounting unit Tool lift motors 81-2 for raising and lowering the first and second bolt disassembling tools 23A and 23B and the rotational forces of the roller / tool lift motors 81-1 and 81-2, A lift frame 83 having a pinion and a rack for converting a lift frame 83 into a linear motion of a vertical lift, a lift frame 83 for moving the lift frame 83 to the front and rear portions of the lift frame 83, And first and second lift cylinders 85A and 85B. Therefore, the driving of the roller lift motor 81-1 can be performed by raising or lowering the front and rear travel guide rollers 70-1 and 70-2, and the driving of the tool lift motor 81-2 The first and second bolt disassembling units 20-1 and 20-2 or the first and second bolt disassembling tools 23A and 23B can be raised or lowered.

In particular, the roller lift motor 81-1 and the tool lift motor 81-2 are arranged forward and backward from each other or from side to side so as to minimize space occupation of the middle plate 61. In addition, each of the roller lift motor 81-1 and the tool lift motor 81-2 has a torque sensor for providing the detected value to the robot computer 10. Therefore, when the robot computer 10 moves down the front and rear travel guide rollers 70-1 and 70-2 toward the bottom of the ceiling deck in a state in which the robot computer 10 does not fit the bolt head position, the robot computer 10 moves the lift motor 81 (Load in the reverse gravity direction produced by the magnetic force) transmitted to the torque sensor provided in the robot (not shown). The robot computer 10 is controlled by the torque sensor of the roller lift motor 81-1 and the tool lift motor 81-2 and the torque sensor of each of the first and second tool motors 21A and 21B ), It is possible to further reduce the risk of the robot falling when the bolt is disassembled.

Specifically, the first, second, third, and fourth main drive units 100-1, 100-2, 100-3, and 100-4 have their own power sources and are mounted at the four corners of the left and right side plates 63A, And the stability of the robot for disassembling the bolt is maintained. In particular, each of the first, second, third, and fourth main travel units 100-1, 100-2, 100-3, and 100-4 is controlled by the robot computer 10, and Omni-directional movement Possible mecanum wheels apply.

Specifically, the first and second auxiliary travel units 200-1 and 200-2 are mounted on the middle plate 61 with their own motive power, thereby connecting the first, second, third and fourth main travel units 100-1, 100-2, 100-3, -4) to the side direction of the robot. Particularly, the first and second auxiliary travel units 200-1 and 200-2 are arranged in a direction perpendicular to the first, second, third, and fourth main travel units 100-1, 100-2, 100-3, The omni-wheel system is applied so as not to disturb the user.

Specifically, the first, second and third magnets 300-1, 300-2, and 300-3 are provided on the bottom surfaces of the middle plate 61 and the left and right side plates 63A and 63B, Thereby forming a magnetism capable of running on the bottom surface.

Specifically, the front and rear flexible units 400-1 and 400-2 bundle the middle plate 61 and the left and right side plates 63A and 63B together and connect the middle plate 61 and the left and right side plates 63A, and 63B have a unique motion.

Therefore, when the ceiling-mounted bolt disassembling robot moves over the different level of ceiling decks when the ceiling deck is moved, the left side plate 63A, the middle plate 61 and the right side plate 63B By implementing the flexible motion associated with the front and rear flexible units 400-1 and 400-2, traveling without any risk of fall due to the weakening of the magnetic force can be achieved. In addition, in order to optimize the center of gravity and balance, the first and second batteries 50-1 and 50-2 are arranged in the center, and the first and second batteries 50 The first and second bolt dismounting units 20-1 and 20-2 and the lifting unit 80 are disposed in the inner space of the first and second bolt-1 and 50-2.

3 to 6 illustrate the first, second, third, and fourth main drive units 100-1, 100-2, 100-3, and 100-4, the first and second auxiliary drive units 200-1 and 200-2, The first and second magnets 300-1, 300-2, and 300-3, and the front and rear flexible units 400-1 and 400-2, respectively.

3 and 4, the first main driving unit 100-1 includes a traveling wheel 110 rotated in contact with a ceiling deck, a main driving motor 120 transmitting rotational force to the traveling wheel 110, . Particularly, the traveling wheel 110 has a plurality of multi-ground Mekinkum wheels 111 so that the traveling wheel 110 can be moved in the Omni-directional direction according to the rotating direction. The main drive motor 120 is driven and controlled by the robot computer 10 by configuring a circuit with the robot computer 10. Each of the second, third, and fourth main travel units 100-2, 100-3, and 100-4 includes a traveling wheel 110 and a main drive motor 120 each having a multi- The driving wheel 110, the multi-ground Mekanw wheel 111 and the main driving motor 120 are the same as those of the first main driving unit 100-1. Each of the first, second, third, and fourth main drive units 100-1, 100-2, 100-3, and 100-4 includes a driving wheel 110 and a main drive motor 120, As a component. The first and third main driving units 100-1 and 100-3 form a wheel axis by using the left side plate 63A and the second and fourth main driving units 100-2 and 100-4 form a right- There is only difference in forming the wheel axes using the wheel 63B.

Particularly, the traveling wheel 110 has a wheel structure in which a plurality of multi-ground Mekanum wheels 111 are overlapped to form a multi-ground shape. As a result, the traveling wheel 110 equipped with the multi-ground mecha- nism wheel 111 is capable of moving the deck surface itself that narrows the deck surface of the metal material causing the slipping of the traveling wheels or the ground surface of the traveling wheels A sufficient running speed can be obtained even under the artificial irregular bending for minimizing the bending or deck shape. Therefore, each of the first, second, third, and fourth main drive units 100-1, 100-2, 100-3, and 100-4 has a conventional mechanum wheel structure having an area of 50 to 70% It is possible to realize the advantage of running the ceiling deck which was impossible to apply.

3 and 5, the first and second auxiliary traveling units 200-1 and 200-2 include first and second auxiliary traveling units 200-1 and 200-2 positioned toward the first and second main traveling units 100-1 and 100-2, 1 and the second and third auxiliary travel units 200-2 located on the third and fourth main travel units 100-3 and 100-4 and is rotated by a wheel axis associated with the middle plate 61. [ The first auxiliary driving unit 200-1 includes the auxiliary wheel 210 and the auxiliary driving motor 220. The auxiliary wheel 210 is disposed on the outer side of the omni wheel shaft 213, An outer omni-wheel 211 and an inside omni-wheel 212. The outer omni-wheel 211 and the inner omni-wheel 212 are shown in Fig. Particularly, the outer / inner omni wheels 211 and 212 have an omni-wheel type structure so that the first, second, third, and fourth main drive units 100-1, 100-2, 100-3, The driving force of the auxiliary wheel 210 may generate sufficient force to overcome the step difference even if the wheel 110 is laterally moved while laterally crossing the step of the ceiling deck.

3, the first, second and third magnets 300-1, 300-2, and 300-3 are mounted on the middle plate 61 and the left and right side plates 63A and 63B, respectively. For example, the first magnet 300-1 is positioned in front of the first and second main travel units 100-1 and 100-2, the third magnet 300-3 is positioned in the third and fourth main travel units 100 3 and 100-4 and the second magnet 300-2 is located behind the first and second main driving units 100-1 and 100-2 and the third and fourth main driving units 100-3 and 100-4 And is located in the inner space. Specifically, each of the first, second and third magnets 300-1, 300-2, and 300-3 includes a pair of permanent magnets in a pair of N poles and S poles, and the jig includes a magnetic force Is formed of a magnet jig by being wrapped with a paramagnetic material so as to be transmitted only to a ceiling deck attached to the bottom surface and a plurality of magnet jigs are directed to the ceiling deck so that the robot is formed with a fixing force do. Therefore, the magnet jig is advantageous in that, except for the ceiling deck on the side of the bottom surface, the robot is prevented from being stuck to the surrounding metal near the robot by the magnetic force. For example, each of the first and third magnets 300-1 and 300-3 has one row of magnet jig arrangements, while the second magnet 300-2 has three rows of magnet jig arrangements.

6, the front and rear flexible units 400-1 and 400-2 are disposed at the front side of the first and second main travel units 100-1 and 100-2 and the middle plate 61, the left side plate 63A, A front flexible unit 400-1 for hinging the right side plates 63B together in a hinge structure and a middle plate 61 and a left side plate 63A at the rear of the third and fourth main travel units 100-3 and 100-4, And a rear flexible unit 400-2 for fastening the right side plate 63B and the right side plate 63B together in a hinge structure.

More specifically, the front flexible unit 400-1 includes an interlocking link 410 for connecting the middle plate 61 and the left and right side plates 63A and 63B together, The left shape retaining spring 420A for holding the interlocking link 410 with an elastic force so that the side plate 63A maintains a flat state and the right side plate 63B positioned on the right side of the middle plate 61 are maintained in a flat state A right shape retaining spring 420B for retaining the interlocking link 410 by an elastic force so that the interlocking link 410 is interlocked with the respective movements of the middle plate 61 and the left side plate 63A and the right side plate 63B, A left side hinge 430B serving as a hinge point of the interlock link 410 for movement of the left side plate 63A and a left side hinge 430B serving as a hinge point of the interlock link 410 for movement of the left side plate 63A, And a right side hinge 430C functioning as a hinge point of one interlocking link 410.

The rear flexible unit 400-2 also includes an interlock link 410, left and right shape retaining springs 420A and 420B, a hinge support 430A and left and right side hinges 430B and 430C. And is made up of the same components as those of the flexible unit 400-1.

Therefore, the left side hinge 430B allows the left side plate 63A to flexibly move relative to a step or a protrusion of the ceiling deck, and the hinge support 430A supports the middle plate The right side hinge 430C allows the right side plate 63B to flexibly move relative to a step or protrusion of the ceiling deck.

7 to 12 illustrate that the ceiling-mounted bolt disassembling robot according to the present embodiment can maintain the magnetic force even in a state where it is located in the weakened protrusion 500-1 of the ceiling deck 500. FIG. In this case, the robot computer 10 recognizes the images of the first bolt detection camera 40-1 or the second bolt detection camera 40-2, and the first, second, third, and fourth main travel units 100- 100-1, 100-2, 100-3, 100-4) to perform traveling movement of the robot, and to assist the traveling of the robot when necessary, the first and second auxiliary driving units (200-1, 200-2) It is assumed that each auxiliary drive motor 220 is controlled. Also, a ceiling moving bolt disassembling robot is described as a robot.

Referring to FIG. 7, the robot includes a multi-ground mecha- nism wheel 111 of each traveling wheel 110 of the first, second, third, and fourth main travel units 100-1, 100-2, 100-3, 2 side of the ceiling deck 500 for dismantling the bolts by traveling on the side by using the auxiliary wheels 210 of the two auxiliary traveling units 200-1 and 200-2. In this case, the robot has not yet arrived at the stepped region due to the weakened protrusion 500-1 of the ceiling deck 500. The middle plate 61 and the middle plate 61 of the left and right side plates 63A and 63B are bound by the interlocking link 410 and the hinge support 430A, Each of the left and right side plates 63A and 63B is bundled with the interlocking link 410 and the left and right side hinges 430B and 430C and each of the left and right shape retaining springs 420A and 420B is connected to the interlocking link 410, (410). As a result, the middle plate 61 and the left and right side plates 63A and 63B can maintain a normal flat shape.

8, when the first main travel unit 100-1 (and the third main travel unit 100-3) of the robot reaches the weakened protrusion 500-1 by the continuous movement of the robot, It is in a state of passing over the protrusion 500-1. The left side hinge 430B of the interlocking link 410 functions as a hinge point at which the left side plate 63A is lifted so that the first main travel unit 100- The driving wheel 110 of the first magnet 300-1 is lifted together with the left side plate 63A. As a result, the gap between the first magnet 300-1 and the magnetic force weakening protrusion 500-1 is not too close Therefore, the robot does not move due to the magnetic force strengthened by the close gap. Therefore, the movement of the robot is continued.

Referring to FIG. 9, when the first main traveling unit 100-1 of the robot continues to move after passing through the weakened protrusion 500-1, the robot middle portion reaches the weakened protrusion 500-1 It is a state. In this case, the auxiliary wheel 210 of the first auxiliary driving unit 200-1 is rotated by the auxiliary driving motor 220 so that the self-powered weakening protrusion 500-1 can ride over with sufficient force. The left side hinge 430B of the interlocking link 410 functions as a hinge point for lowering the left side plate 63A so that the first auxiliary driving unit 200-1 located in the magnetic force weakening protrusion 500-1 The auxiliary wheels 210 are lifted together with the middle plate 61.

Further, the left shape retaining spring 420A is compressed by the upward displacement of the middle plate 61, thereby providing the elasticity of the middle plate 61 in the home position. On the other hand, the auxiliary wheels 210 of the second auxiliary driving unit 200-2 maintain the state of being positioned on the surface of the ceiling deck 500. [ As a result, the position of the rear portion of the second magnet 300-2 is maintained at a close distance from the ceiling deck 500, so that the robot does not fall down due to the weak magnetic force due to the gap. Therefore, the movement of the robot continues.

10, the auxiliary wheel 210 of the first auxiliary driving unit 200-1 passes through the weakened protrusion 500-1 and the second auxiliary driving unit 200-2, The auxiliary wheel 210 of the first embodiment has reached the weakened protrusion 500-1. In this case, the auxiliary wheels 210 of the second auxiliary driving unit 200-2 are rotated by the auxiliary driving motor 220 so that the self-powered weakening protrusions 500-1 can ride over with sufficient force. The right side hinge 430C of the interlocking link 410 functions as a hinge point at which the middle plate 61 is lifted and thereby the second auxiliary driving unit 200-2 located in the magnetic force weakening protrusion 500-1 The auxiliary wheels 210 are lifted together with the middle plate 61. Further, the right shape retaining spring 420B is compressed by the upward displacement of the middle plate 61, thereby providing the elasticity of the middle plate 61 in the home position. On the other hand, the auxiliary wheels 210 of the first auxiliary driving unit 200-1 maintain their position on the surface of the ceiling deck 500. As a result, the front portion of the second magnet 300-2 is kept at a close distance from the ceiling deck 500, so that the robot does not fall down due to the weak magnetic force due to the gap. Therefore, the movement of the robot continues.

11, after the first and second auxiliary travel units 200-1 and 200-2 of the robot have passed through the weakened protrusions 500-1, the movement of the robot is continued, and thereby the weakened protrusions 500-1 The second main travel unit 100-2 (and the fourth main travel unit 100-4) reaches the weakened projecting portion 500-1 and then rides over the weakened projecting portion 500-1. The right side hinge 430C of the interlocking link 410 functions as a hinge point at which the right side plate 63B is lifted so that the second main travel unit 100- The traveling wheel 110 of the second magnet 300 is lifted together with the right side plate 63B as a result of which the gap between the third magnet 300-3 and the magnetic force weakening protrusion 500-1 is not too close Therefore, the robot does not move due to the magnetic force strengthened by the close gap. Therefore, the movement of the robot is continued.

Referring to FIG. 12, the robot shows a state in which all the magnetic force weakening protrusions 500-1 have passed. As a result, the first, second, third, and fourth main drive units 100-1, 100-2, 100-3, and 100-4 are grounded on the surface of the ceiling deck 500, -3) can be properly spaced from the surface of the ceiling deck 500 so that the robot can be moved to the bolt disassembly position along the ceiling deck 500 with appropriate magnetic force.

7 to 12, a robot platform 60 provided as a platform of a ceiling-mounted bolt disassembling robot includes left and right side plates 63A and 63B arranged respectively on the left and right sides of the middle plate 61, And the hinge support 403A and the two hinges 430B and 430C, which form the hinge fixing point of the interlocking link 410, move in a flexible manner The left side plate 63A and the right side plate 63B individually to support the middle plate 61 and the left side plate 63A.

Therefore, the left side plate 63A can be deformed to match the weakened protrusion 500-1 of the ceiling deck 500 via the left side hinge 430B, and the middle plate 61 can be deformed by the hinge support 403A and the left and right side hinges 430B and 430C so that the right side plate 63B can be deformed in accordance with the weakened protrusion 500-1 of the ceiling deck 500. The right side plate 63B can be deformed by the right side hinge 430C To the weakened protrusions 500-1 of the ceiling deck 500 via the through-holes. As a result, even if the ceiling movable type bolt disassembly robot is moved over the weakened protrusion 500-1 of the ceiling deck 500, the falling phenomenon due to the weak magnetic force of the first, second, and third magnets 300-1, And the inability to move due to the strengthening of the magnetic force are all solved.

FIG. 13 shows a bolt disassembly operation state of the ceiling-mounted bolt disassembling robot according to the present embodiment.

As shown in the figure, the ceiling deck frame 600 is permanently embedded in the ceiling concrete structure 1000 during the construction process, and the ceiling deck 500 is coupled to the ceiling deck frame 600 using the ceiling deck bolts 700 The concrete is completely hardened and then removed.

Therefore, the ceiling-mounted bolt disassembling robot is attached to the ceiling deck 500 by the magnetic forces of the first, second and third magnets 300-1, 300-2, and 300-3 along the ceiling deck 500, -1) or the position of the ceiling deck bolt 700 identified by the second bolt detection camera 40-2 and the detection signal of the front contact sensor 30A or the rear contact sensor 30B indicates the correct ceiling deck bolt 700), the first bolt disassembling tool 23A and the second bolt disassembling tool 23B are fixed to the ceiling with the fixing force maintained by the magnetic forces of the first, second and third magnets 300-1, Release the deck bolt (700). At this time, the first tool motor 21A rotates the first bolt disassembling tool 23A, and the second tool motor 21B rotates the second bolt disassembling tool 23B.

Particularly, the ceiling deck bolts 700 to be disassembled in the ceiling deck 500 have a pair of two bolts spaced from each other by a predetermined distance, so that the first and second bolt dismantling tools 23A and 23B mounted on the robot are divided into two The ceiling deck bolt 700 can be dismantled.

During the operation of disassembling the bolts, the robot computer 10 rotates the main driving motors 120 of the first, second, third and fourth main driving units 100-1, 100-2, 100-3, 200-1 and 200-2 by controlling the driving and stopping of the auxiliary driving motors 220 of the first and second bolt dismounting units 20-1 and 20-2, By controlling the tool motors 21A and 21B of the ceiling deck 500 and the torque sensors, the rollers of the lifting unit 80, the tool lift motors 80-1 and 80-2, The bolt disassembling operation of the ceiling movable type bolt disassembling robot is controlled without the risk of dropping due to the weakening of the magnetic force even in the state where it is located in the door 500-1.

As described above, the ceiling-mounted bolt disassembling robot according to the present embodiment includes a robot plate 60 divided into three parts by left and right side plates 63A and 63B arranged on both right and left sides of the middle plate 61, Right and left side plates 63A and 63B are coupled to the left and right sides of the middle plate 61 via the right and left side hinges 403A and 403A and the left and right side hinges 430B and 430C, 2, and a robot connecting device installed using the robot plate 60 as a platform, the three divided robot plates 60 ride over the protruding magnetic force reducing protrusions 500-1 of the ceiling deck 500 And is connected to a ground Mekhorn wheel type traveling wheel 110 and an omni-wheel type auxiliary wheel 210. The flexible motion of the three divided robot plates 60 causes the first, 3 magnet (300-1, 300-2, 300-3) and the ceiling deck (500) The robot can not move or drop due to reinforcement or weakening.

10: robot computer 20-1, 20-2: first and second bolt disassembling unit
21A and 21B: first and second tool motors 23A and 23B: first and second bolt disassembling tools
30A, 30B: front and rear contact sensors 40-1, 40-2: first and second bolt detection cameras
50-1, 50-2: first and second batteries 60: robot platform
61: Middle plate 63A, 63B: Left and right side plates
70-1, 70-2: front and rear running guide rollers
80: Bolt disassembly tool lifter 81-1: Roller lift motor
81-2: Tool lift motor
83: Lift frame 85A, 85B: 1st and 2nd lift cylinders
100-1, 100-2, 100-3, 100-4: the first, second,
110: Driving wheel 111: Multi-ground Mekanum wheel
120: main drive motor 200-1, 200-2: first and second auxiliary drive units
210: Auxiliary wheel 211: Outside omni-wheel
212: inner omni-wheel
213: Omni Wheel Axis
220: auxiliary drive motor 300-1, 300-2, 300-3: 1st, 2nd and 3rd magnets
400-1, 400-2: front and rear flexible units
410: interlocking links 420A, 420B: left and right shape retaining springs
430A: Hinge support 430B, 430C: Left and right side hinges
500: Ceiling deck 500-1: Magnetically weakened protrusion
600: Ceiling deck frame 700: Ceiling deck bolts
1000: Ceiling concrete structure

Claims (17)

Middle plate supported by four omni-wheel type auxiliary wheels coupled to the middle, first and third multi-ground mech- anum wheel type coupled to the front and rear sides, respectively Left side plate supported by driving wheels A robot platform provided in a platform which is divided into three parts by a right side plate supported by a second and a fourth multi-ground mechatum wheel type traveling wheels respectively coupled to a front part and a rear part, and mounted on a robot moving part;
The left side plate and the right side plate are coupled to each other so that the left side plate and the right side plate are positioned to the left and right sides of the middle plate, A left and right shape retaining spring for holding the interlocking link by an elastic force, and a flexible unit composed of a hinge having left and right side portions as hinge points while supporting an intermediate portion of the interlocking link,
The robot operating parts include a robot computer for controlling the movement and stop of the robot, a bolt disassembling tool driven by a tool motor to disassemble the bolt, a contact sensor for contacting the bolt, a bolt detection camera for photographing the position of the bolt, A battery for driving the robot, a traveling guide roller provided on the middle plate for guiding the movement of the robot, a roller lift motor for lifting and lowering the traveling guide roller, and a tool lift motor for lifting and lowering the bolt disassembling tool Wherein the bolt-disassembling robot is a ceiling-movable bolt.
[3] The robot of claim 1, wherein each of the first, second, third, and fourth grounded mecha- nism wheel type traveling wheels is connected to a main driving motor that transmits rotational force.
[3] The robot of claim 2, wherein the multi-ground Mekmond wheel is configured to be superimposed on the traveling wheels.
The method of claim 1, wherein the four omni-wheel type auxiliary wheels comprise two omni-wheel type auxiliary wheels as a first pair and the remaining two omni-wheel type auxiliary wheels Wherein each of the first and second pairs of wheels is connected to an auxiliary driving motor for transmitting rotational force.
[6] The robot of claim 4, wherein the omni-wheel type auxiliary wheel is a double wheel structure of an outer omni wheel and an inner omni wheel.
The hinge device of claim 1, wherein the hinge comprises a hinge support, a left side hinge and a right side hinge, the hinge support supporting the middle plate at an intermediate portion of the interlocking link, Wherein the right side hinge acts as a hinge point for moving the right side plate at a right side portion of the interlocking link.
[2] The hybrid vehicle of claim 1, wherein the flexible unit comprises: a front flexible unit that binds the middle plate, the left side plate and the right side plate at a front position of the first and second multi-ground Mekmond wheel type traveling wheels;
And a rear flexible unit that binds the middle plate, the left side plate, and the right side plate at a rear position of the third and fourth multi-ground Mekomum wheel type traveling wheels.
[2] The apparatus of claim 1, wherein a magnet is provided on a bottom surface of the platform of the robot platform, the magnet is composed of a magnet jig, and the magnet jig comprises a pair of N poles and S poles, And the magnet is enclosed in a paramagnetic material to transmit the magnetic force only to the ceiling deck.
The robot according to claim 8, wherein the magnet is arranged in the middle plate, the left side plate, and the right side plate.
[12] The method of claim 9, wherein the magnet is divided into first, second and third magnets;
The first magnet is arranged at the front position of the first and second multi-ground Mekmond wheel type traveling wheels to the middle plate, the left side plate and the right side plate respectively; The third magnet is arranged in the middle position of the middle plate and the left side plate and the right side plate in the rear position of the third and fourth multi-ground Mekmond wheel type traveling wheels, respectively; The second magnet is connected to the middle plate, the left side plate and the right side plate between the first and second multi-ground Mekanum wheel type traveling wheels and the third and fourth multi- Wherein the bolt-disassembling robot is a vertically movable bolt.
delete The battery according to claim 1, wherein the battery is divided into first and second multi-ground mecha- nism wheel type traveling wheels and first and second batteries located between the third and fourth multi-ground mech- anum wheel type traveling wheels, 1 battery is mounted at an intermediate portion of the left side plate, and the second battery is mounted at an intermediate portion of the right side plate;
Wherein the tool motor, the bolt dismounting tool, the roller lift motor, and the tool lift motor are mounted as the middle plate between the first battery and the second battery.
The tool lifting device according to claim 1, wherein the bolt disassembling tool is divided into first and second bolt disassembling tools, the tool motor is divided into first and second tool motors, the first bolt disassembling tool is driven by the first tool motor, And the second bolt disassembling tool is driven by the second tool motor.
The bolt disassembly tool according to claim 1, wherein the contact sensor is divided into front and rear contact sensors, the front contact sensor is located in front of the bolt disassemble tool, and the rear contact sensor is located behind the bolt disassembling tool A ceiling moving bolt disassembling robot.
[2] The apparatus of claim 1, wherein the bolt detection camera is divided into first and second bolt detection cameras, the first bolt detection camera is mounted to the first and second multi-ground mecha- nism wheel type traveling wheels, And the camera is mounted toward the driving wheel of the third and fourth multi-ground mecha- nism wheel type driving wheels.
The robot arm according to claim 1, wherein the robot computer is provided on the side of the traveling wheel of the third and fourth multi-ground Mekanum wheel type so as to be mounted on a rear portion of the middle plate;
Wherein the main motor is connected to the tool motor, the contact sensor, the bolt detection camera, the battery, the lift motor, a main drive motor for transmitting rotational force to the multi-contact mecha- nism wheel type traveling wheels, Wherein the auxiliary drive motor and the control circuit constitute an auxiliary drive motor for transmitting a rotational force.
17. The robot of claim 16, wherein the robot computer is associated with a torque sensor, and the torque sensor is provided to the tool motor and the lift motor, respectively.

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