KR102683281B1 - System for installing raised access floor panels - Google Patents

Abstract

The present invention relates to a double flooring installation device that installs a flooring material to be installed or dismantles a previously installed flooring material on the upper part of a plurality of installation frames arranged in parallel and spaced apart from each other in a plurality of rows on the floor of an installation location, and is movable to the installation location. A main body provided with a flooring storage part in which the flooring to be installed is stored and an installation member storage part in which the installation members are stored, an installation member supply part provided in the main body and moving the installation members to the installation frame, and an installation member supply part in the main body, which is installed. A flooring moving part that moves the target flooring to the installation frame on which the installation member is placed, provided in the main body, and a flooring adhesion part that moves the target flooring placed in the installation frame to a designated position in the installation frame, provided in the main body and in close contact with the flooring Provided is a double flooring installation device including an installation inspection unit that checks whether the installation target flooring moved by the unit is placed in a designated position of the installation frame.

Description

System for installing raised access floor panels}

The present invention relates to a raised flooring installation device that automates the installation and dismantling of raised flooring in clean rooms of semiconductor and LCD manufacturing plants and data centers.

In general, construction robots are used to replace human workers, assisting in repetitive construction work or at risk of accidents at construction sites, and reducing the possibility of worker injury.

However, conventional construction robots have been developed to be limited to specific buildings and specific tasks, so they have the disadvantage of being difficult to utilize for various purposes and not being universal. For example, in the case of construction robots that construct building wall materials, it is difficult to use them for the work of constructing floor materials such as tiles or ceiling materials.

In addition, in the conventional case, unit tasks required for construction, such as transporting, installing, and dismantling construction materials, must be operated separately by dedicated construction robots (construction material transport robot, construction material installation robot, and construction material disassembly robot). Therefore, robot development and investment costs increase, and in the case of sensors, there are limitations in applying sensors used in general manufacturing sites to poor construction sites.

In addition, if the construction target is a general manufacturing plant, if the automated robots used in the establishment stage can be recycled in the production stage, it is expected to have high contribution value to ESG management through resource saving.

The technology behind the present invention is disclosed in Korean Patent Publication No. 10-2012-0045607 (published on May 9, 2012).

The purpose of the present invention is to provide a raised flooring installation device that enables automatic installation and dismantling of the raised flooring on the floor of the installation location.

The present invention relates to a double flooring installation device for installing a flooring material to be installed on the upper part of a plurality of installation frames arranged in parallel and spaced apart from each other in a plurality of rows on the floor of an installation location, wherein the flooring material to be installed is movably disposed in the installation location, and the flooring material to be installed is A main body provided with a flooring material storage portion for storing the installation member and an installation member storage portion for storing the installation member, an installation member supply part provided in the main body and moving the installation member to an installation frame, and provided in the main body, the installation target flooring material. A flooring moving part that moves the installation member to the installation frame on which the installation member is placed, a flooring contact part provided in the main body, and a flooring adhesion part that moves the installation target flooring placed in the installation frame to a designated position in the installation frame, provided in the main body, the flooring material Provided is a double flooring installation device including an installation inspection unit that checks whether the flooring to be installed, moved by the adhesion unit, is placed in a designated position of the installation frame.

In addition, the main body includes information on surrounding obstacles including workers at the installation site, environmental information around the floor of the installation site, information recognition sensor means for recognizing the installation position of the installation target flooring material, and the position of the main body on the floor of the installation site; , It is connected to the sensor means for information recognition, and may include a traveling means for moving the main body on the installation frame to the location where the installation target flooring material is to be installed based on the information input from the information recognition sensor means.

In addition, when the main body moves along the installation frame where the flooring to be installed is to be installed at a position where the flooring to be installed is already placed, an installation frame tracking means that transmits the position information of the main body from the installation frame to the traveling means is provided in the main body, When the main body is moved on the installation frame through the traveling means to a position where the installation target flooring material is to be installed, the main body may further include a main body support means for supporting the main body so that the main body can move along the installation frame.

In addition, the installation member supply unit is provided in the main body, and includes an installation member installation robot platform for placing the installation member stored in the installation member storage unit at a designated position of the installation frame, and an installation member installation robot platform, provided in the main body, of the installation frame. It may include an installation member position detection means that detects whether the installation member is placed at a designated location.

In addition, the flooring moving part is provided in the main body, and includes horizontal moving means for moving the flooring to be installed in a direction parallel to the floor of the installation location, and a horizontal moving means for moving the flooring to be installed in a direction parallel to the floor of the installation location, and is provided in the main body to move the flooring to be installed to the floor of the installation location. It may include a vertical movement means for moving in a direction perpendicular to the floor of the installation site so that it can be placed.

In addition, the flooring adhesion unit is provided in the main body, and flooring adhesion means for pressing the installation target flooring disposed on the installation frame through the flooring moving unit in the direction of the installation target flooring already installed in the installation frame and in the floor direction of the installation location; It is connected to the flooring adhesion means and may include a flooring pressure control means that maintains a constant pressing force on the flooring adhesion means when the flooring to be installed is pressed through the flooring adhesion means.

In addition, the installation inspection unit includes an installation detection sensor means, which is provided in the main body and measures a clearance gap between installation target flooring materials arranged adjacent to the floor of the installation location and a height difference between installation target flooring materials, and the installation detection sensor. It is connected to the means and may include an installation detection output means that detects the installation state of the flooring to be installed through the input value measured by the installation detection sensor means and then outputs the output.

In the double flooring installation device according to the present invention, with the installation target flooring and the installation member stored in the main body, the installation member supply unit and the flooring moving part sequentially install the installation member and the installation target flooring on the installation frame provided on the floor of the installation site. It is arranged in a stacked manner, and the flooring adhesion section moves and arranges the flooring to be installed to the designated location. The installation inspection section checks whether the flooring to be installed is installed correctly in the designated location, so the installation work of the double flooring on the floor of the installation location is performed. Automation increases construction efficiency, improving work productivity and safety, reducing costs, and resolving the imbalance between supply and demand of manpower.

Figure 1 is a state diagram of installation work using a raised flooring installation device according to an embodiment of the present invention.
Figure 2 is a schematic front view of a raised flooring installation device according to an embodiment of the present invention.
Figure 3 is a schematic side view of a raised flooring installation device according to an embodiment of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings. Prior to this, the terms or words used in this specification and claims should not be construed as limited to their usual or dictionary meanings, and the inventor should appropriately define the concept of terms in order to explain his or her invention in the best way. It must be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle of definability.

Referring to Figures 1 to 3, the raised flooring installation device 100a according to an embodiment of the present invention includes a main body 100, an installation member supply part 200, a flooring moving part 300, and a flooring adhesion part 400. ), may include an installation inspection unit 500, and performs installation work on the installation target flooring material 10 on the floor of the installation location or dismantling the installation target flooring material 10 already installed on the installation location floor. Here, the floor to be installed may be provided with an installation frame 1 that supports the installation member 20 and the flooring material 10 to be installed. At this time, a plurality of installation frames 1 may be provided in multiple rows and spaced apart from each other in a parallel state. At this time, the gap between the plurality of installation frames 1 may be smaller than the width of the flooring 10 to be installed. Bar, when the flooring material 10 to be installed is moved to the floor of the installation location, it can be placed in a seated state on the upper part of the installation frame 1. Here, the flooring material 10 to be installed may be a double flooring material. In addition, a passive marking device (not shown) attached to the installation target flooring 10 to improve the recognition accuracy of the sensor means 130 for recognizing the surrounding environment information of the installation site and work information to be explained later, and the installation target flooring 10 ) may be provided with an active marking device (not shown) including a light-emitting function to provide accurate relative position and orientation information when transporting, supplying, and installing or dismantling.

In addition, a flooring loading device 30, a flooring conveying device 40, and a flooring supplying device 50 are disposed at the installation location where installation or dismantling of the flooring 10 to be installed using the double flooring installation device 100a is performed. It can be. Here, the flooring loading device 30 includes sensors that recognize different types of flooring to be installed (10) and the surrounding environment and work information, a robot work platform (not shown) capable of precise operations such as alignment during loading, and a flooring to be installed. It may include a working machine (not shown) that safely grasps (10), and a loading means (not shown) that accurately loads the flooring material (10) to be installed at a specific position and orientation of the flooring material transport device (40), which will be described later. . In addition, the flooring material transfer device 40 includes a robot moving platform (not shown) that enables autonomous or semi-autonomous driving or remote control between the flooring loading device 30 and the double flooring installation and disassembly device, and obstacles in the installation site, etc. Includes a sensor for recognizing the surrounding environment (not shown) and a sensor for maintaining the relative position and orientation between the double flooring installation device 100a and the flooring transfer device 40 to improve the work speed of the double flooring installation device 100a. It may include a docking device (not shown) and a driving control technology and means (not shown) for transporting the loaded flooring material 10 to a safe and optimal path. In addition, the flooring supply device 50 provides the flooring material 10 to be installed loaded in the flooring transportation device 40 to the double flooring installation device easily and quickly. A position and orientation information detection sensor (not shown) that detects the position and orientation of the floor, a work tool (not shown) that safely holds the flooring to be installed (10), and a flooring storage portion of the double flooring installation device (100a) at the loading position. (120) may include a robot work platform and supply means (not shown) for safely supplying the flooring material 10 to be installed.

The main body 100 is a part movably disposed on the floor of the installation site where the flooring material 10 to be installed is to be installed. The main body 100 has a structure capable of supporting the installation member supply unit 200, the flooring moving unit 300, the flooring adhesion unit 400, and the installation inspection unit 500 in a connected state, which will be described later. It may be provided. Additionally, a plurality of moving wheels 101 may be provided at the bottom of the main body 100 to enable movement on the floor of the installation location.

Additionally, the main body 100 may be provided with a flooring storage unit 110 to accommodate the flooring material 10 to be installed. This flooring storage unit 110 is provided on one side of the main body 100. Here, the flooring storage unit 110 receives the flooring material 10 to be installed from the flooring supply device 50, stores it, and then moves the flooring material 10 to be installed while sliding to the flooring moving part 300, which will be described later. It may be arranged obliquely on one side of (100). Here, the main body 100 may be provided with a sensor means (not shown) that measures whether the flooring material 10 to be installed is stored in the flooring storage unit 110 and the number of flooring materials 10 to be installed.

In addition, the main body 100 may be provided with an installation member storage portion 120 to accommodate the installation member 20. This installation member storage unit 120 is provided on one side of the main body 100 with a space for storing the installation member 20, and the installation member 20 stored in the installation member storage unit 120 is moved onto the installation frame 1 by the installation member supply unit 200, which will be described later. Here, the installation member 20 stored in the installation member storage unit 120 is first disposed on the upper part of the installation frame 1 before the installation target flooring 10 is placed on the upper part of the installation frame 1, thereby forming the installation target flooring material. It functions to reduce vibration and noise transmitted from (10).

In addition, the main body 100 includes information on surrounding obstacles including workers placed at the installation site, environmental information around the floor of the installation site, the installation location of the flooring material 10 to be installed, and the location of the main body 100 on the floor of the installation site. Sensor means 130 for information recognition that recognizes the location may be provided. That is, the sensor means 130 for information recognition contains information about the surrounding environment, including information on obstacles around the installation site, including workers, and location information where there is a possibility of falling when the main body 100 moves because the flooring material 10 to be installed has not yet been installed. and a three-dimensional coordinate information tracking sensor for recognizing work process and result information such as installation or disassembly location and direction information of the flooring material to be installed (10) and changes in location and direction during work in progress, a location and direction information detection sensor, and It may include a contact force information detection sensor.

In addition, the main body 100 is a traveling means that moves the main body 100 on the installation frame 1 to the location where the installation target flooring 10 is to be installed based on the information input from the information recognition sensor means 130. (140) may be provided. The driving means 140 is connected to the sensor means 130 for information recognition, and based on the information obtained from the sensor means 130 for information recognition, a map of the installation location is first generated and the current location of the main body 100 and Direction information is generated and the main body (100) is autonomously driven to the work site where installation or disassembly of the flooring material (10) to be installed within the installation site is to be performed, and the operator moves the main body (100) to the desired location through a remote control device. ) and location and orientation information for the main body 100 to be repeatedly moved a certain distance in the direction of work progress under the guidance of the installation frame 1 when installing or dismantling the flooring material 10 to be installed. Detection sensors and precise driving control technology may be included.

In addition, the main body 100 is moved from the installation frame 1 when the main body 100 moves along the installation frame 1 where the installation target flooring 10 is to be additionally installed at a position where the installation target flooring 10 is already placed. An installation frame tracking means 150 that transmits the location information of 100 to the traveling means 140 may be provided. That is, the installation frame tracking means 150 moves the installation target flooring material 10 to be additionally installed after the main body 100 is moved to the edge of the area of the installation target flooring material 10 already installed at the installation location through the traveling means 140. In order to be installed, when the main body 100 is moved a certain distance in the working direction through the traveling means 140 in a state in which physical contact and load support are made with the upper part of the installation frame 1, at least two or more installation frames 1 ) is calculated from the virtual center line direction position or information measured by the information recognition sensor means 130, and the target position and It may include path creation technology that can be provided in orientation, an optical linear display device to assist in the position and orientation alignment work of the main body 100 to make physical contact with the upper part of the installation frame 1, and a position and orientation information detection sensor. You can.

In addition, when the main body 100 is moved to the position where the flooring material 10 to be installed is to be installed on the installation frame 1 through the traveling means 140, the main body 100 is moved to the installation frame 1. A main body support means 160 equipped with a guide wheel 161 that supports the main body 100 so that it can move along may be provided. This main body support means 160 is arranged to connect the guide wheel 161 to the main body 100 in a rotatable state, and rotation is achieved through hydraulic means such as a hydraulic cylinder, so that the guide wheel 161 is connected to the main body 100. If seating of the wheel 161 is necessary, it can be selectively placed through rotation.

In addition, when the main body 100 moves along the installation frame 1, the load of the main body 100 is distributed to the installation frame 1 and an auxiliary traveling means 170 is provided to guide the main body 100 to move on the installation frame 1. This can be provided. Here, the auxiliary traveling means 170 may be equipped with a load distribution wheel 171 that moves on the installation frame 1. In this way, the auxiliary traveling means 170 enables the load distribution wheel 171 to move in the vertical direction on the main body 100 and is selectively disposed when seating the load distribution wheel 171 on the installation frame 1 is required. can do. At this time, the auxiliary travel means 170 may be a hydraulic cylinder, and may be applied in a structure in which a load distribution wheel 171 is rotatably disposed at the end of the cylinder rod.

In this way, the main body support means 160 only moves the moving wheel 101 disposed on the rear of the main body 100 when physical contact is made between the installation frame 10 and the installation frame tracking means 150. The moving wheel 101, which is supported on (10) and disposed on the side of the main body 100, exerts a load on the side part of the main body 100 together with the installation frame tracking means 150 when it is floating in the air. The guide wheel 161 is lowered for support, and the auxiliary travel means 170 further lowers the load distribution wheel 171 while the guide wheel 161 is lowered by the main body support means 160 to frame the installation frame. As physical contact is made with (1), the main body 100 moves stably on the installation frame (1).

The installation member supply unit 200 is a part that moves the installation member 20 stored in the installation member storage unit 120 of the main body 100 so that it is placed on the floor of the installation site, more specifically, on the upper part of the installation frame 1. am. This installation member supply unit 200 may be provided in the main body 100.

Here, the installation member supply unit 200 includes an installation member installation robot platform 210 for extracting and transporting the installation member 20 from the installation member storage unit 120 and placing it on the installation frame 1, and an installation frame. It may include an installation member position detection means 220 that detects whether the installation member 20 is placed at the set position of (1). At this time, the installation member installation robot platform 210 is operated by an installation member vertical movement means 210a that moves the installation member 20 in the vertical direction in the installation member storage unit 120, and an installation member vertical movement means 210a. It may include a horizontal installation member 210b that moves the moved installation member 20 in the horizontal direction. At this time, the installation member vertical movement means 210a may be a robot arm means that extracts the installation member 20 disposed in the installation member storage unit 120 in a gripped state and then places it on the installation frame 1. The horizontal moving means 210b may be a cylinder means that pushes the installation member 20 disposed on the installation frame 1 to the installation position by the installation member vertical moving means 210a.

The flooring moving unit 300 moves the installation target flooring 10 stored in the flooring storage unit 110 of the main body 100 to the floor of the installation location where the installation member 20 is placed by the installation member supply unit 200, That is, it is a part that is moved to be placed on the upper part of the installation frame (1). This flooring moving unit 300 is provided in the main body 100 and may include a horizontal moving means 310 and a vertical moving means 320.

The horizontal moving means 310 is provided in the main body 100 and is a means for moving the installation target flooring material 10 delivered from the flooring storage unit 110 in a direction parallel to the floor of the installation site. That is, the horizontal moving means 310 serves to transfer the installation target flooring material 10 delivered from the flooring storage unit 110 to the vertical moving means 320. This horizontal movement means 310 applies a conveyor structure that allows stable movement in a direction parallel to the floor of the installation site while supporting the flooring material 10 to be installed, but is not limited to this and is used for robots such as robot arms. Of course, it can also be applied as a platform. In addition, the horizontal movement means 310 may be equipped with a horizontal position detection sensor (not shown) that detects position information of the installation target flooring 10 that is moved in a direction parallel to the floor of the installation location in the main body 100. .

The vertical moving means 320 is provided in the main body 100 and receives the installation target flooring material 10 moved from the horizontal moving means 310 to the floor of the installation location, that is, for installation on which the installation member 20 is placed. It is a means of moving the flooring material (10) to be installed so that it is placed on the upper part of the frame (1). This vertical movement means 320 moves the flooring material 10 to be installed in a direction perpendicular to the floor of the installation location. Here, the vertical moving means 320 includes a vertical moving support 321 having a vertical cross-sectional shape of '"' supporting the flooring material 10 to be installed in a seated state at the bottom, and a main body ( 100) may include a vertical driving means 322 that generates a driving force to be lifted up and down. At this time, the vertical movable fixture 321 is provided to slide in the vertical direction on the main body 100. In addition, the width of the lower end of the vertical movable bracket 321 is provided to be smaller than the size of the gap between the installation frames 1 facing each other, and the vertical movable bracket 321 is moved downward by the vertical drive means 322. When placed lower than the upper side of the installation frame (1) while moving, the installation target flooring material (10) arranged on the vertical moving support 321 is placed in a seated state on the upper part of the installation frame (1). Here, the vertical driving means 322 may be a linear motor or a cylinder, but of course, it is not limited thereto. In addition, the vertical movement means 320 may be equipped with a vertical position detection sensor (not shown) that detects position information of the installation target flooring 10 disposed on the vertical movement support 321.

The flooring adhesion part 400 is a part that moves the installation target flooring 10 placed on the floor of the installation site to a designated position on the floor of the installation site through the flooring moving part 300. In more detail, the flooring adhesion unit 400 moves the installation target flooring 10 from the flooring moving unit 300 onto the installation frame 1 and moves it back to the stored location on the floor of the installation location, that is, the floor of the installation location. The installation target flooring material 10 is moved so that it is placed in close contact with the installation target flooring material 10 pre-installed at regular intervals. This flooring adhesion unit 400 is provided in the main body 100 and may include a flooring adhesion means 410 and a flooring pressure control means 420.

The flooring adhesion means 410 is provided in the main body 100, and the installation target flooring 10 disposed on the floor of the installation location, that is, the upper part of the installation frame 1, is installed through the flooring moving part 300. 1) Pressurize in the direction of the installation target flooring material (10) pre-installed at the top and in the direction of the floor of the installation location. This flooring adhesion means 410 may also be applied as a robot platform.

The flooring pressure control means 420 is connected to the flooring adhesion means 410, and maintains a constant pressing force through the flooring adhesion means 410 when pressing the flooring 10 to be installed through the flooring adhesion means 410. The operation of the flooring adhesion means 410 is controlled. The flooring pressure control means 420 detects the contact force between the flooring adhesion means 410 and the installation target flooring 10 when the flooring 10 to be installed is pressed into close contact with each other through the flooring adhesion means 410. A contact force information detection sensor means (not shown) and a floor pressurization control unit (not shown) that controls whether or not there is contact with the installation target flooring 10 through the flooring adhesion means 410 and the pressing force according to the signal detected from the contact force information detection sensor means. ) may include.

The installation inspection unit 500 is provided in the main body 100 and is a part that checks whether the installation target flooring 10 moved by the flooring adhesion unit 400 is placed at a designated location on the floor of the installation site. That is, the installation inspection unit 500 measures the gap gap and height difference between the installation target flooring 10 already installed on the installation frame 1 and the installation target flooring 10 pressed and moved by the flooring adhesion unit 400. is detected to check whether the flooring material 10 to be installed has been installed correctly. This installation inspection unit 500 may include an installation detection sensor means 510 and an installation detection output means 520.

The installation detection sensor means 510 is provided in the main body 100 and measures the gap between the installation target flooring materials 10 arranged adjacent to each other on the floor of the installation location and the height difference between the installation target flooring materials 10. Measure. This installation detection sensor means 510 may include a three-dimensional coordinate information tracking sensor and a position and orientation detection sensor that detects position and orientation information.

The installation detection output means 520 is connected to the installation detection sensor means 510, and detects the installation state of the flooring material 10 to be installed through the input value measured by the installation detection sensor means 510 and then outputs it. , allowing the operator to check the installation status.

In addition, the raised flooring installation device of one embodiment is provided with general information of the flooring installation or dismantling work (expected movement path of the double flooring installation and dismantling device) when dimension information of the installation location (including information on obstacles such as pillars within the installation location) is input. Estimated time required for installation or dismantling, etc.) is provided to the worker through a separate output device, and details of the installation or dismantling work (information on the current progress stage in the overall work process, information on situations in which abnormal conditions occur, and information that requires the operator's confirmation and decision-making) are provided to the operator through a separate output device. situation information, etc.) and status and task information for each dedicated device can also be provided to the task manager through a separate output device, and task management (task sequence and linkage management, data communication between devices, etc.) technology between dedicated devices, in case of malfunction An integrated control unit (not shown) may be provided to resolve detailed problems for each situation while ensuring safety. In addition, various data input/output devices, data analysis and processing at a remote location to prevent collisions, interference, and safety accidents when driving and working between devices at an installation site where multiple installation target flooring materials (10) transport, supply, and installation or disassembly devices are operated. It may also include a remote control unit (not shown) that includes a control device including devices.

The installation and dismantling of the flooring to be installed using the raised flooring installation device according to an embodiment configured as described above will be described as follows.

The main body 100 is moved and arranged through control of the traveling means 140 to a location where the flooring material 10 to be installed is to be installed.

To explain this in detail, that is, after the main body 100 is first moved on the previously installed flooring material 10 through the traveling means 140 to the location where the main body 100 is to be installed, the person who wants to install the flooring material 10 to be installed After the main body is moved to an adjacent position, the guide wheel 161 is seated and placed on the installation frame 1 by the main body support means 160, and then the load distribution wheel 171 is installed by the auxiliary traveling means 170. It is seated and placed on the installation frame (1). Afterwards, the arrangement is made by moving the main body 100 to the location where the flooring material 10 to be installed is additionally installed.

In this way, after the main body 100 is moved to the target location where the installation target flooring material 10 is to be installed, work information such as work area and speed is input.

Then, after the flooring materials 10 to be installed are loaded on the flooring transportation device 40 through the flooring loading device 30, the flooring transportation device 40 is moved from the installation location to the flooring supply device 50, and the flooring material transporting device 40 is moved from the installation location to the flooring supply device 50. The supply device 50 grasps the installation target flooring 10 loaded on the flooring transfer device 40 and then supplies it to the flooring storage unit 110 provided in the main body 100 of the double flooring installation device 100a. .

Thereafter, the installation member 20 placed in the installation member storage unit 120 of the main body 100 is placed on the upper part of the installation frame 1 through the installation member installation robot platform 210 of the installation member supply unit 200. .

When the installation member 20 is disposed on the upper part of the installation frame 1, the installation target flooring 10 supplied to the flooring storage unit 110 of the main body 100 is moved by the horizontal moving means of the flooring moving unit 300. It is moved onto the vertical movable mounting base 321 of the vertical moving means 320 through 310 and then moved downward from the main body 100 by the vertical driving means 322. Then, the installation target flooring material 10 is placed on the upper side of the installation frame 1 so as to be seated on the upper part of the installation member 20.

Thereafter, the flooring adhesion means 410 of the flooring adhesion unit 400 moves the installation target flooring 10 placed on the installation frame 1 to a designated position by the flooring moving unit 300.

In this way, after the installation target flooring 10 is moved on the installation frame 1 by the flooring adhesion portion 400, the installation inspection unit 500 checks whether the installation target flooring 10 is accurately placed in the designated position. It will be confirmed.

In addition, when dismantling the installation target flooring 10 installed on the installation frame 1, the main body 100 is moved and placed through control of the traveling means 140 to the location of the installation target flooring 10 to be dismantled. Afterwards, the flooring material 10 to be dismantled is moved to the upper side of the main body 100 while seated on the vertical moving support 321 through the vertical moving means 320 of the flooring moving part 300. Thereafter, the flooring material 10 to be dismantled again is moved to the flooring storage unit 110 of the main body 100 through the horizontal moving means 31 and loaded.

In this way, in the raised flooring installation device of one embodiment, the installation member supply unit 200 and the flooring moving unit 300 are installed at the installation site in a state in which the installation target flooring 10 and the installation member 20 are stored in the main body 100. The installation members 20 and the installation target flooring 10 are sequentially stacked on the installation frame 1 provided on the floor, and the flooring adhesion portion 400 moves the installation target flooring 10 back to the designated position. It is moved and placed, and the installation inspection unit 500 confirms whether the flooring material 10 to be installed has been installed correctly at the designated location. As the installation work of the double flooring material 10 on the floor of the installation location is automated, construction efficiency is increased. It will be possible to improve work productivity and safety, reduce costs, and resolve the imbalance between supply and demand of manpower.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true scope of technical protection of the present invention should be determined by the technical spirit of the attached claims.

1: Installation frame 10: Installation target flooring material
20: Installation member 30: Flooring loading device
40: Flooring material transfer device 50: Flooring material supply device
100a: Raised flooring installation device 100: Main body
110: Flooring material storage section 120: Installation member storage section
130: sensor means for information recognition 140: driving means
150: installation frame tracking means 160: main body support means
200: Installation member supply unit 210: Installation member installation robot platform
220: Installation member position detection sensor 300: Flooring moving part
310: horizontal means of movement 320: means of vertical movement
400: Flooring adhesion portion 410: Flooring adhesion means
420: Flooring pressurization control means 500: Installation inspection unit
510: Installation detection sensor means 520: Installation detection output means

Claims (7)

In the double flooring installation device for installing the flooring to be installed on the upper part of a plurality of installation frames arranged in parallel and spaced apart from each other in a plurality of rows on the floor of the installation location,
a main body movably disposed at the installation location and provided with a flooring material storage portion for storing the flooring material to be installed, and an installation member storage portion for storing installation members;
an installation member supply unit provided in the main body and moving the installation member to the installation frame;
a flooring moving unit provided in the main body and moving the flooring to be installed to an installation frame on which an installation member is disposed;
a flooring adhesion portion provided in the main body and moving the installation target flooring placed on the installation frame to a designated position in the installation frame;
It includes an installation inspection unit that is provided in the main body and checks whether the installation target flooring moved by the flooring adhesion unit is placed in the designated position of the installation frame,
The flooring adhesion unit is provided in the main body and includes a flooring adhesion means that presses the installation target flooring disposed on the installation frame through the flooring moving unit in the direction of the installation target flooring already installed in the installation frame and in the floor direction of the installation location, and the flooring material. It is connected to the adhesion means, and includes a flooring pressurization control means that maintains a constant pressing force on the flooring adhesion means when the flooring to be installed is pressed through the flooring adhesion means,
The flooring pressure control means detects contact force information detection sensor means for detecting a contact force between the flooring adhesion means and the installation target flooring when the flooring material to be installed is pressed into close contact with each other through the flooring adhesion means, and a contact force information detection sensor means. It includes a floor pressurization control unit that controls whether or not there is contact with the floor to be installed through the floor adhesion means and the pressing force according to the signal,
The installation inspection unit is provided in the main body and includes a three-dimensional coordinate information tracking sensor and location and orientation information to measure the gap between installation target flooring materials arranged adjacent to the floor of the installation location and the height difference between installation target flooring materials. An installation detection sensor means equipped with a position and orientation detection sensor that detects, and an installation device that is connected to the installation detection sensor means and detects the installation state of the flooring to be installed through the input value measured by the installation detection sensor means and then outputs the information. Raised floor installation device including detection output means.
In claim 1,
The main body is,
Sensor means for information recognition that recognizes information on surrounding obstacles including workers at the installation site, environmental information around the floor of the installation site, the installation position of the installation target flooring material, and the position of the main body on the floor of the installation site;
A double flooring installation device connected to the information recognition sensor means and including a traveling means for moving the main body on the installation frame to a position where the installation target flooring material is to be installed based on the information input from the information recognition sensor means.
In claim 2,
When the main body moves along the installation frame where the flooring to be installed is to be installed from the position where the flooring to be installed is already placed, an installation frame tracking means that transmits the position information of the main body from the installation frame to the traveling means;
A double flooring installation further comprising a main body support means provided in the main body and supporting the main body so that the main body can move along the installation frame when the main body moves on the installation frame through a traveling means to a position where the flooring to be installed is to be installed. Device.
In claim 1,
The installation member supply unit,
An installation member installation robot platform provided in the main body and placing the installation member stored in the installation member storage portion at a designated position of the installation frame;
A raised flooring installation device provided in the main body and including an installation member position detection means for detecting whether the installation member is placed at a designated position of the installation frame.
In claim 1,
The floor moving part,
Horizontal moving means provided in the main body and moving the flooring material to be installed in a direction parallel to the floor of the installation site;
A double flooring installation device that is provided in the main body and includes vertical moving means for moving the flooring to be installed in a direction perpendicular to the floor of the installation site so that it is placed on the floor of the installation site.


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