The performance of post-installed fasteners in concrete can be affected by the chosen drilling and setting techniques. In the context of the development of a drilling robot for construction site implementation the impact of an automated setting process on the pull-out loads of fastening systems was evaluated. This article investigates the effect of two different fixing systems, drop-in expansion and chemical anchors, on the pull-out behaviour of manual and robotic drilling and installation. While for chemical anchors, the results indicate that robotic installation leads to similar pull-out forces with smaller deviation, expansion anchors in robotically drilled holes show slightly lower pull-out loads than those in manually drilled holes. Furthermore, a more uniform pull-out behaviour was observed for chemical anchors when set by the robot. In conclusion it can be shown that robotically set fasteners achieve a comparable performance, presenting a feasible automation approach for the construction industry.

中文翻译：

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机器人和手动钻孔和固定紧固件的拔出能力比较

混凝土中后安装紧固件的性能可能会受到所选钻孔和安装技术的影响。在开发用于建筑工地实施的钻孔机器人的背景下，评估了自动设置过程对紧固系统拉拔负载的影响。本文研究了两种不同的固定系统（插入式膨胀锚栓和化学锚栓）对手动和机器人钻孔和安装的拔出行为的影响。而对于化学锚栓，结果表明，机器人安装会产生类似的拉拔力，但偏差较小，而机器人钻孔中的膨胀锚栓的拉拔载荷略低于手动钻孔中的拉拔载荷。此外，当由机器人设置时，观察到化学锚具有更均匀的拉出行为。总之，可以证明，机器人设置的紧固件具有可比的性能，为建筑行业提供了一种可行的自动化方法。