KR102289513B1 - Construction robot for installing anchor on the ceiling - Google Patents

Abstract

The present invention relates to an anchor construction robot, capable of efficiently constructing an anchor, which comprises: a robot base having an upper plate; a robot body; a robot arm unit including first to third robot arms; and an anchor member supply unit formed on the upper plate.

Description

Anchor construction robot {CONSTRUCTION ROBOT FOR INSTALLING ANCHOR ON THE CEILING}

The present invention relates to an anchor construction robot, and more particularly, to an anchor construction robot capable of installing an anchor on a ceiling.

In general, anchor construction is performed on the ceiling of various industrial sites to support wiring or ducts.

Looking at the process of such an anchor construction, first, a hole for anchor construction is drilled using a drill at a predetermined ceiling surface construction location, an anchor bolt is inserted into the drilled hole, and the inserted anchor bolt is applied to the anchor bolt so that the inserted anchor bolt is fixed. The anchor nut is tightened (eg, Korean Patent Application Laid-Open No. 10-2017-0014700 or Korean Patent Publication No. 10-1381958 may be referred to).

However, in order to perform this kind of work, conventionally, after bringing the drill device to the working position and forming a hole in the ceiling, the anchor insertion device is brought again and the operation of inserting the anchor bolt into the drilled hole is repeatedly performed. There is a problem in that the time required is excessively increased.

In addition, the existing devices are configured to be able to raise and lower to perform work on the ceiling surface, but since the position of the entire device must be adjusted to perform work on the exact spot, fine-tuning the spot to work with. There is a difficult problem.

In addition, the conventional anchor insertion device has a problem in that a person has to manually mount the anchor bolt to the anchor insertion device whenever the anchor bolt is inserted into the hole.

An object of the present invention is to solve all of the above problems.

In addition, another object of the present invention is to mount the anchor member supply unit so that the anchor bolt and anchor nut are automatically supplied.

In addition, another object of the present invention is to enable automatic inspection of whether the anchor nut is normally fastened to the anchor bolt inserted into the ceiling by mounting a displacement sensor.

In addition, the present invention enables tool change by rotation of a rotating unit equipped with a drill member, an anchor bolt insertion member, and an impact wrench member, thereby saving time required for anchor construction and enabling anchor construction in a narrow space. Another purpose is to enable efficient anchor construction.

In addition, another object of the present invention is to allow each of the drill member, the anchor bolt insertion member and the impact wrench member to be positioned at the same spot only by the rotation of the rotation unit.

The characteristic configuration of the present invention for achieving the object of the present invention as described above and realizing the characteristic effects of the present invention to be described later is as follows.

According to an aspect of the present invention, a robot base having a movable, height-adjustable upper plate; a robot body that is movable in the x-axis direction and the y-axis direction on the plane of the upper plate, and is rotatable; a first robot arm coupled to the robot body and movable in the z-axis direction, each having a drill member installed at a terminal end for creating a hole in the ceiling; a second robot arm provided with an anchor bolt insertion member for inserting the anchor bolt into the perforation; and a third robot arm provided with an impact wrench member for fixing the anchor bolt by fastening the anchor nut to the anchor bolt; and an anchor member supply unit formed on the upper plate and configured to supply an anchor member to which the anchor bolt and the anchor nut are coupled, wherein the anchor member supply unit includes, wherein the anchor bolt and the anchor nut are coupled. An anchor member storage unit accommodating a plurality of anchor members; A picker that picks up a specific anchor member that is one of the plurality of anchor members accommodated in the anchor member storage unit, a picker elevating unit mounted with the picker, and the picker elevating unit being movably coupled in the z-axis direction Anchor member pickup unit including a first picker support, and a second picker support on which a rail movable in the y-axis direction is formed on the first picker support; and a holder for receiving and gripping the specific anchor member from the anchor member pickup unit, a holder elevating unit mounted with the holder, and a holder supporting unit to which the holder elevating unit is movably coupled in the z-axis direction; and an anchor member transfer unit including a holder rotating part for rotating the holder at a predetermined angle and transferring the specific anchor member gripped by the holder to the third robot arm; is initiated.

As an example, further comprising a control unit for controlling at least a portion of the robot base, the robot body, the robot arm and the anchor member supply unit, wherein the anchor member storage unit is attached to the upper plate or the first addition installed therein. In a state that is movably coupled in the x-axis direction and the first picker support part is movably coupled in the y-axis direction along the rail on the second picker support part, the control unit comprises: (i) the anchor member The storage unit is moved in the x-axis direction and the first picker support part is moved in the y-axis direction, so that the picker is located above the specific anchor member among the plurality of anchor members accommodated. and then causing the picker elevating part to move in the z-axis direction so that the picker picks up the specific anchor member, (ii) controlling at least a part of the first picker support part and the picker to select the specific anchor a process of transferring a member to the holder, and (iii) causing the holder elevating part to move in the z-axis direction so that the holder is positioned at a specific point on the z-axis, and then causing the holder rotating part to cause the predetermined Disclosed is an anchor construction robot characterized in that it performs a process for positioning the specific anchor member gripped by the holder to a position where it can be transferred to the third robot arm by rotating it at an angle of .

As an example, the control unit, (iv) a process of causing the impact wrench member of the third robot arm to loosen and store the anchor nut included in the specific anchor member gripped by the holder, (v) the anchor nut is stored in the impact wrench member, the robot body is rotated so that the second robot arm is positioned below the holder, and then the anchor bolt insertion member causes the anchor nut to be separated A process of receiving bolts, (vi) causing the robot body to move to the ceiling construction area and rotate so that the first robot arm is positioned at the ceiling construction position, and then the first robot arm moves in the z-axis direction a process of causing the drill member to drill a specific spot, (vii) when a hole is created at the specific spot, the robot body is rotated to position the second robot arm at the specific spot, A process in which the second robot arm moves in the z-axis direction to cause the anchor bolt insertion member to insert the anchor bolt into the hole formed in the specific spot, (viii) when the anchor bolt is inserted into the hole in the specific spot , After causing the robot body to rotate so that the third robot arm is positioned at the specific spot, the third robot arm moves in the z-axis direction to cause the impact wrench member to perforate the hole formed at the specific spot. An anchor construction robot is disclosed, characterized in that it additionally performs a process for fastening the anchor nut to the inserted anchor bolt.

As an example, it is coupled to the robot body, further comprising a displacement sensor for checking whether the anchor nut is normally fastened to the anchor bolt, the first robot arm, the second robot arm, the third robot arm and the Each displacement sensor is disclosed an anchor construction robot, characterized in that coupled to the robot body so as to be positioned on the same trajectory when the robot body rotates.

As an example, the control unit, (ix) when the anchor nut is fastened to the anchor bolt, causes the robot body to rotate so that the displacement sensor is located below the specific spot, and then causes the displacement sensor to A process of measuring a first distance to an end exposed outside the ceiling among both ends of the anchor bolt inserted into the ceiling, and a second distance to an end close to the displacement sensor among both ends of the anchor nut fastened to the anchor bolt By further performing, when the difference between the measured first distance and the second distance is within a predetermined error range of a preset distance value, it is determined that the anchor nut is normally fastened to the anchor bolt. An anchor construction robot is started.

As an example, each of the first robot arm, the second robot arm, and the third robot arm includes an arm support coupled to the robot body and an arm lifter coupled to the arm support to elevate and lower, and the An anchor construction robot is disclosed, characterized in that the arm elevating unit is elevated by the driving of the elevating servomotor connected to the arm support unit.

As an example, the robot body is a first robot body moving unit movably coupled to the upper surface of the upper plate in the x-axis direction, and a second robot body coupled to the upper surface of the first robot body moving unit movably in the y-axis direction. An anchor construction robot is disclosed, comprising a robot body rotating unit which is rotatably coupled to a moving unit and an upper surface of the second robot body moving unit and has the robot arm mounted thereon.

As an example, in the first robot body moving unit, in a state in which a first ball nut formed on a lower surface is coupled to a first ball screw formed in the x-axis direction on the upper plate, the first The first robot moves in the x-axis direction in response to the rotation of the first ball screw according to the driving of the first servo motor connected to the ball screw, and the second robot body moving unit has a second ball nut formed on the lower surface of the first robot. In a state in which the body moving unit is coupled with the second ball screw formed in the y-axis direction, it moves in the y-axis direction in response to the rotation of the second ball screw according to the driving of the second servo motor connected to the second ball screw, , The robot body rotating unit is disclosed an anchor construction robot, characterized in that the rotation in response to the driving of the third servo motor connected to the lower surface.

As an example, a lidar coupled to the robot body and measuring the degree of inclination of the upper plate; And with reference to the degree of inclination measured by the lidar, the upper plate is maintained horizontally, coupled to the upper plate and capable of elevating and lowering, and in contact with the ceiling by elevating, the upper plate is leveled There is disclosed an anchor construction robot, characterized in that it further comprises at least one stabilizer to maintain.

As an example, the anchor construction robot is coupled to the robot body, characterized in that it further comprises a vision sensor for confirming the anchor construction position of the ceiling is disclosed.

As an example, coupled to the upper plate or a second addition installed therein, (i) when the anchor bolt insertion fails in the drilling by the anchor insertion member, the anchor bolt supplied to the anchor insertion member and the A first recovery mode that enables the recovery of the anchor nut supplied to the impact wrench member, and (ii) the impact wrench member when the anchor nut is unsuccessfully fastened to the anchor bolt inserted into the drilling by the impact wrench member. Disclosed is an anchor construction robot further comprising an anchor member recovery unit performing at least one of the second recovery modes to recover the supplied anchor nut.

According to the present invention, the following effects are obtained.

The present invention has the effect of automatically supplying the anchor bolt and anchor nut by mounting the anchor member supply unit.

In addition, the present invention has an effect of automatically inspecting whether the anchor nut is normally fastened to the anchor bolt inserted into the ceiling by mounting the displacement sensor.

In addition, the present invention enables tool change by rotation of a rotating unit equipped with a drill member, an anchor bolt insertion member, and an impact wrench member, thereby saving time required for anchor construction and enabling anchor construction in a narrow space. This has the effect of enabling efficient anchor construction.

In addition, the present invention has the effect of allowing each of the drill member, the anchor bolt insertion member, and the impact wrench member to be positioned at the same spot only by rotating the rotation unit.

1 is a view schematically showing an anchor construction robot according to an embodiment of the present invention.
2 is a view for explaining the coupling state of the upper plate and the first robot body moving unit according to an embodiment of the present invention.
3 is a view for explaining a coupling state of the first robot body moving unit and the second robot body moving unit according to an embodiment of the present invention.
4 is a view for explaining a robot body rotating unit according to an embodiment of the present invention.
5A, 5B and 5C are diagrams for explaining a first robot arm, a second robot arm, and a third robot arm according to an embodiment of the present invention, respectively.
6 is a view for explaining the anchor member supply unit according to an embodiment of the present invention.
7A and 7B are diagrams for explaining an embodiment of a displacement sensor according to an embodiment of the present invention, respectively.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0023] Reference is made to the accompanying drawings, which show by way of illustration specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein with respect to one embodiment may be embodied in other embodiments without departing from the spirit and scope of the invention.

In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the following detailed description is not intended to be taken in a limiting sense, and the scope of the invention, if properly described, is limited only by the appended claims, along with all scope equivalents to those claimed. Like reference numerals in the drawings refer to the same or similar functions throughout the various aspects.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to enable those of ordinary skill in the art to easily practice the present invention.

For reference, each of the x-axis direction, the y-axis direction, and the z-axis direction among terms to be described later may mean all of the ± direction, or may mean only one of the + direction and the - direction. Accordingly, each of the x-axis direction, the y-axis direction, and the z-axis direction described in the following description may be interpreted as meaning suitable for the flow in context.

1 schematically shows an anchor construction robot according to an embodiment of the present invention.

Referring to FIG. 1 , the ceiling construction robot according to the present invention may include a robot base 100 , a robot body 200 , a robot arm unit 300 , and an anchor member supply unit 400 .

First, the robot base 100 corresponds to the lower region of the anchor construction robot, and may include an upper plate 110 capable of height adjustment.

In addition, the robot base 100 may include an X-shaped scissor lift 120 that is installed under the upper plate 110 to elevate and lower the upper plate 110, but is not limited thereto. All elevating devices for elevating and lowering the upper plate 110 up and down, such as a device, a motor-driven elevating device, and a hydraulic elevating device, may be included.

In addition, a plurality of wheels (not shown) may be formed in the lower part of the robot base 100 to be movable, but the present invention is not limited thereto, and it may be possible to position the robot base 100 on the floor surface of the workshop through various transport means.

In addition to this, the robot base 100 may include a position fixing device (not shown) for fixing the position of the anchor construction robot at a specific position on the floor surface of the workshop.

Next, the robot body 200 may be formed to be movable in the x-axis direction and the y-axis direction on the upper plate 110 plane, and to be able to rotate. At this time, the x-axis direction may be a direction in which the robot body 200 is moved to the anchor member supply unit 400, and the robot body 200 is moved in the upper plate 110 by movement in the x-axis and y-axis directions. It can be located in a specific spot on the ceiling for anchor construction work.

Here, the robot body 200 is a first robot body moving unit 210 that is movably coupled to the upper surface of the upper plate 110 in the x-axis direction, and moves in the y-axis direction on the upper surface of the first robot body moving unit 210 . The second robot body moving unit 220 and the second robot body moving unit 220 that are coupled to be rotatably coupled to the upper surface and include a robot body rotating unit 230 having a robot arm unit 300 mounted thereon. can

Specifically, referring to FIG. 2 , a first ball nut 211 may be formed on a lower surface of the first robot body moving unit 210 , and a lower surface of the first robot body moving unit 210 . The first ball nut 211 formed in the upper plate 110 may be coupled to the first ball screw 111 formed in the x-axis direction on the upper plate 110 . Here, the first ball screw 111 may be connected to the first server motor 112 . Accordingly, the first robot body moving unit 210 may move in the x-axis direction in response to the rotation of the first ball screw 111 according to the driving of the first servo motor 112 .

Also, referring to FIG. 3 , the second ball nut 221 may be formed on the lower surface of the second robot body moving unit 220 , and the second ball formed on the lower surface of the second robot body moving unit 220 . The nut 221 may be coupled to the second ball screw 212 formed in the y-axis direction of the first robot body moving unit 210 . Here, the second ball screw 212 may be connected to the second server motor 213 . Accordingly, the second robot body moving unit 220 may move in the y-axis direction in response to the rotation of the second ball screw 221 according to the driving of the second servo motor 213 .

In addition, referring to FIG. 4 , the robot body rotating unit 230 is rotatably coupled to the upper surface of the second robot body moving unit 220 , and the third servomotor 231 is connected to the lower surface of the third servomotor. It can rotate in response to the driving of (231).

Meanwhile, in the above description, the first robot body moving unit 210, the second robot body moving unit 220, and the robot body rotating unit 230 are moved and rotated by the rail rod by the ball screw-ball nut. , on the contrary, by installing a steering device used for an Automated Guided Vehicle (AGV) or an Autonomous Mobile Robot, etc. in the lower area of the robot body 200, the robot body 200 moves the position on the floor surface of the workshop. Not only can it be made possible, but it can also be made to rotate.

Next, the robot arm unit 300 may include a first robot arm 310 , a second robot arm 320 , and a third robot arm 330 . Here, each of the first robot arm 310 , the second robot arm 320 , and the third robot arm 330 may move in the z-axis direction and may be coupled to the robot body 200 , respectively.

Specifically, referring to FIG. 5A , the first robot arm 310 includes an arm support part 311 coupled to the robot body 200 , and an arm elevation part 312 coupled to the arm support part 311 so as to move up and down. , and may include a servo motor 313 for elevating and lowering. At this time, the elevating servomotor 313 may be connected to the arm support part 311 , and the arm elevating/lowering part 312 may be elevated by driving the elevating servomotor 313 . In addition, a drill member 314 for creating a hole in the ceiling may be installed at the end of the first robot arm 310 . Here, the drill member 314 may include a driving unit for driving the drill member 314 . In addition, the first robot arm 310 may further include a scattering dust collecting member (not shown) for collecting scattering products generated while the drill member 314 creates a hole in the ceiling.

In addition, referring to FIG. 5B , the second robot arm 320 includes an arm support part 321 coupled to the robot body 200 , an arm elevation part 322 coupled to the arm support part 321 so as to move up and down, And it may include a servo motor 323 for elevating. At this time, the elevating servomotor 323 may be connected to the arm support unit 321 , and the arm elevating/lowering unit 322 may be elevated by driving the elevating servomotor 323 . In addition, an anchor bolt insertion member 324 for inserting the anchor bolt into the hole may be installed at the end of the second robot arm 320 . Here, the anchor bolt insertion member 324 may include a driving unit for driving the anchor bolt insertion member 324 . In addition, the second robot arm 320 may further include a scattering dust collecting member (not shown) for collecting scattering products generated while the anchor bolt insertion member 324 inserts the anchor bolt into the hole.

In addition, referring to FIG. 5c , the third robot arm 330 includes an arm support 331 coupled to the robot body 200 , an arm elevation 332 coupled to the arm support 331 so as to move up and down, And it may include a servo motor 333 for elevating. At this time, the elevating servomotor 333 may be connected to the arm support 331 , and the arm elevating unit 332 may be elevated by driving the elevating servomotor 333 . In addition, an impact wrench member 334 for fixing the anchor bolt by fastening the anchor nut to the anchor bolt may be installed at the end of the third robot arm 330 . Here, the impact wrench member 334 may include a driving unit for driving the impact wrench member 334 . In addition, the third robot arm 330 may further include a scattering dust collecting member (not shown) for collecting scattering debris generated in the process in which the impact wrench member 334 fastens the anchor nut to the anchor bolt.

On the other hand, each of the first robot arm 310 , the second robot arm 320 , and the third robot arm 330 is to be coupled to the robot body 200 so as to be positioned on the same trajectory when the robot body 200 rotates. can

That is, by rotating the robot body 200, the first robot arm 310, the second robot arm 320, and the third robot arm 330 are positioned at the same position to create a perforation for the same spot, Anchor bolts are inserted, and the anchor nuts can be fastened to the anchor bolts.

In addition, by allowing the first robot arm 310, the second robot arm 320, and the third robot arm 330 to work while changing only the rotation of the robot body 200, the ceiling construction can be performed even in a narrow space. there is.

On the other hand, in the above, each of the first robot arm 310, the second robot arm 320, and the third robot arm 330 was configured with an arm support part, an arm elevation part, and a servo motor for elevation. It can also be configured as an articulated robot arm.

Next, the anchor member supply unit 400 may be formed on the upper plate 110 to supply the anchor member in which the anchor bolt and the anchor nut are coupled.

Specifically, referring to FIG. 6 , the anchor member supply unit 400 may include an anchor member storage unit 410 , an anchor member pickup unit 420 , and an anchor member transfer unit 430 .

At this time, the anchor member storage unit 410 may accommodate a plurality of anchor members to which the anchor bolt and the anchor nut are coupled. Here, the anchor member storage unit 410 may be movably coupled to the upper plate 110 in the x-axis direction. In addition, the anchor member storage unit 410 may be movably coupled to the first addition (not shown) installed on the upper plate 110 in the x-axis direction. In addition, the anchor member storage unit 410 may include a laser sensor (not shown) for confirming the position of the received anchor member. In addition, the anchor member storage unit 410 may further include a servomotor (not shown) coupled to the storage unit 410 to move the storage unit 410 .

In addition, the anchor member pickup unit 420 is a picker that picks up a specific anchor member, which is one of a plurality of anchor members accommodated in the anchor member storage unit 410, a picker 421, a picker 422 is mounted. A rail is formed in which the elevating unit 422, the picker elevating unit 422 are movably coupled in the z-axis direction, and the first picker supporting unit 423 and the first picker supporting unit 423 are movable in the y-axis direction. A second picker support 424 may be included. Here, the anchor member pickup unit 420 may be coupled to the upper plate 110 to be positioned on the anchor member storage unit 410 , or may be coupled to the anchor member storage unit 410 . In addition, the anchor member pickup unit 420 may include at least one servomotor (not shown) for moving each of the first picker support part 423 and the picker elevating part 422 , and driving the picker 421 . It may include a driving unit (not shown).

In addition, the anchor member transfer unit 430, the holder 431 for receiving and gripping the anchor member from the anchor member pickup unit 420, the holder elevating unit 432 for mounting the holder 431, the holder elevating and lowering The third robot arm 330 rotates the holder support portion 433 to which the steel portion 432 is movably coupled in the z-axis direction, and the anchor member gripped by the holder 431 by rotating the holder 431 at a predetermined angle. It may include a holder rotating part 434 for transferring to. Here, the anchor member transfer unit 430 may be coupled to at least one of the anchor member storage unit 410 and the anchor member pickup unit 420 , and the anchor member storage unit 410 and the anchor member pickup unit 420 . ) may be spaced apart and coupled to the upper plate 110 . In addition, the anchor member transfer unit 430 may include a servo motor (not shown) for moving the holder elevating unit 432, and may include a driving unit (not shown) for rotating the holder rotating unit 434. .

On the other hand, the anchor construction robot 100 may include a displacement sensor 500 for checking whether the anchor nut is normally fastened to the anchor bolt inserted into the ceiling.

Here, the displacement sensor 500 is located on the same trajectory as the trajectory of each of the first robot arm 310 , the second robot arm 320 , and the third robot arm 330 when the robot body 200 rotates. It may be coupled to the robot body 200 as possible.

That is, the displacement sensor 500 moves on the same trajectory as the first robot arm 310 , the second robot arm 320 , and the third robot arm 330 by the rotation of the robot body 200 to move the first robot By making the arm 310, the second robot arm 320, and the third robot arm 330 located under the same construction spot as the ceiling construction spot, one of the both ends of the anchor bolt inserted into the ceiling is exposed to the outside of the ceiling. It is possible to measure a first distance that is a distance of , and a second distance that is a distance to an end close to the displacement sensor 500 among both ends of the anchor nut fastened to the anchor bolt. Here, the displacement sensor 500 may be a displacement sensor capable of measuring a distance by an optical method, but is not limited thereto.

At this time, the processor (not shown) included in the anchor construction robot 100 or an external server (not shown) communicating with the anchor construction robot 100 includes information on the first distance value measured as described above and By receiving information on the second distance value, calculating the difference between the first distance value and the second distance value, and determining whether the calculated difference value exists within a predetermined error range of a preset distance value, the You can check whether the anchor nut is properly fastened to the anchor bolt. That is, if the calculated difference value is within a predetermined error range of the preset distance value, it is determined that the anchor nut is normally fastened to the anchor bolt, and the calculated difference value does not exist within a predetermined error range of the preset distance value. If not, it can be judged that the anchor nut is not properly fastened to the anchor bolt.

For example, referring to FIGS. 7A and 7B , the displacement sensor 500 moved to the lower part of the ceiling construction spot by the rotation of the robot body is exposed outside the ceiling among both ends of the anchor bolt 710 inserted into the ceiling. Measure the first distance 730, which is the distance to the end 711, and after the robot body rotates, the end 721 closest to the displacement sensor 500 among both ends of the anchor nut 720 fastened to the anchor bolt. A second distance 740 , which is a distance to , may be measured.

At this time, in the above example, the distance to the end exposed to the outside of the ceiling among both ends of the anchor bolt is first measured, and then the distance to the end close to the displacement sensor 500 among both ends of the anchor nut fastened to the anchor bolt is measured. However, on the contrary, the distance to the end close to the displacement sensor 500 among both ends of the anchor nut fastened to the anchor bolt is first measured, and then the distance to the end exposed outside the ceiling among both ends of the anchor bolt may be measured.

On the other hand, the anchor construction robot 100 has at least one stabilizer 700a, 700b, 700c to keep the lidar 600 for measuring the inclination degree of the upper plate 110 and the upper plate 110 horizontal. , 700d) may be included.

At this time, the lidar 600 may be coupled to the upper portion of the robot body 200, and the stabilizers 700a, 700b, 700c, and 700d may be raised and lowered on the upper plate 110 and contact the ceiling by lifting. It is coupled so that the upper plate 110 can be fixed to maintain the horizontal. Here, the stabilizers 700a, 700b, 700c, and 700d may operate to keep the upper plate 110 horizontal with reference to the degree of inclination of the upper plate 110 measured by the lidar 600 . .

In addition, each of the stabilizers 700a, 700b, 700c, and 700d may be raised and lowered by an electric actuator, but is not limited thereto, and may be raised and lowered by various actuators such as a hydraulic actuator, a pneumatic actuator, and the like.

At this time, the stabilizers 700a, 700b, 700c, and 700d may be operated to move up and down by the same distance at the same time, or may be operated to move up and down by different distances, respectively.

In addition, the stabilizers 700a, 700b, 700c, and 700d may be fixed such that the upper plate 110 is horizontal with respect to the ceiling surface, or the upper plate 110 may be fixed such that the upper plate 110 remains horizontal with respect to the horizontal surface. .

On the other hand, the anchor construction robot 100 may include a vision sensor 800 for confirming the anchor construction position of the ceiling. Here, the vision sensor 800 is coupled to the robot body 200 and moves to the construction position by the rotation of the robot body 200, thereby generating a perforation by the first robot arm 310, the second robot arm The construction position can be confirmed before and after each of the process of inserting the anchor bolt by 320 and the process of fastening the anchor nut to the anchor bolt by the third robot arm 330 .

On the other hand, the anchor construction robot 100 may include an anchor member recovery unit 900 capable of recovering at least one of the anchor bolt supplied to the anchor insertion member 324 and the anchor nut supplied to the impact wrench member 334 . there is.

Here, the anchor member recovery unit 900 may be coupled to the upper plate 110 or a second additive (not shown) installed thereon.

In addition, the anchor member recovery unit 900 includes the anchor bolt supplied to the anchor insertion member 324 and the anchor supplied to the impact wrench member 334 when the anchor bolt insertion fails in the drilling by the anchor insertion member 324 . The first recovery mode, which is a mode that allows the nut to be recovered, and the anchor bolt insertion into the drilling by the anchor insertion member 324 were successful, but the anchor nut fastening to the anchor bolt inserted into the drilling by the impact wrench member 334 was not successful. In case of failure, at least one recovery mode among the second recovery modes, which is a mode for recovering the anchor nut supplied to the impact wrench member 334 , may be performed.

Here, the anchor member recovery unit 900 moves to a position near the robot body 200 where the anchor member recovery unit 900 is coupled to the anchor insertion member 324 and the impact wrench member 334 to enter the recovery mode. Alternatively, the anchor member recovery unit 900 may perform the recovery mode in a state in which the robot body 200 moves to a position adjacent to the anchor member recovery unit 900 .

On the other hand, the anchor construction robot 100 may further include a control unit (not shown) capable of controlling the operation of each component included in the anchor construction robot 100 . Here, the control unit may control at least some of the robot base, the robot body, the robot arm, and the anchor member supply unit, but is not limited thereto, and may control all components included in the anchor construction robot 100 .

An operation process of anchor construction in a workshop using the anchor construction robot according to an embodiment of the present invention configured as described above will be described as follows.

First, the anchor construction robot is moved to the area for anchor construction in the workshop by the operation of the robot base 100 . At this time, the robot base 100 can prevent the ceiling construction robot from moving from the current position to another position by fixing the current position using a position fixing device after moving to the anchor construction area.

In addition, the anchor construction robot raises and lowers a plurality of stabilizers 700a, 700b, 700c, 700d installed on the upper plate 110 so that each stabilizer 700a, 700b, 700c, 700d is in contact with the ceiling so that the upper plate (100) to keep horizontal.

And, the anchor member storage unit 410 moves in the x-axis direction and the first picker support part 423 moves in the y-axis direction, so that the picker 421 is among the plurality of anchor members accommodated in the anchor member storage unit 410. After being positioned above one specific anchor member, the picker elevating unit 422 moves in the z-axis direction to allow the picker 421 to pick up the specific anchor member.

At this time, after the picker elevating unit 422 descends in the z-axis direction and the picker 421 grabs a part of the specific anchor member, the picker elevating unit 422 rises in the z-axis direction so that the specific anchor member is an anchor member. It can be detached from the storage unit 410 .

Next, at least a portion of the first picker support part 423 and the picker 421 may move to allow the specific anchor member to be transferred to the holder 431 .

For example, the first picker support part 423 moves in the y-axis direction where the holder 431 is positioned so that the picker 421 is positioned on the holder 431 , and then the specific anchor member held by the picker 421 . By placing , it is possible to transfer the specific anchor member to the holder 431 . At this time, the holder 431 may hold the specific anchor member by performing an operation of fixing the received specific anchor member so that it does not move.

Next, the holder elevating part 432 moves in the z-axis direction so that the holder 431 is positioned at a specific point on the z-axis, and then the holder rotating part 434 rotates at a predetermined angle and is gripped by the holder 431 . An operation may be performed to position the specific anchor member at a position that can be transferred to the third robot arm 330 .

In this case, the specific anchor member may be positioned so that the portion inserted into the ceiling of the specific anchor member faces the ceiling, and the portion where the nut included in the specific anchor member is loosened faces the ground.

Next, the impact wrench member 334 of the third robot arm 330 may operate to release and store the anchor nut included in the specific anchor member gripped by the holder 431 . Here, the robot body 200 moves to the anchor member supply unit 400 on the upper plate 110 of the robot base 100 and then rotates so that the third robot arm 330 is positioned under the holder 431 . can

At this time, the third robot arm 330 moves up and down in the z-axis direction and the impact wrench member 334 loosens and stores the anchor nut included in the specific anchor member gripped by the holder 431, and then the third robot arm ( 330) can descend.

In addition, after the holder elevating part 432 descends in the z-axis direction and the impact wrench member 334 loosens and stores the anchor nut coupled to the specific anchor member gripped by the holder 431, the holder elevating unit 432 may move up and down in the z-axis direction.

Next, the robot body 200 may rotate while the anchor nut is stored in the impact wrench member 334 so that the second robot arm 320 is positioned under the holder 431 . Here, the anchor bolt insertion member 324 may operate so that the anchor nut can be supplied with the separated anchor bolt.

At this time, after the third robot arm 320 is lifted in the z-axis direction and the anchor bolt insertion member 324 is supplied with the anchor bolt from which the anchor nut gripped by the holder 431 is separated, the second robot arm ( 330) may descend in the z-axis direction.

In addition, after the holder elevating unit 432 descends and the anchor bolt insertion member 324 receives the anchor bolt from which the anchor nut gripped by the holder 431 is separated, the holder elevating unit 432 moves in the z-axis direction. You can also ascend to

Next, the robot body 200 moves to the construction area of the ceiling and rotates so that the first robot arm 310 is located in the anchor construction position, that is, in the lower region of a specific spot on the ceiling for anchor work. . Here, when the first robot arm 310 is positioned at the anchor construction position, the first robot arm 310 moves up and down in the z-axis direction so that the drill member 314 drills a specific spot and descends again. there is.

Next, the robot body 200 may rotate when a perforation is generated at a specific spot so that the second robot arm 320 is positioned at the specific spot. Here, when the second robot arm 320 is positioned at a specific spot, the second robot arm 320 moves up and down in the z-axis direction and inserts the anchor bolt into the hole where the anchor insertion member 324 is formed at the specific spot, You can do the descent again. At this time, the anchor insertion member 324 may insert the anchor bolt into the hole and then fix the anchor bolt to the hole through the punching operation.

Next, the robot body 200 may rotate when the anchor bolt is inserted into the perforation of the specific spot so that the third robot arm 330 is positioned at the specific spot. Here, when the third robot arm 330 is positioned at a specific spot, the third robot arm 330 moves up and down in the z-axis direction so that the impact wrench member 334 is inserted into the anchor bolt inserted into the hole formed at the specific spot. After tightening the anchor nut, the lowering operation can be performed again.

Next, the robot body 200 may rotate when the anchor nut is fastened to the anchor bolt inserted into the perforation so that the displacement sensor 500 is positioned under a specific spot. Here, when the displacement sensor 500 is positioned at a specific spot, a first distance that is a distance from both ends of the anchor bolt inserted into the ceiling to an end exposed outside the ceiling and a displacement among both ends of the anchor nut fastened to the anchor bolt A second distance that is a distance to an end close to the sensor 500 may be measured, respectively.

In the above, the present invention has been described with specific matters such as specific components and limited embodiments and drawings, but these are provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , those of ordinary skill in the art to which the present invention pertains can make various modifications and variations from these descriptions.

Therefore, the spirit of the present invention should not be limited to the above-described embodiments, and not only the claims described below, but also all modifications equivalently or equivalently to the claims described below belong to the scope of the spirit of the present invention. will do it

100: robot base
110: upper plate
120: X-shaped scissor lift
200: robot body
210: first robot body moving unit
220: second robot body moving unit
230: robot body rotation unit
300: robot arm
310: first robot arm
314: drill member
320: second robot arm
324: anchor bolt insertion member
330: third robot arm
334: no impact wrench
400: anchor member supply unit
410: anchor member storage unit
420: anchor member pickup unit
430: anchor member transfer unit
500: displacement sensor
600: lidar
700a, 700b, 700c, 700d: Stabilizer
800: vision sensor
900: anchor member recovery unit

Claims (11)

a robot base having a movable, height-adjustable upper plate;
a robot body that is movable in the x-axis direction and the y-axis direction on the plane of the upper plate, and is rotatable;
a first robot arm coupled to the robot body and movable in the z-axis direction, each having a drill member installed at a terminal end for creating a hole in the ceiling; a second robot arm provided with an anchor bolt insertion member for inserting the anchor bolt into the perforation; and a third robot arm provided with an impact wrench member for fixing the anchor bolt by fastening the anchor nut to the anchor bolt; and
an anchor member supply unit formed on the upper plate and configured to supply an anchor member to which the anchor bolt and the anchor nut are coupled;
including,
The anchor member supply unit,
an anchor member storage unit accommodating a plurality of anchor members to which the anchor bolt and the anchor nut are coupled;
A picker for picking up a specific anchor member, which is one of the plurality of anchor members accommodated in the anchor member storage unit, a picker elevating unit mounted with the picker, and the picker elevating unit movably coupled in the z-axis direction Anchor member pickup unit including a first picker support, and a second picker support on which the first picker support is formed with a rail movable in the y-axis direction; and
A holder for receiving and holding the specific anchor member from the anchor member pickup unit; an anchor member transfer unit including a holder rotating part for rotating the holder at a predetermined angle to transfer the specific anchor member gripped by the holder to the third robot arm;
Anchor construction robot comprising a. According to claim 1,
Further comprising a control unit for controlling at least a portion of the robot base, the robot body, the robot arm unit, and the anchor member supply unit,
The anchor member storage unit is movably coupled to the upper plate or a first addition installed therein in the x-axis direction, and the first picker support part moves in the y-axis direction along the rail on the second picker support part. In the possibly coupled state, the control unit, (i) causes the anchor member storage unit to move in the x-axis direction and causes the first picker support unit to move in the y-axis direction, so that the picker moves in the y-axis direction. A process of causing the picker to pick up the specific anchor member by positioning the picker elevating unit to move in the z-axis direction after positioning it above the specific anchor member among the plurality of anchor members accommodated; (ii) ) a process of controlling at least a part of the first picker support part and the picker to transfer the specific anchor member to the holder, and (iii) causing the holder elevating part to move in the z-axis direction so that the holder moves in the z-axis direction. A process of positioning the specific anchor member held by the holder at a position where it can be transferred to the third robot arm by causing the holder rotating part to rotate at the predetermined angle after positioning it at a specific point on the z-axis Anchor construction robot, characterized in that it performs. 3. The method of claim 2,
The control unit, (iv) a process of causing the impact wrench member of the third robot arm to loosen and store the anchor nut included in the specific anchor member gripped by the holder, (v) the anchor nut is the impact In the state stored in the wrench member, the robot body is rotated so that the second robot arm is located in the lower part of the holder, and then the anchor bolt insertion member supplies the anchor bolt from which the anchor nut is separated. (vi) causing the robot body to move to the ceiling construction area and rotate so that the first robot arm is positioned at the ceiling construction position, then the first robot arm moves in the z-axis direction to perform the drill a process of causing a member to perforate a specific spot, (vii) when a perforation is generated at the specific spot, causing the robot body to rotate so that the second robot arm is positioned at the specific spot, and then the second robot A process in which the arm moves in the z-axis direction to cause the anchor bolt insertion member to insert the anchor bolt into the perforation formed at the specific spot, (viii) when the anchor bolt is inserted into the perforation of the specific spot, the robot After causing the body to rotate so that the third robot arm is positioned at the specific spot, the third robot arm moves in the z-axis direction to cause the impact wrench member to be inserted into the perforation formed at the specific spot. Anchor construction robot, characterized in that it additionally performs the process of fastening the anchor nut to the anchor bolt. 4. The method of claim 3,
It is coupled to the robot body, further comprising a displacement sensor for inspecting whether the anchor nut is normally fastened to the anchor bolt,
Each of the first robot arm, the second robot arm, the third robot arm and the displacement sensor is coupled to the robot body so as to be positioned on the same trajectory when the robot body rotates. 5. The method of claim 4,
The control unit, (ix) when the anchor nut is fastened to the anchor bolt, causes the robot body to rotate so that the displacement sensor is located below the specific spot, and then inserts the displacement sensor into the ceiling A process of measuring a first distance to an end exposed outside the ceiling among both ends of the anchor bolt and a second distance to an end close to the displacement sensor among both ends of the anchor nut fastened to the anchor bolt By doing so, when the measured difference value between the first distance and the second distance is within a predetermined error range of a preset distance value, it is determined that the anchor nut is normally fastened to the anchor bolt. . According to claim 1,
Each of the first robot arm, the second robot arm, and the third robot arm includes an arm support coupled to the robot body and an arm lifter coupled to the arm support to elevate and descend, and the arm support unit includes: Anchor construction robot, characterized in that the arm elevating part is raised and lowered by the driving of the connected elevating servomotor. According to claim 1,
The robot body includes a first robot body moving unit movably coupled to the upper surface of the upper plate in the x-axis direction, a second robot body moving unit movably coupled to the upper surface of the first robot body moving unit in the y-axis direction, and Anchor construction robot comprising a robot body rotating unit rotatably coupled to the upper surface of the second robot body moving unit and having the robot arm unit mounted thereon. 8. The method of claim 7,
The first robot body moving unit includes the first ball screw and the first ball screw in a state in which a first ball nut formed on the lower surface is coupled to the first ball screw formed on the upper plate in the x-axis direction. In response to the rotation of the first ball screw according to the driving of the connected first servomotor, it moves in the x-axis direction, and the second robot body moving unit includes a second ball nut formed on the lower surface of the first robot body moving unit. In a state coupled to the second ball screw formed in the y-axis direction, the robot moves in the y-axis direction in response to the rotation of the second ball screw according to the driving of the second servo motor connected to the second ball screw, and the robot moves in the y-axis direction. Anchor construction robot, characterized in that the body rotation unit rotates in response to the driving of the third servo motor connected to the lower surface. According to claim 1,
a lidar coupled to the robot body and configured to measure the degree of inclination of the upper plate; and
The upper plate is maintained horizontally with reference to the degree of inclination measured by the lidar, but is coupled to the upper plate and can be raised and lowered, and the upper plate is in contact with the ceiling by lifting and lowering to keep the upper plate horizontal at least one stabilizer that allows
Anchor construction robot, characterized in that it further comprises. According to claim 1,
Anchor construction robot coupled to the robot body, characterized in that it further comprises a vision sensor for confirming the anchor construction position of the ceiling. According to claim 1,
It is coupled to the upper plate or a second addition installed therein, and (i) the anchor bolt and the impact wrench member supplied to the anchor insertion member when insertion of the anchor bolt into the drilling by the anchor insertion member fails and (ii) a first recovery mode for recovering the anchor nut supplied to the Anchor construction robot, characterized in that it further comprises an anchor member recovery unit for performing at least one of the second recovery mode for recovering the anchor nut.

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