핵심 개념
A dual-arm robotic system with custom tools enables the complete automated installation of structural parts to concrete surfaces in narrow construction environments.
초록
The study proposes a robotic system for the automated fixation of structural parts, such as mechanical, electrical, and plumbing (MEP) support systems, to concrete surfaces. The system consists of two industrial robots, each equipped with specialized tools for drilling holes, inserting anchor bolts, and tightening nuts.
Key highlights:
- Dual-arm design allows the robots to position and fix the structural parts simultaneously, enabling complete automation of the installation process.
- Custom tool designs, including a moment-compensating drill and an anchor hammering tool with an integrated gripper, enable the use of smaller robots with lower payloads in narrow construction environments.
- A modular system design allows the robots and tools to be transported in parts for easy introduction to the construction site.
- A detailed fixation procedure is proposed, which includes steps for detecting the wall orientation, locating the structural part holes, drilling holes, inserting anchors, and tightening nuts.
Experimental results demonstrate the feasibility of the proposed system and tools. The custom drill tool with a constant load spring successfully drilled holes without causing moment overload in the robot joints. The anchor hammering and nut tightening tools also performed their tasks within the robot's force and torque limits. The complete fixation procedure was evaluated, and one side of a structural part was successfully installed in under 10 minutes.
The proposed system and tools show potential for automating construction tasks in narrow and unstructured environments, addressing the labor shortage and skill gap in the construction industry.
통계
The robots used in the experimental setup have a length of 1110 mm, a reach of 1298 mm, and a payload of 13 kg.
The concrete block used has a size of H300xW200xT150 mm and a compressive strength of 24 N/mm2.
The anchor bolt used has a diameter of 12 mm and a length of 126 mm, with a mass of 113 g.
인용구
"The use of two arms to automate assembly tasks in construction is not new; a robotic systems was previously developed for installing ceiling boards and raised floors in construction sites."
"To avoid this, efforts have been made to automate construction tasks using industrial robots, as they are suitable for tasks that are dull, repetitive, and require high precision."
"The proposed design is similar to the offset axis approach, but it contains a support arm that compensates for the moment generated by drilling."