WO2021240230A1 - Système de revêtement de sol robotisé et intérieur industriel - Google Patents

Système de revêtement de sol robotisé et intérieur industriel Download PDF

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Publication number
WO2021240230A1
WO2021240230A1 PCT/IB2020/060358 IB2020060358W WO2021240230A1 WO 2021240230 A1 WO2021240230 A1 WO 2021240230A1 IB 2020060358 W IB2020060358 W IB 2020060358W WO 2021240230 A1 WO2021240230 A1 WO 2021240230A1
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WO
WIPO (PCT)
Prior art keywords
cement mortar
flooring
tiling
robot
output unit
Prior art date
Application number
PCT/IB2020/060358
Other languages
English (en)
Inventor
Shmuel Levy
Original Assignee
Shmuel Levy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shmuel Levy filed Critical Shmuel Levy
Publication of WO2021240230A1 publication Critical patent/WO2021240230A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring
    • E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

Definitions

  • Flooring may include positioning tiles on a cement mortar and allowing the cement mortar to dry and bind the tiles to itself.
  • the cement mortar is a mixture of fluid, aggregates and cementitious materials.
  • US patent 9969103 illustrates a static mortar robot.
  • the robot includes comprises a first, second, third, and fourth container module.
  • the first container module (2) consists of a sand midway silo, a weighing system, a stirring system, and a control system
  • the second container module (3) consists of a cement silo, a spiral conveying machine, a material level meter and a water storage tank
  • the third container module (4) consists of a fly-ash silo, a spiral conveying machine, a material level meter and an air storage tank with an air compressor
  • the fourth container module (5) consists of a sand storage bin, an elevator, a material level meter and an additive storage box. While transporting, the first container module can be respectively detached into four functional modules which are directly put onto a transporting vehicle together with other three container modules for transportation.
  • European Patent EP2610417A illustrates an apparatus for automated construction that includes an extrusion nozzle and a robotic arm.
  • the apparatus may include a nozzle assembly configured to extrude material through an outlet ; and a controllable robotic arm coupled to the nozzle assembly, the robotic arm having at one end a gripper configured to pick up an element and deposit the element at a desired position relative to the extruded material.
  • US patent 201816633248 illustrates a system for applying a building material, including: a first component of the building material, including a first constituent and a second constituent; a second component of the building material; a first mixer for mixing the first constituent and the second constituent; a supply device for supplying the first constituent to the mixer; a movement device for modifying a site of application in a space; and a second mixer for mixing the first component and the second component.
  • Internal partition walls are used to separate walls within a building.
  • Internal partition walls are built one block after the other. This is followed by execution of a taping layer of plaster for a "Ready to paint wall " state.
  • the internal partition walls can be built by manually positioning and securing a relatively weak infrastructure of beams - that are positioned one after the other and then attaching to these steel beams one gypsum board after the other. This is followed by an execution of taping layer for a "Ready to paint wall " state.
  • the building of internal partition walls from building blocks is very slow, inaccurate and costly - due to the high cost of material and labor. Furthermore - this building method required to drill holes for introducing electricity and water systems.
  • FIG. 1 illustrates an example of a cement mortar manufacturing robot
  • FIG. 2 illustrates an example of a tiling robot
  • FIG. 3 illustrates an example of a cement mortar output unit of a tiling robot
  • FIG. 4 illustrates examples of tile holding units for tiles of different dimensions
  • FIG. 5 illustrates multiple stages of a flooring plan
  • FIG. 6 illustrates the tiles placed during different phase of the tiling process
  • FIG. 7 illustrates multiple stages of another flooring plan
  • FIG. 8 illustrates an example of a flooring method
  • FIG. 9 illustrates an example of a room
  • FIG. 10 illustrates an example of a vertical structural component
  • FIG. 11 is an example of a top adaptor, a bottom adaptor and a pole of a vertical structural component
  • FIG. 12 is an example of a different types of vertical structural components
  • FIG. 13 is an example of formation of a door opening in an interior partition wall
  • FIG. 14 is an example of a vertical structural component, a horizontal beam and an edge adaptor
  • FIG. 15 is an example of a horizontal beam and an edge adaptor
  • FIG. 16 is an example of a drilling system and a vertical structural component
  • FIG. 17 is an example of a part of a drilling system
  • FIG.s 18-21 are examples of parts of the drilling system.
  • Any reference in the specification to a method should be applied mutatis mutandis to a device or system and/or a kit capable of executing the method.
  • Any reference in the specification to a system or device or a kit should be applied mutatis mutandis to a method that may be executed by the system or device or kit.
  • a flooring system may include a cement mortar manufacturing robot and one or more tiling robots.
  • the flooring system may be configured to determine a flooring plan that is can be executed during a relatively short period of time.
  • the flooring plan may include performing multiple flooring iterations, whereas some flooring iterations may be followed while other flooring iterations were not dries.
  • the flooring plan may be determined to maximize throughput of one or more tiling robots that perform the tiling.
  • the determining of the flooring plan may include determining not to tile areas that will require using tiles (or tile segments) of less than a predefined width (for example less than 5, 10, 15 or 20 centimeter) whereas such narrow areas may be tiled in other manners - as this may simplify the system and/or speed up the tiling process.
  • Narrow areas may be defined bear walls of a space or a sub-space- but this is not necessarily so.
  • the flooring system may include a tiling robot that is modular in the sense that it may include an interface that may be detachably connected to different tiles holding units (such as but not limited to trays). Different tiles holding units are configured to hold tiles of different dimensions. Thus- the tiling unit may be configured to change the size of tiles by replacing between one tiles holding unit to another.
  • the tiling robot may use one tiles holding unit at a time - or may convey tiles of different size at the same time.
  • the flooring system may include a tiling robot that has a cement mortar output that is adjustable - it is configured to output the cement mortar over an area of adjustable length.
  • the flooring system may include a tiling robot that may be self- propelled and configured to navigate itself and may also determine at least one flooring parameter based, at least in part, based on a location of the tiling robot. The location may include a height parameter.
  • the cement mortar manufacturing robot may include a cement mortar mixer and a cement mortar distribution module that may include at least one conduit for distributing the cement mortar
  • the tiling robot may include (a) a cement mortar input unit that may be configured to receive the cement mortar from a conduit of the at least one conduits, (b) a cement mortar output unit that may be configured to output the cement mortar to provide a base layer of cement mortar, (c) a tiling unit that may be configured to position tiles on the cement mortar, (d) a drive unit for moving the tiling robot, and (e) a tiling robot controller.
  • the tiling robot controller may be configured to determine a flooring plan and to control the tiling robot to fulfill the flooring plan.
  • the tiling robot controller may be configured to determine the flooring plan based on geometrical features of one or more sub-spaces of a space to be tiled, one or more dimensions of the tiling robot and one or more maneuverability features of the tiling robot.
  • the tiling robot controller may be configured to determine the flooring plan by minimizing a duration of the flooring process.
  • the tiling robot controller may be configured to determine the flooring plan by maximizing a number of tiles positioned during flooring iterations that can be consecutively executed without waiting to the cement mortar distributed during a flooring iteration to dry within at least one sub-space of the one or more sub-spaces.
  • a time gap between ending one of the flooring iterations to a consecutive flooring iteration of the flooring iterations may be smaller than a drying duration of the cement mortar.
  • the tiling robot controller may be configured to perform consecutive flooring iterations without contacting tiles of a completed flooring iteration that are positioned on cement mortar that did not dry.
  • the tiling robot may include a receiver (denoted 282 in figures 2 and
  • the tiling robot controller may be configure to determine at least one flooring parameter based, at least in part, based on a reception of the one or more location beacons.
  • the transmitters 399 may be located in one, some or all subspaces of a space).
  • the one or more location beacons may be indicative of a reference height, and wherein the at least one flooring parameter may be a top level of layer of a cement mortar to be deposited by the tiling robot.
  • the tiling robot may know, per each location (x,y) of the space what should be the height (top surface of) of the cement mortar - and one positioned in that location- it will know when to stop spreading the cement mortar - for example not before reaching (at least) the height of the top surface - and cement mortar above this height will be leveled by the mortar leveler.
  • the cement mortar output unit may include a cement mortar leveler, wherein the tiling robot controller may be configured to control a height of the cement mortar leveler.
  • the cement mortar output unit may be an adjustable cement mortar output that may be configured to output the cement mortar over an area of adjustable width.
  • the cement mortar output unit may include multiple cement mortar distributers, wherein the flooring robot may be configured to determine the adjustable width by selectively opening at least one of the multiple cement mortar distributers.
  • the cement mortar output unit may include multiple cement mortar distributers, wherein at least one of the cement mortar distributers may be positioned in a movable portion of the cement mortar output unit, wherein the flooring robot may be configured to determine the adjustable width by controlling a position of the movable portion.
  • the cement mortar output unit may include multiple cement mortar distributers, wherein at least one of the cement mortar distributers may be positioned in a movable portion of the cement mortar output unit, wherein the flooring robot may be configured to determine the adjustable width by controlling a position of the movable portion and by selectively opening at least one of the multiple cement mortar distributers.
  • the cement mortar output unit may include a plurality of cement mortar output unit segments and multiple cement mortar distributers positioned at the plurality of cement mortar output unit segments, wherein at least one cement mortar output unit segment may be movable in relation to a body of the tiling robot, wherein the flooring system may be configured to move that at least at least one cement mortar output unit segment during an executing of the flooring plan.
  • the flooring system may be configured to fold a cement mortar output unit segment when entering a sub-space and expand the cement mortar output unit segment after entering the sub-space.
  • the cement mortar output unit may include a center cement mortar output unit segment, a right cement mortar output unit segment and a left cement mortar output unit segment, wherein at least one of the right cement mortar output unit segment and the left cement mortar output unit segment may be movable in relation to the body of the tiling robot.
  • the tiling robot may include an interface that may be detacheably connected to a tiles holding unit for holding tiles.
  • the interface may be configured to be detacheably connected to different tiles holding units, one tiles holding at a tile, wherein different tiles holding units may be configured to hold tiles of different dimensions.
  • the tiling robot may be a first tiling robot, wherein the flooring system may include multiple tiling robots, wherein the at least one conduit may be multiple conduits for distributing the cement mortar to the multiple tiling robots, wherein the multiple tiling robots comprise the first tiling robot.
  • the cement mortar manufacturing robot may include a cement mortar mixer and a cement mortar distribution module that may include multiple conduits for distributing the cement mortar.
  • At least some robots of the cement mortar manufacturing robot and the multiple tiling robots may be self-propelled.
  • a footprint of the cement mortar manufacturing robot exceeds a footprint of each of the multiple tiling robots.
  • a footprint may be area of a robot - for example when the robot has a substantial rectangular shape - the length multiplied by the width.
  • the footprint of the cement mortar manufacturing robot may be 85 cm by 160 cm
  • the footprint of the tiling robot may be 70 cm by 150 cm.
  • Other footprints may be provided - but the width and height of the tiling robot should be small enough to allow it to pass through door openings.
  • the cement mortar manufacturing robot may be configured to supply the cement mortar to the multiple tiling robots in parallel.
  • the cement mortar manufacturing robot may include (a) a mixing unit that may include at least one mixer and a top opening for receiving aggregates and cementitious materials, and (b) a water supply unit for supplying water to the mixing unit in a controller manner.
  • the cement mortar output unit may include a cement mortar pump for conveying the cement mortar from the mixing unit to the multiple conduits, wherein the mixing unit may be positioned between the cement mortar pump and a water tank of the water supply unit.
  • the cement mortar manufacturing robot may be controlled remotely, may be controlled using control elements such as driving handles, and the like.
  • the different robots of the system may coordinate their movement.
  • the movement may be determined by one or some of the robots and other robots will follow the one or some of the robots - or coordinate their movements according to the determination of the other robots.
  • one tiling robot may determine its flooring plan and inform the other robots of the system - so that the other robots will be positioned so that cement mortar manufacturing robot can continue to supply cement mortar to the tiling robots and to any other (if such exist) tiling robot. This requires that the tiling robots are not distant from the cement mortar manufacturing robot at a distance (for example between 2-5 meters) that exceeds the length of the cement mortar conduits.
  • the robots - and especially the tiling robots may be self-propelled - and be configured to perform geometry -driven autonomous driving within different spaces.
  • the tiling robot may place tiles in any manner - for example may enter a sub-space (such as room) and perform the tiling while retreating from the walls of the room and may perform the timing in any direction (for example in ninety degrees) in relation to the wall that include a door opening.
  • a sub-space such as room
  • the timing in any direction (for example in ninety degrees) in relation to the wall that include a door opening.
  • the tiling robot may determine the flooring plane by its own, may design the flooring plan with other robots of the system, may receive the flooring plan from another entity and the like. For example different tiling robots may design their own flooring plans and them may exchange the flooring plans and/or negotiate on a flooring plan for the different robots that will enable the different tiling robots to work in parallel to each other.
  • the planning of the flooring plan and/or the executing of the flooring plan may take into account one or more of the following:
  • Figure 1 illustrates an example of a cement mortar manufacturing robot
  • Figure 2 illustrates an example of a tiling robot 200.
  • Figure 3 illustrates an example of a cement mortar output unit 250 of a tiling robot.
  • the cement mortar manufacturing robot 100 includes a mixing unit 110, cement mortar distribution module 120, water supply unit 130, drive unit 140 and a controller 150 for controlling the cement mortar manufacturing robot 100.
  • the mixing unit 110 is illustrates as including two mixers 111 and 112, a mixing tank 113 (having top opening 114 for receiving aggregates and cementitious materials, and having bottom 114’ that may be inclined towards a side opening, and side opening 117’), water filling pipe 115 for receiving water, a support element - such as a U-profile beam 116 for supporting the two mixers, output pipe 117 (that may face side opening 117’) for outputting cement mortar to the cement mortar distribution module 120, and motor 118 for rotating (via mechanical gear or transfer unit) the two mixers.
  • a mixing tank 113 having top opening 114 for receiving aggregates and cementitious materials, and having bottom 114’ that may be inclined towards a side opening, and side opening 117’
  • water filling pipe 115 for receiving water
  • a support element - such as a U-profile beam 116 for supporting the two mixers
  • output pipe 117 that may face side opening 117’
  • motor 118 for rotating (via mechanical gear or transfer unit) the two mixer
  • the cement mortar distribution module 120 includes two conduits 121 and 122 for distributing the cement mortar to two tiling robots in parallel, two conduit holders 12 and 122’ (such as pipe controlled release mechanisms), and cement mortar pump 123 that receives the cement mortar from the output pipe 117 and feeds conduits 121 and 122.
  • the number of conduits (and accordingly the number of tiling robots that can be fed in parallel) may be one or may exceed two.
  • the water supply unit 130 may include input wafer conduit 131 for receiving wafer from an external source, water tank 132, water filtering and outputting element (such as pipe filter and mixer with buoy for water level control 133), water pump 134, output water controller (such as electric faucet relay 135 that controls output water quantity) for controlling the provision of water to water filling pipe 115.
  • water filtering and outputting element such as pipe filter and mixer with buoy for water level control 133
  • water pump 134 such as electric faucet relay 135 that controls output water quantity
  • the cement mortar manufacturing robot may include a washing mechanism 139 for washing the mixing tank 113 - the washing mechanism may include a pipe fluidly coupled between the water tank and an opening formed in the mixing tank 113 - may be configured to wash the mixing tank from cement mortar and/or water under certain fault conditions and/or at the end of the work.
  • Drive unit 140 may include any combination of wheels, tracks, engines, controllers, and any other component for moving the cement mortar manufacturing robot.
  • Figure 1 illustrates three pairs of wheels 141, traffic relay and breaking system 122.
  • Figure 1 illustrates various other components such as battery 151, and external voltage connection 152.
  • Figure 2 illustrates an example of tiling robot 200.
  • Figure 3 illustrates example of cement mortar output units 210.
  • Tiling robot 200 may include cement mortar input unit 202 that may be configured to receive the cement mortar from a conduit of the at least one conduits, a cement mortar conduit for conveying the cement mortar to the cement mortar output unit 210 (that it turn may be configured to output the cement mortar to provide a base layer of cement mortar), tiling unit 230 that may be configured to position tiles on the cement mortar, a drive unit 240 for moving the tiling robot, a tiling robot controller 250 and body 260
  • the cement mortar output unit 210 is illustrated in figures 2 and 3.
  • the cement mortar output unit 210 may include one more cement mortar level ers such as knife 211 that may be positioned at a controllable height (the height may be controlled in any manner- especially any mechanical manner - for example by relay 212 that rotates in order to control the height) to enable to control a height of the cement mortar.
  • one more cement mortar level ers such as knife 211 that may be positioned at a controllable height (the height may be controlled in any manner- especially any mechanical manner - for example by relay 212 that rotates in order to control the height) to enable to control a height of the cement mortar.
  • the cement mortar output unit 210 may be an adjustable cement mortar output that may be configured to output the cement mortar over an area of adjustable width.
  • the cement mortar output unit may include multiple cement mortar distributers (such as electronic taps 214).
  • the taps may be spread along a main conduit such as pipe 216.
  • the cement mortar output unit may include a plurality of cement mortar output unit segments 215 (such as center cement mortar output unit segment 215(2), a right cement mortar output unit segment 215(1) and a left cement mortar output unit segment 215(3)).
  • At least one of the cement mortar output unit segments 215 may move in relation to the body of the tiling robot.
  • the movement may be implements by using any movement mechanism (hydraulic and/or mechanical).
  • a movable cement mortar output unit segment may be connected to another cement mortar output unit segment via a joint, a flexible portion see a flexible portion 216 connected between the center cement mortar output unit segment 215(2) and the right cement mortar output unit segment 215(1), and additional flexible portion 216’ connected between the center cement mortar output unit segment 215(2) and the left cement mortar output unit segment 215(3).
  • the movement can be done for reducing the effective width of the tiling robot (for example when passing through a door opening).
  • the movement can be made to determine the width of an area on which tiles are placed during a single flooring iteration.
  • the width may be a function of the width or length of the tile and the number of tile columns per flooring iteration
  • the width of the area may be determined by the position of the cement mortar output unit segments and/or by the selective operation (including activating or deactivating) different cement mortar distributers (such as electronic taps 214).
  • the cement mortar distributers may be positioned at different cement mortar output unit segments and may be spaced apart from each other.
  • one or more cement mortar distributers output the cement mortar and the knife levels the cement mortar to provide a base layer of cement mortar of a desired height.
  • Tiling unit 230 may include any component for placing a tile conveyed by the tiling robot on cement mortar - the placing may include leveling the tile, pressing the tile against the cement mortar, and the like.
  • the tiling unit 230 includes a robotic arm 231 that has vacuum fingers 232 for taking a tile and perform a tiling operation (positioning the tile on the cement mortar, pressing the tile against the cement mortar while leveling the tile).
  • the tiling unit 230 may also include robotic arm control system 233 (may be regarded as a part of the tiling robot controller), an interface 235 (such as a bolt, a locking mechanism or any other mechanical element) and a tiles holding unit 290.
  • the interface 235 may be detachably connected to a tiles holding unit 290 and allows to replace one tiles holding unit by another.
  • a tile holding unit may hold multiple tiles - the number of tiles may depend on the tiles holding unit relationship between the area of the tile and the area of the tile holding unit, and on the maximal height of tiles that can be loaded to the tile holding unit.
  • the tiles holding unit can hold 50 tiles of 60cm x 60cm, or 100 tiles of 33cm x 33 cm, and the like.
  • the system may be configured to perform flooring at a rate of 12-15 m 2 per hour, depending on the size of the tiles, the size of the space, its geometric complexity and the degree of navigation required. For comparison, flooring worker executes 15-20 m 2 per working day.
  • the vacuum fingers 232 may be a part of a replaceable vacuum unit that may fit the size of the tile that is being tiled.
  • the drive unit 240 may include any combination of wheels, tracks, engines, controllers, and any other component for moving the cement mortar manufacturing robot.
  • Figure 2 illustrates three pairs of wheels 241, traffic relay and breaking system 242, motor 244, autonomous steering system 243 (may be regarded as a part of tiling robot controller 250).
  • the tiling robot controller 250 is illustrated as including control system
  • the tiling robot controller may be configured to determine a flooring plan and to control the tiling robot to fulfill the flooring plan.
  • the tiling robot controller may be configured to determine the flooring plan based on geometrical features of one or more sub-spaces of a space to be tiled, one or more dimensions of the tiling robot and one or more maneuverability features of the tiling robot.
  • the tiling robot controller may be configured to determine the flooring plan by minimizing a duration of the flooring process.
  • the tiling robot controller may be configured to determine the flooring plan by maximizing a number of flooring iterations that can be consecutively executed without waiting to the cement mortar distributed during a flooring iteration to dry within at least one sub-space of the one or more sub-spaces.
  • a time gap between ending one of the flooring iterations to a consecutive flooring iteration of the flooring iterations may be smaller than a drying duration of the cement mortar.
  • the tiling robot controller may be configured to perform consecutive flooring iterations without contacting tiles of a completed flooring iteration that are positioned on cement mortar that did not dry.
  • the flooring system may include a receiver for receiving one or more location beacons, wherein the tiling robot controller may be configure to determine at least one flooring parameter based, at least in part, based on a reception of the one or more location beacons.
  • the location beams may be laser beams.
  • the one or more location beacons may be indicative of a reference height, and wherein the at least one flooring parameter may be a top level of layer of a cement mortar to be deposited by the tiling robot.
  • the tiling robot may be configured to recognize its relative position and height by computing vertical & horizontal distances from location beacons located at predefined locations within a space and compare the information embedded in the location beacons to the desired location and height.
  • Any of the robots may include one or more sensors for controlling one or more aspect of operation - for example monitoring release of water to the mixing unit, monitoring the operation of the robot arm, monitoring the progress of any robot, and the like.
  • the sensor may be located anywhere in any of the robots, the sensor may include any type of sensors- passive sensors, active sensors, optical sensor, non- optical sensors, and the like.
  • the tiling robot may include an interface that may be detacheably connected to a tiles holding unit for holding tiles.
  • the interface may be configured to be detacheably connected to different tiles holding units, one tiles holding at a tile, wherein different tiles holding units may be configured to hold tiles of different dimensions.
  • the movement of the tiling robot may be autonomous and/or controlled remotely or locally.
  • the control may force the tiling robot to stop its operation (or at least stop its progress) at any moment.
  • the tiling robot may have a autonomous driving mechanism that may be configured to detect obstacles and humans and will automatically stop working against any obstacle and danger.
  • the tiles may be connected to spacers (for introducing spaces between adjacent tiles).
  • Figure 4 illustrates examples of tile holding units 290 for tiles of different dimensions.
  • Each tile holding unit 290 includes a base 291 and vertical support elements 292 (for example L shaped bars) that define spaces of a size that fit to store tiles of different sizes.
  • vertical support elements 292 for example L shaped bars
  • Figure 4 illustrates three tile holding unit for different sizes of tiles - for example tiles of 20cm x 20cm, 30cm x 30cm and 60cm x 60cm. Larger tiles and/or smaller tiles and/or tiles that have a shape that is not a square may be tiled by the tiling robot. [00105] A single tile holding unit may be configured to hold tiles of different sizes.
  • the location of the different support elements 292 may be fixed or may be adjusted.
  • Figure 4 also illustrates three sizes of the vacuum unit - 15cm x 15cm, 25cm x 25cm and 40cm x 40cm.
  • Figure 5 illustrates multiple stages of a flooring plan 300.
  • Figure 300 also illustrates a flooring system that includes two tiling robots 200 and 200’ and a cement mortar manufacturing robot 100
  • the flooring plan is executed in flooring iterations.
  • Different tiling robots may be allocated to different sub-spaces.
  • Each tiling robot may operate to maximize the number of tiles that can be tiled per one or more flooring iterations per subspace.
  • the space to be floored includes subspaces 301(1)- 301(11).
  • the first subspace 301(1) includes a corridor
  • the second subspace 301(2) is the leftmost subspace
  • third till fifth subspaces 301(3) - 301(5) are located to the left of the corridor
  • the sixth till eleventh subspaces are located to the right of the corridor.
  • Figure 6 illustrates the tiles placed during different phase of the tiling process.
  • box 302 includes two columns of tiles laid during a single flooring iteration within subspace 301(2).
  • FIG. 7 illustrates multiple stages of another flooring plan 390.
  • the flooring plan is differs as the different subspaces are formed (using a modular wall building process) after the tiling was completed. Different shades represent tiles that were tiled during different flooring iterations.
  • Figure 8 illustrates an example of method 400.
  • Method 400 may include step 410 of determining a flooring plan by a tiling robot controller of a tiling robot; wherein the determining is based on geometrical features of one or more sub-spaces of a space to be tiled, one or more dimensions of the tiling robot and one or more maneuverability features of the tiling robot.
  • the one or more maneuverability features reflect the manner the tiling robot moves during a flooring iteration (for example while placing tiles in a continuous column or more than a single column), and the manner the tiling robot moves between one flooring iteration to the other (for example radius of movement, capability to change direction of movements, movement into a room, and the like).
  • Step 410 may be followed by step 420 of executing the flooring plan by the tiling robot, wherein the executing may include at least one of the following
  • kits for building internal partition walls There may be provided a kit for building internal partition walls, a method for building internal partition walls and one or more tools for building the internal partition walls.
  • the method may provide industrial scale performance and may provide Internal partition walls that are strong, durable, exhibit improved acoustics and competitive overall economic cost.
  • the method may benefit from the following:
  • the kit may include an infrastructure that may include vertical structural components and horizontal beams and their connectors.
  • the vertical structural components and horizontal beams may be ready for mounting without the need for further cutting and adjustment, except for adjusting the length of horizontal beams and/or boards in partition end.
  • Gypsum boards may be connected to the infrastructure.
  • the gypsum boards may be diamond gypsum boards, that are fireproof and waterproof boards, provide acoustic insulation, are strong enough to support hanging heavy accessories, and are tough.
  • the gypsum boards may be of any thickness - for example a thickness of 18 mm.
  • the gypsum boards may be provided with certain length and width that fit the distances between the horizontal beams and between vertical stmctural components. There may be an exception at edge segments.
  • the gypsum boards may be of various dimensions- for example have a height that is about the distance between adjacent horizontal beams and a length that is about the distance between adjacent vertical structural components. For example - 40 cm by 113 centimeters.
  • the interior partition walls built from said components may be rigid for striking forces and bending, which may not fall from those of a 10 cm thick concrete blocks partition.
  • the interior partition walls built from said components may be durable over the years to a degree that does not fall from Hollow concrete blocks partition.
  • the gypsum boards may exhibit enhanced acoustic insulation compared to blocks types partitions or light partitions.
  • the vertical structural components may be manufactured industrially at a height intervals of a few (for example five) centimeters and may include at least one adaptor (top and/or bottom adaptor) that may move in relation to a pole of the vertical structural component.
  • the vertical structural components may be positioned at a fixed distance (except when reaching an edge of a wall) - for example every 1.2 meters.
  • the vertical structural components are manufactured with horizontal adaptors (such as "pockets" of bottomless pockets) and the horizontal beams may include or may be connected to edge adaptor that may include an edge adaptor portion that may fit into a space defined by the horizontal adaptors. The connection may be executed without screws.
  • the horizontal beams may have a “C” cross section (for example of 0.6 mm thickness) and may be connected to horizontal adaptors that are spaced apart from each other (for example by 40 cm).
  • the horizontal beams will be connected to the struts by a portion of an edge adaptor.
  • the edge adaptor may be shaped as a connection box - that can be made of 1 mm thick bent steel plate.
  • the horizontal beams may be significantly stiffer than all the conventional beams executed for gypsum boards partitions.
  • a drilling system capable of concurrently drilling multiple (for example eight) holes (four in the floor and four in the ceiling).
  • the number of drills per floor and/or per ceiling may differ from four.
  • the drilling machine may be self-propelled or have wheels and be manually moved from one location to the other.
  • the drilling machine may include a top drilling unit (denoted 610 of figure 17) and a bottom drilling unit (denoted 620 in figure 17) .
  • the distance between these units may be adjusted manually or automatically - for example by remote control.
  • the top drilling unit and the bottom drilling unit may be controlled and/or moved independently from each other.
  • the power source of the drilling system may be an external voltage source. Alternatively - the drilling system may be powered by rechargeable batteries.
  • the drilling system may be configured to drill in reinforced concrete and/or in reinforcement steel.
  • Method 900 may start by step 910 of building an infrastructure that may include multiple horizontal beams (denoted 520 in figure 14), and multiple vertical structural components (denoted 510 in figure 10), wherein a vertical structural component (denoted 500 in figure 10) may include a pole (denoted 511 in figure 10) with horizontal adaptors (denoted 512 in figure 11) that extend from the pole, a top adaptor (denoted 513 in figure 10) and a bottom adaptor (denoted 514 in figure 10), wherein at least one of the top adaptor and the bottom adaptor may be movably coupled to the pole (in figure 11 the top adaptor 513 is movable upwards -as it includes a base 513(3) that surrounds the top edge of the pole and may move upwards while still surrounding at least a part of the edge) ,
  • Step 910 may be followed by step 920 of attaching gypsum boards to the infrastructure.
  • the gypsum boards may be attached to the infrastructure (for example horizontal beams) by screws and may be re-used.
  • the gypsum boards may be attached to the infrastructure in any orientation - vertical (longitudinal axis the of the gypsum boards is vertical), horizontal, or a combination - having differently oriented gypsum boards within the same inner partition wall, and the like.
  • steps 910 and 920 may be executed in a pipelined and/or partially or fully parallel manner. For example - an infrastructure of one internal partition wall (or of a part of the internal partition wall) may be built while gypsum boards may be connected to an infrastructure of one other internal partition wall (or of another part of an internal partition wall).
  • the top adaptor may include a top array of holes (see holes 513(1) of figure 11)), the bottom adaptor may include a bottom array of holes (see holes 514(1) of figure 11), and step 910 may include installing a vertical structural component by connecting the top adaptor (see rivets 515 that pass through holes 513(1) and through holes 514(1)) to a ceiling and connecting the bottom adaptor to a floor.
  • the top adaptor includes a plate 513(2) in which the top holes are formed and also an opening 513(3) that corresponds to the cross section of the pole 511.
  • the bottom adaptor includes a plate 514(2) in which the bottom holes are formed and also an opening 514(3) that corresponds to the cross section of the pole 511.
  • the connecting may be preceded by vertically moving at least one of the top adaptor and the bottom adaptor in relation to the pole before being connected.
  • the connecting may be preceded by drilling an array of top holes in the ceiling and drilling an array of bottom holes in the floor.
  • the drilling may be preceded by positioning a drilling system (see figure 16) at a predefined distance from an adjacent vertical structural component.
  • the positioning may include connecting multiple horizontal beams (denoted 520 in figure 16), at different heights, between the adjacent vertical structural component 510 and the drilling machine 600, wherein a connecting of each horizontal beam may include positioning a first edge adaptor portion (522) of a first edge adaptor (521) of the horizontal beam within a first horizontal adaptor (512) of the adjacent vertical structural component (510), and positioning a second edge adaptor portion (522) of a second edge adaptor (521) of the horizontal beam within a second horizontal adaptor (601) of the drilling machine (600).
  • the drilling may be executed by (a) a top drilling unit (denoted 610 in figure 16) that may include a top array of drill bits (see 611 of figure 16) , and (b) a bottom drilling unit (see 620 of figure 16) that may include a bottom array of drill bits (see 621 of figure 16).
  • the top drilling unit may include a top motor (see 623 in figure 16) and top transmission mechanism (see 622 in figure 16) that may be configured to concurrently rotate the top array of drill bits.
  • Figure 19 illustrates the top motor as rotating main geal wheel 622(2) that in turn rotates secondary gear wheels 622(1) - each rotating one bottom drill bit.
  • the bottom drilling unit may include a bottom motor (see 613 in figure 16) and bottom transmission mechanism (see 612 in figure 16) that may be configured to concurrently rotate the bottom array of drill bits.
  • the drilling may include moving (by drive unit 630) the top array of drill bits upwards and moving the bottom array of drill bits downwards.
  • the drive unit 630 may include a motor, wheels, transmission mechanism and controller. It may also include a piston (denoted 644 in figure 20) that can move downwards to fix the position of the drilling machine - and may move upwards to not interfere with the movement of the drilling system (for example - movement between one drilling to the other).
  • the drilling system may include a frame and vertical movement unit 640 that is configured to support the top and bottom drilling units, to allow movement (for example by providing a motor or an interface to a motor - the interface may be a rail but may differ from a rail) of the top and bottom drilling units in relation to a vertical support structure 601 of the frame, and may include horizontal adaptors (see 601 in figure 17) for enabling connectivity to horizontal beams 520 (see figure 17).
  • Support structure 601 may be of adaptable height (for example may include a telescopic beam, or any adjustable height support element) - and may be configured to adapt its height based on the distance between a ceiling and a floor.
  • the frame and vertical movement unit 640 may include a fixing mechanism (for example see piston 646 of figure 20) that may fix the position (for example lower the piston 646 till it applies force on the floor) when the drilling system reaches a desired location.
  • a fixing mechanism for example see piston 646 of figure 20
  • the fixing mechanism stops fixing the drilling system and may, for example, disconnect from the floor (elevate the piston 646 above the floor level by a certain distance - so that it will not contact objects laid on the floor).
  • the drilling bits may be elevated and lowered by hydraulic arm 645 of figure 20.
  • Step 910 may include connecting the edge adaptor to the horizontal beam by surrounding an edge of the horizontal beam by multiple facets (denoted 524 in figure 15) of the edge adaptor, and fastening the edge adaptor to the edge of the horizontal beam (520) by multiple screws (denoted 525).
  • the edge adaptor portion may include a plate (see figure 15).
  • the edge adaptor portion may include a trapezoid shaped plate (as shown in figure 15).
  • Step 910 may include positioning a majority of pairs of adjacent vertical structural components within a same distance from each other.
  • Step 910 may include positioning a comer vertical structural component (denoted 5103 in figure 12) at a comer of a rooms defined by a pair of internal partition walls, and positioning an inner wall type vertical structural component (denoted 510 in figure 12) within an internal partition wall.
  • a comer vertical structural component denoted 5103 in figure 12
  • an inner wall type vertical structural component denoted 510 in figure 12
  • the horizontal adaptors may be positioned on near surfaces of the pole 511.
  • the horizontal adaptors may be positioned on opposite surfaces of the pole 511.
  • Step 910 may include positioning an edge type vertical structural component (denoted 5101 in figure 12) at an interface between an internal partition wall and an other wall that may be not an internal partition wall (see, for example edge type vertical structural component 510’ of figure 15 that is connected to other wall 516).
  • the other wall 516 may be a concrete wall.
  • Step 910 may include positioning a door frame vertical structural component (denoted 5102 in figure 12) that includes horizontal adaptors only on single sidewall - whereas a sidewall without horizontal adaptors will face an interior of a door opening.
  • first hybrid vertical structural component (denoted 5105 in figure 12) - to be positioned between a door opening and an interior partition that is parallel to door opening.
  • the first hybrid vertical structural component includes horizontal adaptors on one side wall - and includes horizontal adaptors on an upper part of an opposite sidewall - while the lower part of that opposite sidewall is free of horizontal adaptor.
  • the lower part may be of a height of a door - while the horizontal adaptors of the upper part are used support horizontal beams that support top lintels.
  • a second hybrid vertical structural component (denoted 5104 in figure 12) - to be positioned between a door opening and an interior partition that is normal to door opening - so that the second hybrid vertical structural component server as a corner and door vertical support element.
  • the second hybrid vertical structural component includes horizontal adaptors on one side wall (facing the interior partition that is normal to door opening ) - and includes horizontal adaptors on an upper part of a perpendicular sidewall - while the lower part of that perpendicular sidewall is free of horizontal adaptor.
  • the lower part may be of a height of a door - while the horizontal adaptors of the upper part are used support horizontal beams that support top lintels.
  • Step 910 may include positioning any of the hybrid vertical structural components.
  • Step 910 may include building a door opening (denoted 560 in figure 13) by selecting a top lintel out of a set of top lintels (denoted 570 in figure 13) having heights that slightly differ from each other.
  • Figure 13 also illustrates vertical structural components (of two types 510” and 510), horizontal beams 520 and gypsum boards 580.
  • the heights of the top lintels of the set differ by about five centimeter (or any other value) from each other.
  • the gypsum boards may be waterproof and fireproof. They may be, for example, be diamond type gypsum boards.
  • An example of a diamond type gypsum board is the KNAUF DIAMONDTM gypsum board manufactured by KNAUF Gips KGTM of Iphofen, Germany.
  • the multiple vertical structural components and the horizontal beams may be galvanized.
  • Figure 10 is an example of a room 580 built from interior partition walls 701 and 702 - and positioned between floor 582 and ceiling 581.
  • the interior partition walls include the mentioned above horizontal beams, vertical structural components 510 and gypsum boards 580.
  • any reference signs placed between parentheses shall not be construed as limiting the claim.
  • the word ‘comprising’ does not exclude the presence of other elements or steps then those listed in a claim.
  • the terms “a” or “an,” as used herein, are defined as one or more than one.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Floor Finish (AREA)

Abstract

L'invention concerne des systèmes et des procédés pour des procédés et des systèmes de revêtement de sol et un kit pour construire des parois de séparation internes.
PCT/IB2020/060358 2019-11-05 2020-11-04 Système de revêtement de sol robotisé et intérieur industriel WO2021240230A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201962930598P 2019-11-05 2019-11-05
US201962930596P 2019-11-05 2019-11-05
US62/930,598 2019-11-05
US62/930,596 2019-11-05

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WO2021240230A1 true WO2021240230A1 (fr) 2021-12-02

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6227813B1 (en) * 1998-12-29 2001-05-08 Melvern D. Leimer Apparatus for pumping mortar grout
US9074381B1 (en) * 2014-04-25 2015-07-07 Gary Lee Drew Tile laying machine and a method of use
EP2907938A1 (fr) * 2014-02-18 2015-08-19 IR-Eng.Limited Appareil et procédé pour placer un carreau sur un plancher
WO2018063100A2 (fr) * 2016-09-30 2018-04-05 Eth Singapore Sec Ltd Système de placement d'objets sur une surface et procédé associé
US20190242142A1 (en) * 2016-12-07 2019-08-08 Sika Technology Ag System and method for applying a tile adhesive

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6227813B1 (en) * 1998-12-29 2001-05-08 Melvern D. Leimer Apparatus for pumping mortar grout
EP2907938A1 (fr) * 2014-02-18 2015-08-19 IR-Eng.Limited Appareil et procédé pour placer un carreau sur un plancher
US9074381B1 (en) * 2014-04-25 2015-07-07 Gary Lee Drew Tile laying machine and a method of use
WO2018063100A2 (fr) * 2016-09-30 2018-04-05 Eth Singapore Sec Ltd Système de placement d'objets sur une surface et procédé associé
US20190242142A1 (en) * 2016-12-07 2019-08-08 Sika Technology Ag System and method for applying a tile adhesive

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