METHOD FOR CONSTRUCTING ACCESS FLOOR BY USING UNMANNED ROBOT

Abstract

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

Description

Claims

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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