Gypsum board suspended ceiling drilling installation robot and method

Abstract

The invention discloses a gypsum board suspended ceiling drilling installation robot and method. The robot comprises a movable platform system; the lifting structure system is mounted on the movable platform system and is used for lifting an operation platform at the top of the lifting structure system to a corresponding height for construction operation; the drilling rotary table system is mounted on the operation platform, comprises a rotary table, a motor rotary table part for driving the rotary table to rotate, and an ash and dust removal part, a drilling part and a repairing and spraying part which are uniformly mounted on the rotary table along the circumference, and is used for realizing the functions of drilling, ash and dust removal and repairing and spraying of the gypsum board suspended ceiling; the keel delivery system is used for delivering main keels and auxiliary keels and grabbing gypsum boards; the gypsum board jacking system is used for jacking the gypsum board; and the gypsum board cutting system is used for cutting the gypsum board. According to the device, gypsum board suspended ceiling drilling and mounting are integrated, commands such as gypsum board suspended ceiling drilling and mounting are automatically completed, and the construction efficiency and quality are further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and in particular to a gypsum board ceiling drilling and installation robot, and also to a gypsum board ceiling drilling and installation method. Background Art

[0002] In the process of building decoration construction, it is often necessary to use gypsum board ceilings with building gypsum as the main raw material. Many ceiling shapes on the market first use expansion screws to fix the hanging rods, then use the main and secondary keels as the frame, self-tapping screws and rivets and other fixing parts, and finally cover the gypsum board, fix the gypsum board on the keel, and then carry out subsequent hole filling, grinding, dust cleaning and dust collection. The installation of expansion screws, the connection and installation between the main and secondary keels, and the connection and fixing of gypsum boards inevitably require drilling.

[0003] At present, traditional methods such as manual drilling and delivering and transporting gypsum board keels require construction workers to move with a stepladder and lift the gypsum board or keel up and down the ladder. Construction workers' arms ache due to long-term drilling. Not only is the labor intensity high and the construction efficiency low, but also the safety risk is high. On the other hand, the depth and precision errors of the ceiling drilling holes are large, and it is difficult for construction workers to ensure the efficiency and precision of the drilling. Summary of the invention

[0004] Based on the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a gypsum board ceiling drilling and installation robot and method, which integrates the gypsum board ceiling drilling and installation, replaces manual work with machines, and automatically completes gypsum board ceiling drilling and installation instructions, thereby further improving construction efficiency and quality, and also reducing the safety risks of construction personnel.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0006] The gypsum board ceiling drilling and installation robot of the present invention comprises: a movable platform system for moving the robot to a construction position; a lifting structure system installed on the movable platform system and used to raise the working platform on its top to a corresponding height for construction work; a drilling turntable system installed on the working platform, which comprises a turntable, a motor turntable part for driving the turntable to rotate, and a dust cleaning and dust removal part, a drilling part and a repair spraying part uniformly installed on the turntable along the circumference, for realizing the functions of drilling, dust cleaning and dust collection, and repair spraying of the gypsum board ceiling; a delivery keel system installed on the working platform, which comprises a A ball screw part and a first mechanical arm part installed on the first ball screw part are used to deliver the main and auxiliary keels and grab the gypsum board; a gypsum board lifting system is installed on the working platform, used to lift the gypsum board and fix the gypsum board in cooperation with the drilling turntable system; a gypsum board cutting system is installed on the working platform, which includes a second ball screw part and a second mechanical arm part and an angle grinder part installed on the second ball screw part, and is used to cut the gypsum board; a storage system is installed on one side of the movable platform system, and is used to store gypsum boards, main and auxiliary keels, hanging rods, screws and nuts.

[0007] Preferably, the drilling part operates first and is driven by the fourth motor, and the transmission and bearings transmit the movement to drive the movement of the electric drill bit; after the drilling is completed, the turntable rotates, and the cleaning and dust removal part is rotated to the same working position to clean and dust the hole just drilled; the cleaning and dust removal part includes a shell b and is powered by a battery, and the third motor drives the turbofan to move, thereby performing cleaning and dust removal work. After cleaning and dust removal, the turntable rotates again, and the repair and spraying part is rotated to the same working position to repair and spray the holes.

[0008] Furthermore, the first ball screw part converts the movement of the fifth motor in the power unit into the movement of the supporting platform, and transmits the rotational movement of the fifth motor to the ball screw through the coupling, so that the ball screw rotates, and the ball screw is threadedly connected to the supporting platform, thereby realizing efficient and smooth transmission; the left and right movement of the supporting platform drives the first robotic arm part to move left and right, thereby performing subsequent translation of the delivery keel.

[0009] Furthermore, the mechanical claw unit of the first mechanical arm part grabs the main and secondary keels, gypsum boards, hanging rods, screws and nuts stored in the storage system; the base unit a of the first mechanical arm part is driven by the eighth motor, and the base unit a contains bearings and bevel gears to transmit the motion, so that the mechanical arm can rotate horizontally around the base unit a; the shoulder unit a of the first mechanical arm part is driven by the seventh motor, and the shoulder unit a contains bearings and gear reducers to transmit the motion, thereby realizing the up and down swinging motion of the shoulder unit a; the elbow unit a of the first mechanical arm part is driven by the sixth motor, and the elbow unit a contains bearings, planetary reducers, and bevel gears to transmit the motion, thereby realizing the movement of the elbow unit a with a degree of freedom; the wrist unit a of the first mechanical arm part is transmitted by a motor, bearings, planetary reducers, and bevel gears to further accurately control the movement of the wrist unit a; the mechanical claw unit of the wrist unit a has three degrees of freedom, so that the mechanical claw can grab materials.

[0010] Preferably, the jacking gypsum board system is mainly composed of a platform, a base, a second connecting rod and a third connecting rod located between the platform and the base to form a main body; the second connecting rod and the third connecting rod are hinged by bolts to form a scissors-type lifting frame; one end of the bottom of the scissors-type lifting frame is connected to one end of the base through a shaft, and the other end of the bottom of the scissors-type lifting frame is slidably connected to the base; one end of the top of the scissors-type lifting frame is connected to one end of the platform through a shaft, and the other end of the top of the scissors-type lifting frame is slidably connected to the platform; a hydraulic drive mechanism is arranged in the scissors-type lifting frame to realize the lifting function of the platform up and down.

[0011] Furthermore, the structure of the second ball screw part is the same as that of the first ball screw part, and the structure of the second robotic arm part is the same as that of the first robotic arm part; the angle grinder part includes a grinding wheel guard, a grinding wheel, and a shell d, and the angle grinder part is connected to the wrist unit b of the second robotic arm part through a thread, and the movement of the robotic arm controls the movement of the angle grinder part, thereby cutting the gypsum board.

[0012] Furthermore, the lifting structure system includes a support part and a power part, the support part is mainly composed of a first connecting rod, and the first connecting rods are hinged with bolts to form a scissors-type frame; the hydraulic oil tank of the power part is used to store liquid oil, and the oil pipe connects the various hydraulic components to form a closed hydraulic system; the gear pump draws hydraulic oil from the hydraulic oil tank through the baffle and the oil pipe, and delivers it to the hydraulic column after pressurization, acting on the piston of the hydraulic column, thereby generating an upward force, pushing the piston to move upward, driving the scissors-type frame to move, and then realizing the lifting function; the working platform is connected to the first connecting rod at the top through a sliding plate, and the hydraulic column pushes the scissors-type frame to rise and fall, thereby realizing the lifting and lowering of the working platform.

[0013] Correspondingly, the present invention also provides a gypsum board ceiling drilling installation method, the steps of which are:

[0014] S1. Install expansion screws, complete drilling, dust cleaning, and repair spraying operations;

[0015] First, the laser level and sensor determine the installation position and the appropriate electric drill bit. The electric drill bit on the turntable is perpendicular to the concrete ceiling for drilling. After the drilling is completed, the turntable is rotated to rotate the dust removal part to the same position to clean the drill hole to ensure that the drill hole is clean; after dust removal, the turntable is rotated again to rotate the repair spray part to the same position to repair the hole; then the first mechanical arm part close to the turntable and the first ball screw part cooperate to move left and right to insert the expansion screw into the hole, and the electric hammer is used to knock so that the expansion part completely enters the hole, and the first mechanical arm part is used to tighten the expansion screw again; the sensor monitors in real time whether the fixation is completed and whether there is any looseness. Next, the first mechanical arm part is used again to fix the hanging rod, and these preparatory works are completed to promote the subsequent operations;

[0016] S2, delivering the keel;

[0017] The first robotic arm part grabs the main keel from the storage system, locates the installation position of the main keel, and then uses the first ball screw part to move the bearing platform of the first robotic arm part left and right through the threaded transmission between the ball screw and the bearing platform to deliver the keel, thereby realizing precise position control and motion transmission; the first ball screw part passes the main keel through the hanging rod through the cooperation with the lifting structure system, and fixes it with self-tapping screws. At the same time, the level meter adjusts the levelness of the main keel; then, the first robotic arm part grabs the main keel connector to connect the main keel. After the main keel is installed, the secondary keel is delivered and installed in the same steps; the first robotic arm part grabs the secondary keel connector to connect the secondary keel, fixes it with self-tapping screws, and the main and secondary keels are connected and fixed with the rivet gun next to the first robotic arm part. Finally, the laser level meter is used again to check the flatness and levelness of the main and secondary keels;

[0018] S3, cutting gypsum board;

[0019] In the face of cutting gypsum boards of different sizes, the first mechanical arm part grabs the gypsum board from the storage system, and the first ball screw part is used to move the bearing platform left and right, and the gypsum board to be cut is placed and fixed on the platform of the jacking gypsum board system, and then the angle grinder part of the cutting gypsum board system cuts the gypsum board. During the cutting process, the gypsum board is positioned and accurately cut through the cooperation between the second ball screw part;

[0020] S4, jacking up gypsum board;

[0021] After the gypsum board is cut, the sensor determines the position and height of the gypsum board. The movable platform system and the lifting structure system remain stable, and the gypsum board lifting system lifts the cut gypsum board. The hydraulic drive mechanism of the gypsum board lifting system stably lifts the gypsum board to a certain height, and cooperates with the drilling turntable system to perform subsequent operations to fix the gypsum board.

[0022] From the above, the gypsum board ceiling drilling installation robot and method of the present invention have at least the following beneficial effects:

[0023] 1. The present invention not only reduces labor costs and the risk of personal injury, but also uses laser positioning, sensors and other technologies to achieve high-precision drilling, and can perform accurate and continuous work. In addition, the gypsum board ceiling drilling robot of the present invention adds functions such as delivering keels, lifting gypsum boards, cutting modules, repairing holes, grinding, cleaning and dust removal, further improving the operation process of gypsum board ceiling drilling and installation construction.

[0024] 2. The present invention can automatically complete the drilling and installation of gypsum board ceilings according to instructions without human intervention, and can continue to work stably and efficiently, quickly completing a large number of drilling tasks and gypsum board installation work, thereby improving construction efficiency.

[0025] 3. The present invention is provided with a precise control system and a sensor system. Compared with traditional manual drilling, the drilling position of the gypsum board ceiling drilling robot of the present invention is more precise and the installation is more secure, maintaining the high consistency of the depth, angle and position of each hole, ensuring the flatness of the gypsum board installation and improving the quality of construction.

[0026] 4. The present invention greatly reduces the labor intensity of the operator. At the same time, it greatly reduces the potential safety hazards in the construction process, ensures the personal safety of the constructors, and reduces labor costs.

[0027] 5. The present invention can adjust, upgrade and optimize the equipment according to different construction environments and different construction requirements. By setting different parameters, it can meet various construction requirements and application scenarios and has a wider range of adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0029] Figure 1 This is a schematic diagram of the overall structure of the gypsum board ceiling drilling and installation robot of the present invention;

[0030] Figure 2It is a structural schematic diagram of the movable platform part of the present invention;

[0031] Figure 3 It is a structural schematic diagram of the lifting structure system of the present invention;

[0032] Figure 4 It is a schematic structural diagram of the power part of the lifting structure system of the present invention;

[0033] Figure 5 It is a structural schematic diagram of the drilling rotary table system of the present invention;

[0034] Figure 6 It is a structural schematic diagram of the electric turntable part of the present invention;

[0035] Figure 7 It is a structural schematic diagram of the dust removal part of the present invention;

[0036] Figure 8 It is a structural schematic diagram of the drilling part of the present invention;

[0037] Fig. 9 It is a structural schematic diagram of the repair spraying part of the present invention;

[0038] Fig.10 It is a schematic structural diagram of the delivery keel system of the present invention;

[0039] Fig.11 It is a schematic structural diagram of the first ball screw part of the delivery keel system of the present invention;

[0040] Fig.12 It is a schematic structural diagram of the first mechanical arm part of the delivery keel system of the present invention;

[0041] Fig.13 It is a structural schematic diagram of the jacking gypsum board system of the present invention;

[0042] Fig.14 It is a structural schematic diagram of the gypsum board cutting system of the present invention;

[0043] Fig.15 It is a schematic diagram of the structure of the storage system of the present invention.

[0044] Description of reference numerals:

[0045] 1000- movable platform system;

[0046] 1110-front axle; 1120-bearing; 1130-retaining ring; 1140-tire; 1150-first hexagonal nut;

[0047] 1160-alloy bracket; 1170-leg; 1180-second hexagonal bolt; 1210-first motor;

[0048] 2000-lift structure system;

[0049] 2100- bracket part; 2200- power part;

[0050] 2110-first connecting rod; 2120-hydraulic column; 2130-working platform; 2140-sliding plate;

[0051] 2210-gear pump; 2220-hydraulic oil tank; 2230-baffle; 2240-oil pipe; 2260-hydraulic control check valve;

[0052] 3000-drilling carousel system;

[0053] 3100-motor turntable part; 3200-turntable part; 3300-dust removal part; 3400-drilling part; 3500-repair spraying part;

[0054] 3110-housing a; 3120-second motor; 3130-worm gear; 3140-worm;

[0055] 3310-battery; 3320-third motor; 3330-turbo fan; 3340-housing b;

[0056] 3410-fourth motor; 3420-cooling fan blade; 3430-electric drill bit; 3440-bearing; 3450-transmission;

[0057] 3510-housing c; 3520-check valve;

[0058] 4000-delivery keel system;

[0059] 4100-first ball screw part;

[0060] 4110-first base; 4120-fifth motor; 4130-coupling; 4140-carrying platform; 4150-ball screw; 4160-linear guide;

[0061] 4200- first mechanical arm part;

[0062] 4210-base unit a; 4220-shoulder unit a; 4230-elbow unit a; 4240-wrist unit a; 4250-mechanical claw unit; 4250-mechanical claw unit; 4260-sixth motor; 4270-seventh motor; 4280-eighth motor;

[0063] 5000-Jack-lift gypsum board system;

[0064] 5110- platform; 5120- second connecting rod; 5130- third connecting rod; 5140- shaft; 5150- second base;

[0065] 6000-cut gypsum board system;

[0066] 6100-second ball screw part;

[0067] 6200-second robotic arm part;

[0068] 6210-base unit b; 6220-shoulder unit b; 6230-elbow unit b; 6240-wrist unit b;

[0069] 6300-angle grinder part;

[0070] 6310-grinding wheel protection cover; 6320-grinding wheel; 6330-housing d;

[0071] 7000-Storage system;

[0072] 7100-Shell E. DETAILED DESCRIPTION

[0073] In order to facilitate ordinary technicians in the field to understand and implement the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0074] Next, combine Figures 1 to 15 The present invention provides a gypsum board ceiling drilling installation robot and method.

[0075] like Figure 1 As shown, the gypsum board ceiling drilling and installation robot of the present invention consists of seven major systems: a movable platform system 1000, a lifting structure system 2000 installed on the movable platform system 1000, a drilling turntable system 3000, a keel delivery system 4000 for delivering main and secondary keels, a gypsum board lifting system 5000 for lifting gypsum boards, a gypsum board cutting system 6000 for cutting gypsum boards, and a storage system 7000 for storing gypsum boards, main and secondary keels, hanging rods and other materials.

[0076] The movable platform system 1000 realizes the movement of the gypsum board ceiling drilling installation robot, and its function is to move it to the corresponding construction position; the lifting structure system 2000 realizes the lifting of the ceiling drilling work platform, and its function is to raise the top work platform to the corresponding height for construction work; the drilling turntable system 3000 is composed of a motor turntable part 3100, a turntable 3200, a dust cleaning and dust removal part 3300, a drilling part 3400 and a repair spraying part 3500, and its function is to realize the functions of drilling, dust cleaning, dust collection, and repair spraying of the gypsum board ceiling; the delivery keel system 4000 is composed of a first The ball screw part 4100 and the first robotic arm part 4200 constitute the main body, and their function is to realize the delivery of the main and auxiliary keels and grab the gypsum board; the function of the jacking gypsum board system 5000 is to realize the jacking of the gypsum board and fix the gypsum board in cooperation with the drilling turntable system 3000; the gypsum board cutting system 6000 is mainly composed of the second ball screw part 6100, the second robotic arm part 6200, and the angle grinder part 6300, and its function is to realize the cutting of the gypsum board to meet the construction requirements under different conditions; the function of the storage system 7000 is to realize the storage of gypsum boards and main and auxiliary keels to facilitate the grabbing of materials.

[0077] like Figure 2 As shown, the movable platform system 1000 is mainly composed of a bracket part, a first motor 1210 is used as a power part, and a front axle 1110, a bearing 1120, a retaining ring 1130, and a first hexagonal nut 1150 cooperate with each other to realize the actuation of the tire 1140 and move the gypsum board ceiling drilling and installation robot. The bracket part also includes an alloy bracket 1160 and a leg 1170 fixed to the alloy bracket 1160 by a second hexagonal nut 1180.

[0078] like Figure 3 and Figure 4As shown, the lifting structure system 2000 includes a support part 2100 and a power part 2200. The support part 2100 is mainly composed of a first connecting rod 2110, and the first connecting rods 2110 are hinged with bolts to form a scissor-type frame. The hydraulic oil tank 2220 of the power part 2200 is used to store liquid oil, and the oil pipe 2240 connects various hydraulic components to form a closed hydraulic system. The gear pump 2210 sucks hydraulic oil from the hydraulic oil tank 2220 through the baffle 2230 and the oil pipe 2240, and delivers it to the hydraulic column 2120 after pressurization, acting on the piston of the hydraulic column 2120, thereby generating an upward force, pushing the piston to move upward, driving the scissor-type frame to move, and then realizing the lifting function. In this process, the hydraulic control one-way valve 2260 controls the flow direction of the hydraulic oil, allowing the hydraulic oil to move only in the same direction to prevent backflow. The hydraulic column 2120 improves the stable supporting force to ensure the stability of the lifting structure. The working platform 2130 is connected to the first connecting rod 2110 at the top through the sliding sheet 2140 , and the hydraulic column 2120 pushes the scissor-type frame to rise and fall, thereby realizing the rising and falling of the working platform 2130 .

[0079] like Figures 5 to 9As shown, the drilling turntable system 3000 is installed on the working platform 2130, and is mainly composed of an electric turntable part 3100 and three major functional devices - a dust removal part 3300, a drilling part 3400, and a repair spraying part 3500. The dust removal part 3300, the drilling part 3400, and the repair spraying part 3500 are evenly installed on the turntable 3200 along the circumference. The power of the electric turntable part 3100 is provided by the second motor 3120, which is reduced by the worm gear 3130 and the worm 3140 to drive the rotation of the turntable 3200 to achieve actuation. The worm gear 3130 and the worm 3140 are located in the housing a3110. The electric turntable part 3100 and the turntable 3200 are fixedly connected by bolts. The drilling part 3400 operates first, driven by the fourth motor 3410, and the transmission 3450 and the bearing 3440 transmit the movement, driving the movement of the electric drill bit 3430. The drilling part 3400 also includes a heat dissipation fan 3420 for dissipating heat from the fourth motor 3410. After the drilling is completed, the turntable 3200 rotates, and the dust cleaning and dust removal part 3300 is rotated to the same working position, and the newly drilled hole is cleaned and dusted to facilitate the subsequent construction work. The dust cleaning and dust removal part 3300 includes a shell b3340, and is powered by a battery 3310. The third motor 3320 drives the turbofan 3330 to move, thereby performing the work of cleaning and dust removal. After cleaning and dust removal, the turntable 3200 rotates again, and the repair and spraying part 3500 is rotated to the same working position to repair and spray the holes. The paint is stored in advance inside the shell c3510. When the repair spraying operation is needed, the pressure inside the shell c3510 decreases, causing the paint to flow from low pressure to high pressure and spray upward from the nozzle to the hole that needs repair spraying. The one-way valve 3520 of the repair spraying part 3500 controls the one-way flow of the paint, preventing the backflow of the paint and air, and ensuring that the paint can only be sprayed upward; at the same time, the one-way valve 3520 maintains the stability of the pressure inside the shell c3510.

[0080] like Figures 10 to 12 As shown, the delivery keel system 4000 is installed on the working platform 2130, and is mainly composed of a first ball screw part 4100 and a first mechanical arm part 4200 installed on the first ball screw part 4100. The first ball screw part 4100 converts the movement of the fifth motor 4120 fixed on the first base 4110 in the power unit into the movement of the bearing platform 4140, and transmits the rotational movement of the fifth motor 4120 to the ball screw 4150 through the coupling 4130, so that the ball screw 4150 rotates, and the ball screw 4150 is threadedly connected with the bearing platform 4140, thereby realizing efficient and smooth transmission. The bearing platform 4140 is guided by a linear guide 4160. The left and right movement of the bearing platform 4140 drives the first mechanical arm part 4200 to move left and right, thereby performing the subsequent translation of the delivery keel.

[0081] The mechanical claw unit 4250 of the first mechanical arm part 4200 grabs the main and secondary keels, gypsum boards, hanging rods, screws and nuts, etc. stored in the storage system 7000. The base unit a4210 of the first robotic arm part 4200 is driven by the eighth motor 4280, and the base unit a4210 contains bearings and bevel gears to transmit the motion, so that the robotic arm can rotate horizontally around the base unit a4210; the shoulder unit a4220 of the first robotic arm part 4200 is driven by the seventh motor 4270, and the shoulder unit a4220 contains bearings and gear reducers to transmit the motion, thereby realizing the up and down swinging motion of the shoulder unit a4220; the elbow unit a4230 of the first robotic arm part 4200 is driven by the sixth motor 4260, and the elbow unit a4230 contains bearings, planetary reducers, and bevel gears to transmit the motion, thereby realizing the movement of the elbow unit a4230 with a degree of freedom; similarly, the wrist unit a4240 is transmitted by a motor, bearings, planetary reducers, and bevel gears, and further precise control is performed to realize the movement of the wrist unit a4240. The mechanical claw unit 4250 of the wrist unit a4240 has three degrees of freedom, which enables the mechanical claw to operate at a suitable and flexible angle when grasping materials.

[0082] like Fig.13 As shown, the jacking gypsum board system 5000 is installed on the working platform 2130, and is mainly composed of a platform 5110, a second base 5150, a second connecting rod 5120 and a third connecting rod 5130 located between the platform 5110 and the second base 5150. The second connecting rod 5120 and the third connecting rod 5130 are hinged by bolts to form a scissor-type lifting frame, one end of the bottom of the scissor-type lifting frame is connected to one end of the second base 5150 through an axis 5140, and the other end of the bottom of the scissor-type lifting frame is slidably connected to the second base 5150, and one end of the top of the scissor-type lifting frame is connected to one end of the platform 5110 through an axis, and the other end of the top of the scissor-type lifting frame is slidably connected to the platform 5110. A hydraulic drive mechanism is set in the scissor-type lifting frame to realize the lifting function of the platform 5110 up and down, and realize the transmission of motion.

[0083] like Fig.14As shown, the gypsum board cutting system 6000 is installed on the working platform 2130, and is mainly composed of a second ball screw part 6100, a second mechanical arm part 6200 installed on the second ball screw part 6100, and an angle grinder part 6300. The angle grinder part 6300 includes a grinding wheel guard 6310, a grinding wheel 6320, and a housing d6330. The structural principle of the second ball screw part 6100 is the same as that of the first ball screw part 4100, and the structural principle of the second mechanical arm part 6200 is the same as that of the first mechanical arm part 4200. The second mechanical arm part 6200 mainly includes a base unit b6210, a shoulder unit b6220, an elbow unit b6230, and a wrist unit b6240. The angle grinder part 6300 is connected to the wrist unit b6240 of the second robot arm part 6200 through a thread, and the movement of the robot arm controls the movement of the angle grinder part 6300, thereby cutting the gypsum board.

[0084] like Fig.15 As shown, the storage system 7000 is installed on one side of the movable platform system 1000, and the main body is composed of an alloy plate to form a shell e7100, which can store materials such as gypsum boards, main and secondary keels, hanging rods, screws and nuts, etc., to facilitate subsequent construction operations.

[0085] In actual application, first, the movable platform system 1000 moves the gypsum board ceiling drilling installation robot to the corresponding construction position, and sets various parameters of drilling, such as drilling position, depth, diameter, etc., through the control system. Then, the lifting structure system 2000 lifts and lowers the working platform 2130, raises the working platform 2130 to a suitable working height, and then self-locks and fixes it. Immediately afterwards, the drilling turntable system 3000 cooperates with the first mechanical arm part 4200 to start working, and the driving motor drives the electric drill bit 3430 to rotate, and controls the feed speed and depth of the electric drill bit 3430. The sensor system monitors the parameters in the drilling process in real time, such as position, depth, force, etc., to ensure the safety and accuracy of the drilling operation. After the drilling, dust cleaning and repair work is completed, the delivery keel system 4000 starts working. After the main and secondary keels are installed, the first mechanical arm part 4200 grabs the gypsum board, cooperates with the second mechanical arm part 6200 to cut the gypsum board, and finally lifts and fixes the gypsum board.

[0086] Correspondingly, the gypsum board ceiling drilling installation method of the present invention comprises the following steps:

[0087] S1. Install expansion screws, complete drilling, dust cleaning, and repair spraying operations;

[0088] First, the laser level and sensor determine the installation position, determine the appropriate electric drill bit 3430, and drill the electric drill bit 3430 on the turntable 3200 perpendicular to the concrete ceiling. After the drilling is completed, turn the turntable 3200, rotate the dust removal part 3300 to the same position, clean the drill hole, and ensure that the drill hole is clean. After dust removal, rotate the turntable 3200 again, rotate the repair spray part 3500 to the same position, and repair the hole. Then, the first mechanical arm part 4200 and the first ball screw part 4100 close to the turntable 3200 cooperate to move left and right, insert the expansion screw into the hole, and knock the electric hammer to make the expansion part completely enter the hole. Tighten the expansion screw again with the first mechanical arm part 4200. The sensor monitors in real time whether the fixation is completed and whether there is any looseness. Next, use the first mechanical arm part 4200 again to fix the hanging rod. Completing these preparatory work will promote the development of subsequent operations.

[0089] S2, delivering the keel;

[0090] The first mechanical arm part 4200 grabs the main keel from the storage system 7000, locates the installation position of the main keel, and then uses the first ball screw part 4100 to move the bearing platform 4140 of the first mechanical arm part 4200 left and right through the threaded transmission between the ball screw 4150 and the bearing platform 4140 to deliver the keel, thereby achieving precise position control and motion transmission. The first ball screw part 4100 passes the main keel through the hanging rod through the cooperation with the lifting structure system 2000, and fixes it with self-tapping screws. At the same time, the level meter adjusts the level of the main keel. Subsequently, the first mechanical arm part 4200 grabs the main keel connector to connect the main keel. After the main keel is installed, the secondary keel is delivered and installed in the same steps. The first mechanical arm part 4200 grabs the secondary keel connector to connect the secondary keel and fixes it with self-tapping screws. The main and secondary keels are connected and fixed using a rivet gun next to the first mechanical arm part 4200. Finally, use the laser level to check the flatness and horizontality of the main and secondary keels again, and make timely adjustments where there are deviations.

[0091] S3, cutting gypsum board;

[0092] In order to cut gypsum boards of different sizes, the first mechanical arm part 4200 grabs the gypsum board from the storage system 7000, and the first ball screw part 4100 is used to move the carrier 4140 left and right. The gypsum board to be cut is placed and fixed on the platform of the jacking gypsum board system 5000, and then the angle grinder part 6300 of the cutting gypsum board system 6000 cuts the gypsum board. During the cutting process, the gypsum board is positioned and accurately cut through the cooperation with the second ball screw part 6100.

[0093] S4, jacking up gypsum board;

[0094] After the gypsum board is cut, the sensor determines the position and height of the gypsum board, the movable platform system 1000 and the lifting structure system 2000 remain stable, and the gypsum board lifting system 5000 lifts the cut gypsum board. The hydraulic drive mechanism of the gypsum board lifting system 5000 stably lifts the gypsum board to a certain height, and cooperates with the drilling turntable system 3000 to perform subsequent operations to fix the gypsum board.

[0095] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. A gypsum board ceiling drilling and installation robot, characterized in that: include: A movable platform system (1000) for moving the robot to a construction location; A lifting structure system (2000) is installed on the movable platform system (1000) and is used to raise the working platform on the top thereof to a corresponding height for construction work; The drilling turntable system (3000) is installed on the working platform, and comprises a turntable (3200), a motor turntable part (3100) driving the turntable (3200) to rotate, and a dust cleaning and dust removal part (3300), a drilling part (3400) and a repair spraying part (3500) uniformly installed on the turntable (3200) along the circumference, and is used to realize the functions of drilling, dust cleaning and dust collection, and repair spraying of gypsum board ceilings; A keel delivery system (4000) is installed on the working platform, comprising a first ball screw part (4100) and a first mechanical arm part (4200) installed on the first ball screw part (4100), and is used to deliver the main and auxiliary keels and grab the gypsum board; A gypsum board lifting system (5000), installed on the working platform, is used to lift the gypsum board and cooperate with the drilling turntable system (3000) to fix the gypsum board; A gypsum board cutting system (6000) is installed on the working platform, comprising a second ball screw part (6100), a second mechanical arm part (6200) installed on the second ball screw part (6100), and an angle grinder part (6300), and is used to cut the gypsum board; The storage system (7000) is installed on one side of the movable platform system (1000) and is used to store gypsum boards, main and secondary keels, hanging rods, screws and nuts.

2. The gypsum board ceiling drilling and installation robot according to claim 1, characterized in that: The drilling part (3400) first operates, driven by the fourth motor (3410), and the transmission (3450) and the bearing (3440) transmit the movement, thereby driving the movement of the electric drill bit (3430); after the drilling is completed, the turntable (3200) rotates, and the dust cleaning and dust removal part (3300) is rotated to the same operating position, and the hole just drilled is cleaned and dust removed; The cleaning and dust removal part (3300) includes a shell b (3340) and is powered by a battery (3310). The third motor (3320) drives the turbo fan (3330) to move, thereby performing cleaning and dust removal operations. After cleaning and dust removal, the turntable (3200) rotates again to rotate the repair and spraying part (3500) to the same working position to repair and spray the holes.

3. The gypsum board ceiling drilling and installation robot according to claim 1, characterized in that: The first ball screw part (4100) converts the movement of the fifth motor (4120) in the power unit into the movement of the support platform (4140), and transmits the rotational movement of the fifth motor (4120) to the ball screw (4150) through the coupling (4130), so that the ball screw (4150) rotates. The ball screw (4150) is threadedly connected to the support platform (4140), thereby realizing efficient and smooth transmission; the left and right movement of the support platform (4140) drives the first mechanical arm part (4200) to move left and right, thereby performing the subsequent translation of the delivery keel.

4. The gypsum board ceiling drilling and installation robot according to claim 3, characterized in that: The mechanical claw unit (4250) of the first mechanical arm part (4200) grabs the main and secondary keels, gypsum boards, hanging rods, screws and nuts stored in the storage system (7000); the base unit a (4210) of the first mechanical arm part (4200) is driven by the eighth motor (4280), and the base unit a (4210) contains bearings and bevel gears to transmit the movement, so that the mechanical arm can rotate horizontally around the base unit a (4210); the shoulder unit a (4220) of the first mechanical arm part (4200) is driven by the seventh motor (4270), and the shoulder unit a (4220) contains bearings and gear reducers to transmit the movement. , thereby realizing the up and down swinging movement of the shoulder unit a (4220); the elbow unit a (4230) of the first robotic arm part (4200) is driven by the sixth motor (4260), and the elbow unit a (4230) contains bearings, planetary reducers, and bevel gears to transmit the movement, thereby realizing the movement of the elbow unit a (4230) with a degree of freedom; the wrist unit a (4240) of the first robotic arm part (4200) is transmitted by a motor, bearings, planetary reducers, and bevel gears to further accurately control the movement of the wrist unit a (4240); the mechanical claw unit (4250) of the wrist unit a (4240) has three degrees of freedom, thereby realizing the mechanical claw to grasp materials.

5. The gypsum board ceiling drilling and installation robot according to claim 1, characterized in that: The lifting gypsum board system (5000) is mainly composed of a platform (5110), a base (5150), a second connecting rod (5120) and a third connecting rod (5130) located between the platform (5110) and the base (5150), wherein the second connecting rod (5120) and the third connecting rod (5130) are hinged by bolts to form a scissor-type lifting frame, one end of the bottom of the scissor-type lifting frame is connected to one end of the base (5150) through an axis (5140), and the other end of the bottom of the scissor-type lifting frame is slidably connected to the base (5150), one end of the top of the scissor-type lifting frame is connected to one end of the platform (5110) through an axis, and the other end of the top of the scissor-type lifting frame is slidably connected to the platform (5110), and a hydraulic drive mechanism is arranged in the scissor-type lifting frame to realize the lifting function of the platform (5110) up and down.

6. The gypsum board ceiling drilling and installation robot according to claim 4, characterized in that: The structure of the second ball screw part (6100) is the same as that of the first ball screw part (4100), and the structure of the second mechanical arm part (6200) is the same as that of the first mechanical arm part (4200); The angle grinder part (6300) includes a grinding wheel guard (6310), a grinding wheel (6320), and a shell d (6330). The angle grinder part (6300) is connected to the wrist unit b (6240) of the second robotic arm part (6200) through a thread. The movement of the robotic arm controls the movement of the angle grinder part (6300), thereby cutting the gypsum board.

7. The gypsum board ceiling drilling and installation robot according to claim 1, characterized in that: The lifting structure system (2000) comprises a support part (2100) and a power part (2200), wherein the support part (2100) is mainly composed of a first connecting rod (2110), and the first connecting rods (2110) are hinged with bolts to form a scissor-type frame; the hydraulic oil tank (2220) of the power part (2200) is used to store liquid oil, and the oil pipe (2240) connects various hydraulic components to form a closed hydraulic system; the gear pump (2210) sucks hydraulic oil from the hydraulic oil tank (2220) through the baffle (2230) and the oil pipe (2240), and delivers it to the hydraulic column (2120) after pressurization, and acts on the piston of the hydraulic column (2120), thereby generating an upward force, pushing the piston to move upward, driving the scissor-type frame to move, and thus realizing the lifting function; The working platform (2130) is connected to the first connecting rod (2110) located at the top via a sliding plate (2140), and the hydraulic column (2120) pushes the scissor-type frame to move up and down, thereby achieving the lifting and lowering of the working platform (2130).

8. A method for drilling and installing a gypsum board ceiling using the robot according to any one of claims 1 to 7, characterized in that: The steps are: S1. Install expansion screws, complete drilling, dust cleaning, and repair spraying operations; First, the laser level and sensor determine the installation position, determine the appropriate electric drill bit (3430), and drill the electric drill bit (3430) on the turntable (3200) perpendicular to the concrete ceiling. After the drilling is completed, the turntable (3200) is rotated, and the dust removal part (3300) is rotated to the same position to clean the drill hole to ensure that the drill hole is clean; after dust removal, the turntable (3200) is rotated again, and the repair spraying part (3500) is rotated to the same position to repair the hole; then The first mechanical arm part (4200) and the first ball screw part (4100) close to the turntable (3200) cooperate to move left and right, insert the expansion screw into the hole, and use an electric hammer to knock so that the expansion part completely enters the hole, and then use the first mechanical arm part (4200) to tighten the expansion screw again; the sensor monitors in real time whether the fixation is completed and whether there is any looseness, and then use the first mechanical arm part (4200) again to fix the hanging rod, complete these preparatory work and promote the subsequent operation; S2, delivering the keel; The first mechanical arm part (4200) grabs the main keel from the storage system (7000), locates the installation position of the main keel, and then uses the first ball screw part (4100) to move the bearing platform (4140) of the first mechanical arm part (4200) left and right through the threaded transmission between the ball screw (4150) and the bearing platform (4140) to deliver the keel, thereby achieving precise position control and motion transmission; the first ball screw part (4100) passes the main keel through the hanging rod through the cooperation with the lifting structure system (2000), and Use self-tapping screws to fix, and at the same time, use a level to adjust the level of the main keel; then, the first mechanical arm part (4200) grabs the main keel connector to connect the main keel, and after installing the main keel, deliver and install the secondary keel in the same steps; the first mechanical arm part (4200) grabs the secondary keel connector to connect the secondary keel, and fixes it with self-tapping screws. The main and secondary keels are connected and fixed using a rivet gun next to the first mechanical arm part (4200), and finally the laser level is used again to check the flatness and levelness of the main and secondary keels; S3, cutting gypsum board; In order to cut gypsum boards of different sizes, the first mechanical arm part (4200) grabs the gypsum board from the storage system (7000), and the first ball screw part (4100) is used to move the carrier platform (4140) left and right, and the gypsum board to be cut is placed and fixed on the platform of the jacking gypsum board system (5000). Then, the angle grinder part (6300) of the gypsum board cutting system (6000) cuts the gypsum board. During the cutting process, the gypsum board is positioned and accurately cut through cooperation with the second ball screw part (6100). S4, jacking up gypsum board; After the gypsum board is cut, the sensor determines the position and height of the gypsum board, the movable platform system (1000) and the lifting structure system (2000) remain stable, and the gypsum board lifting system (5000) lifts the cut gypsum board; the hydraulic drive mechanism of the gypsum board lifting system (5000) stably lifts the gypsum board to a certain height, and cooperates with the drilling turntable system (3000) to perform subsequent operations to fix the gypsum board.

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