An intelligent robot for automatically laying floor heating coil pipes

Abstract

An intelligent robot for automatically laying underfloor heating pipes, relating to the field of robotics, includes a first housing, a battery, a walking mechanism, a control mechanism, a camera, a winding roller, underfloor heating pipes, a traction mechanism, a guiding mechanism, and a fixing mechanism. This invention utilizes a robot for laying underfloor heating pipes, which, compared to manual laying, improves the laying speed and accuracy, effectively saves project costs, shortens project timelines, enhances the level of intelligence and informatization, significantly improves project quality, and elevates project management.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to an intelligent robot that automatically lays underfloor heating pipes. Background Technology

[0002] With the continuous maturation of information technology and intelligent robot technology, and the rising cost of labor, the entry of robots into the construction of buildings and other infrastructure is inevitable. Traditional underfloor heating pipe installation is done manually, which is slow, inaccurate, and difficult to control the spacing between pipes, often resulting in rework, wasting time and labor. Summary of the Invention

[0003] This invention discloses an intelligent robot for automatically laying underfloor heating pipes, with the aim of solving the problems described in the prior art.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows:

[0005] An intelligent robot for automatically laying underfloor heating pipes includes a first housing, a battery, a walking mechanism, a control mechanism, a camera, a winding roller, underfloor heating pipes, a traction mechanism, a guiding mechanism, and a fixing mechanism. The walking mechanism is located at the bottom of the first housing, and the camera is located on the outer surface of the first housing. The control mechanism, winding roller, traction mechanism, guiding mechanism, and fixing mechanism are located inside the first housing. The underfloor heating pipes are wound on the winding roller. The head of the underfloor heating pipes is inserted into the guiding mechanism through the traction mechanism and led out to a set position at the bottom rear end of the first housing through the guiding mechanism. The fixing mechanism is used to fix the led-out underfloor heating pipes to the underfloor heating pipe laying surface with clips. The control mechanism is electrically connected to the battery and is configured to control the walking mechanism, camera, traction mechanism, and fixing mechanism.

[0006] Preferably, the camera is located on the top of the first housing, and a first motor is fixedly mounted on the top of the first housing. The output shaft of the first motor extends longitudinally and is fixedly connected to the bottom of the camera. The first motor is electrically connected to the control mechanism via wires.

[0007] Preferably, the walking mechanism includes four walking wheels located on both sides of the bottom of the side wall of the first housing. Each walking wheel has a second motor on its central shaft. The second motor is fixed to the inner surface of the side wall of the first housing. The output shaft of the second motor rotatably passes through the side wall of the first housing and is fixedly connected to the central shaft of the walking wheel. The control mechanism is electrically connected to the second motor via a wire.

[0008] Preferably, a horizontally arranged first partition is fixedly connected to the upper part of the first housing, and the first partition and the first housing wall form a first compartment. The control mechanism and the battery are located in the first compartment. A second partition is longitudinally arranged on the front side of the lower surface of the first partition, and the second partition and the front side of the first housing wall form a second compartment for accommodating wires. A third compartment is formed inside the first housing on the rear side of the second partition. A protrusion is fixedly provided at the bottom of the outer surface of the rear wall of the first housing, and a second housing is provided at the upper end of the protrusion. The front part of the second housing is connected to the first housing.

[0009] Preferably, the upper part of the rear end face of the second partition is provided with a first fixing plate extending to the rear side, the first fixing plate is parallel to the left and right side walls of the first housing, a winding roller is rotatably connected between the first fixing plate and the right side wall of the first housing, and a door is provided on the left side wall of the first housing.

[0010] Preferably, the rear end face of the second partition below the first fixed plate is provided with a second fixed plate extending to the rear side. The second fixed plate and the right side wall of the first housing are rotatably connected with an active roller and a driven roller. The head of the floor heating pipe passes through the gap between the active roller and the driven roller. The central shaft end of the active roller is provided with a third motor. The third motor is fixed to the outer surface of the second fixed plate. The output shaft of the third motor is fixedly connected to the central shaft end of the active roller. The floor heating pipe is pulled into the guide mechanism by the squeezing friction of the active roller and the driven roller. The third motor is electrically connected to the control mechanism through a wire.

[0011] Preferably, the guiding mechanism includes a guide sleeve fixedly installed in the third compartment, the floor heating pipe passes through the guide sleeve and is slidably connected to the guide sleeve, the protrusion is provided with a sliding hole inclined downwards and backwards along the front-back direction, the rear end of the guide sleeve is connected to the front end of the sliding hole, and the head of the floor heating pipe passes through the sliding hole and fits against the floor heating pipe laying surface.

[0012] Preferably, the fixing mechanism includes an insert plate penetrating the lower end face of the second housing and an electromagnetic nail gun. The lower end of the insert plate is provided with a positioning groove for use with the underfloor heating pipe. A first electric push rod is fixedly installed longitudinally inside the second housing. The telescopic end of the first electric push rod is fixedly connected to the top of the insert plate. Driven by the first electric push rod, the insert plate moves back and forth longitudinally. The rear end of the protrusion is provided with a guide groove penetrating the top, bottom, and rear end of the protrusion and connecting to the rear end of the sliding hole. The guide groove and the insert plate form a first guide hole. The electromagnetic nail gun is located above the first guide hole. A second electric push rod is provided at the top of the gun body of the electromagnetic nail gun. The fixed end of the second electric push rod is fixedly connected to the inner surface of the top of the second housing, and the telescopic end extends longitudinally downward and is fixedly connected to the top of the gun body. The handle of the electromagnetic nail gun is provided with a second guide hole penetrating the upper and lower end faces. A guide rod passes through the second guide hole. A third fixing plate is fixedly connected to both ends of the guide rod. The right end of the third fixing plate is connected to the inner side wall of the first housing. A surface-fixed connection is provided. In the third compartment located below the third fixed plate, a floor heating clip conveying mechanism is also provided. The conveying mechanism includes a housing with clip guide rails arranged along the front-to-back direction inside the housing. Several clips arranged sequentially are slidably connected to the guide rails. A compression spring is fitted at the other end of the guide rail. One end of the compression spring is fixedly connected to the end of the guide rail away from the clip, and the other end of the compression spring is provided with a push plate. The push plate has a through hole that matches the cross-sectional shape of the guide rail and is fitted onto the guide rail. The rear end of the push plate... The foremost clip is pressed tight; the end of the guide rail is aligned with the front edge of the upper port of the second guide hole; a limiting block is provided on one side of the head of the electromagnetic nail gun; the bottom end of the limiting block cooperates with the top of the clip; the head of the electromagnetic nail gun cooperates with the nail hole on one side of the clip; the first guide hole cooperates with the clip; under the pressure of the limiting block, the clip is snapped onto the outer wall of the underfloor heating pipe on the outer side of the rear end of the sliding hole; and when the clip is snapped into place with the underfloor heating pipe, a nail is shot into the nail hole by the electromagnetic nail gun to fix the clip to the underfloor heating pipe laying surface.

[0013] Preferably, the cross-sectional dimensions of the first guide hole are matched with the head and limiting block of the electromagnetic nail gun.

[0014] Preferably, the control mechanism is equipped with a wireless transmission module and is connected to a mobile phone control terminal through the wireless transmission module. The mobile phone control terminal sends the laying path and laying environment drawings of the underfloor heating pipes to the control mechanism. The control mechanism lays and fixes the underfloor heating pipes according to the planned laying scheme by controlling the walking mechanism and the fixing mechanism.

[0015] The beneficial effects of the intelligent robot for automatically laying underfloor heating pipes of the present invention are as follows:

[0016] This invention utilizes robots to lay underfloor heating pipes. Compared to manual laying, it improves the speed and accuracy of underfloor heating pipe laying, effectively saves project costs, shortens project time, improves the level of intelligence and informatization, significantly improves project quality, and enhances the level of project management. Attached Figure Description

[0017] Figure 1 A schematic diagram of the left-side structure of the present invention;

[0018] Figure 2 A cross-sectional structural schematic diagram of the present invention;

[0019] Figure 3 A partial structural diagram of point A in this invention;

[0020] Figure 4 A top view of the protrusion and insert plate of the present invention;

[0021] Figure 5 A front view of the insert plate for fixing the underfloor heating pipe according to the present invention;

[0022] Figure 6 A front view of the cooperation relationship between the limiting block, the gun head, and the clamp of this invention;

[0023] 1. First housing; 2. First motor; 3. Camera; 4. Door; 5. Wheels; 6. Second housing; 7. First partition; 8. First compartment; 9. Second partition; 10. Second compartment; 11. Third compartment; 12. Central shaft of winding roller; 13. Underfloor heating pipe; 14. Second fixing plate; 15. Driving roller; 16. Driven roller; 17. Guide sleeve; 18. Gun head; 19. Limiting block; 20. Clamp; 21. Nail hole; 22. Protrusion; 23. Sliding hole; 24. Box body; 25. Guide rail; 26. Compression spring; 27. Third fixing plate; 28. Guide rod; 29. ​​Second electric push rod; 30. Electromagnetic nail gun; 31. First guide hole; 32. Insert plate; 33. First electric push rod; 34. First fixing plate; 35. Winding roller. Detailed Implementation

[0024] The following description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0025] In the initial embodiment, the present invention discloses an intelligent robot for automatically laying underfloor heating pipes, comprising a first housing 1, a battery (not shown in the figure), a walking mechanism, a control mechanism (not shown in the figure), a camera 3, a winding roller 35, an underfloor heating pipe 13, a traction mechanism, a guiding mechanism, and a fixing mechanism. The walking mechanism is located at the bottom of the first housing 1, and the camera 3 is located on the outer surface of the first housing 1. The control mechanism, the winding roller 35, the traction mechanism, the guiding mechanism, and the fixing mechanism are located inside the first housing 1. The underfloor heating pipe 13 is wound on the winding roller 35. The head of the underfloor heating pipe 13 is inserted into the guiding mechanism through the traction mechanism and led out to a set position at the bottom rear end of the first housing through the guiding mechanism. The fixing mechanism is used to fix the led-out underfloor heating pipe 13 to the underfloor heating pipe laying surface by means of clips 20. The control mechanism is electrically connected to the battery and is configured to control the walking mechanism, the camera, the traction mechanism, and the fixing mechanism.

[0026] In a further embodiment, such as Figure 1 , 2 As shown, the camera 3 is located on the top of the first housing 1. The top of the first housing 1 is fixedly equipped with a first motor 2. The output shaft of the first motor 2 extends longitudinally and is fixedly connected to the bottom of the camera 3. The first motor 2 is electrically connected to the control mechanism through wires, and the camera can rotate 360 ​​degrees through the first motor.

[0027] In a further embodiment, such as Figure 1 , 2 As shown, the walking mechanism includes four wheels 5 located on both sides of the bottom of the side wall of the first housing 1. Each wheel 5 has a second motor (not shown) mounted on its central axis. The second motor is fixed to the inner surface of the side wall of the first housing 1, and its output shaft rotatably passes through the side wall of the first housing 1 and is fixedly connected to the central axis of the wheel 5. The control mechanism is electrically connected to the second motor via wires. How the control mechanism controls the second motor to enable the robot to move forward, backward, and turn is existing technology and will not be elaborated upon.

[0028] In a further embodiment, such as Figure 1 , 2 As shown, a horizontally arranged first partition 7 is fixedly connected to the upper part of the first housing 1. The first partition 7 and the wall of the first housing 1 form a first compartment 8. The control mechanism and the battery are located in the first compartment 8. A second partition 9 is longitudinally arranged on the front side of the lower surface of the first partition 7. The second partition 9 and the front wall of the first housing form a second compartment 10 for accommodating wires. A third compartment 11 is formed inside the first housing on the rear side of the second partition 9. Figure 3As shown, a protrusion 22 is fixedly provided at the bottom of the outer surface of the rear wall of the first housing, and a second housing 6 is provided at the upper end of the protrusion 22. The front part of the second housing 6 is connected to the first housing 1.

[0029] In a further embodiment, such as Figure 1 , 2 As shown, the upper part of the rear end face of the second partition 9 is provided with a first fixing plate 34 extending to the rear side. The first fixing plate 34 is parallel to the left and right side walls of the first housing 1. A winding roller 35 is rotatably connected between the first fixing plate 34 and the right side wall of the first housing 1. The left side wall of the first housing is provided with a door 4.

[0030] In a further embodiment, such as Figure 1 , 2 As shown, the rear end face of the second partition 9 below the first fixing plate 34 is provided with a second fixing plate 14 extending to the rear. The second fixing plate 14 is rotatably connected to the right side wall of the first housing 1 with an active roller 15 and a driven roller 16. The head of the floor heating pipe 13 passes through the gap between the active roller and the driven roller. The central shaft end of the active roller is provided with a third motor (not shown in the figure). The third motor is fixed to the outer surface of the second fixing plate 14. The output shaft of the third motor is fixedly connected to the central shaft end of the active roller. The floor heating pipe 13 is pulled into the guide mechanism by the squeezing friction of the active roller and the driven roller. The third motor is electrically connected to the control mechanism through a wire.

[0031] In a further embodiment, such as Figure 1 , 2 As shown in Figure 3, the guiding mechanism includes a guide sleeve 17 fixedly installed in the third compartment 11. The floor heating pipe 13 passes through the guide sleeve 17 and is slidably connected to the guide sleeve. The protrusion 22 is provided with a sliding hole 23 inclined to the rear side and downward along the front-rear direction. The rear end of the guide sleeve 17 is connected to the front end of the sliding hole 23. The head of the floor heating pipe 13 passes through the sliding hole 23 and is in contact with the floor heating pipe laying surface.

[0032] In a further embodiment, such as Figure 1 , 2 As shown in Figures 3, 4, 5, and 6, the fixing mechanism includes an insert plate 32 penetrating the lower end face of the second housing 6 and an electromagnetic nail gun 30. The lower end of the insert plate 32 is provided with a positioning groove for use with the underfloor heating pipe 13. Figure 5 As shown, the positioning groove is used to press the underfloor heating pipe onto the laying surface, thereby positioning the part of the underfloor heating pipe that needs to be clamped. A first electric push rod 33 is fixedly installed longitudinally inside the second housing 6. The telescopic end of the first electric push rod 33 is fixedly connected to the top of the insert plate 32. Under the drive of the first electric push rod, the insert plate 32 moves back and forth longitudinally, as... Figure 3 ,4 As shown, the rear end of the protrusion 22 is provided with a guide groove that passes through the top, bottom, and rear end of the protrusion and connects to the rear end of the sliding hole 23. The guide groove and the insert plate 32 form a first guide hole 31. The electromagnetic nail gun 30 is located above the first guide hole 31. The top of the electromagnetic nail gun body is provided with a second electric push rod 29. The fixed end of the second electric push rod 29 is fixedly connected to the inner surface of the top of the second housing 6, and the telescopic end extends longitudinally downward and is fixedly connected to the top of the gun body. The handle of the electromagnetic nail gun 30 is provided with a second guide hole (not shown in the figure) that passes through the upper and lower end faces. A guide rod 28 passes through the second guide hole. The two ends of the guide rod 28 are respectively fixedly connected to a third fixing plate 27. The right end of the third fixing plate 27 is connected to the first housing. The inner surface of the right side wall of body 1 is fixedly connected. A floor heating clip conveying mechanism is also provided in the third compartment 11 located below the third fixed plate 27. The conveying mechanism includes a box 24, inside which a clip guide rail 25 is provided along the front-to-back direction. Several clips 20 arranged sequentially are slidably connected to the guide rail 25. A compression spring 26 is sleeved on the other end of the guide rail 25. One end of the compression spring 26 is fixedly connected to the end of the guide rail away from the clip, and the other end of the compression spring is provided with a push plate (not shown in the figure). The push plate has a through hole (not shown in the figure) that matches the cross-sectional shape of the guide rail and is sleeved on the guide rail 25. The rear end of the push plate is pressed against the foremost clip 20. The end of the guide rail 25 is aligned with the leading edge of the upper port of the first guide hole 31. Figure 3 , 6 As shown, the electromagnetic nail gun 30 has a limiting block 19 on one side of the gun head. The bottom end of the limiting block 19 cooperates with the top of the clip 20. The gun head 18 of the electromagnetic nail gun 30 cooperates with the nail hole 21 on one side of the clip. The first guide hole 31 cooperates with the clip 20. Under the pressure of the limiting block 19, the clip 20 is clamped onto the outer wall of the floor heating pipe 13 on the outer side of the rear end of the sliding hole. When the clip 20 and the floor heating pipe 13 are clamped in place, the electromagnetic nail gun 30 injects a nail into the nail hole 21 to fix the clip 20 to the floor heating pipe laying surface.

[0033] In a further embodiment, such as Figure 3 , 4 As shown in Figure 6, the cross-sectional dimensions of the first guide hole 31 are matched with the gun head 18 and the limiting block 19 of the electromagnetic nail gun, that is, the gun head and the limiting block can partially enter the upper part of the first guide hole to ensure that the nail is shot after the clamp presses the underfloor heating pipe into place.

[0034] In a further embodiment, such as Figure 1 , 2As shown in Figures 3, 4, 5, and 6, the control mechanism is equipped with a wireless transmission module (not shown in the figure) and is connected to a mobile phone control terminal through the wireless transmission module. The mobile phone control terminal sends the laying path and laying environment drawings of the underfloor heating pipes to the control mechanism. The control mechanism lays and fixes the underfloor heating pipes according to the planned laying scheme by controlling the walking mechanism and the fixing mechanism.

[0035] Working principle of the invention:

[0036] During operation, the door is opened beforehand, and the underfloor heating pipes are wound around the winding rollers, ensuring the ends of the pipes pass through the gap between the driving and driven rollers and are inserted into the guide sleeve. All components are checked for proper functioning. The door is then closed, and the robot is placed at the starting position of the planned path on the construction site. The robot is then activated. Based on information collected by the camera and the laying path and environmental drawings input via the mobile control terminal, the robot automatically identifies its path and controls its walking mechanism to perform forward, backward, and turning movements. During movement, the underfloor heating pipes are fixed in place as needed. During installation, the first electric push rod inserts the insert plate to secure the underfloor heating pipe and forms the first guide hole. The second electric push rod then pulls up the gun head and limiting block, clearing the end of the guide rail. Under the force of the compression spring, one clip is pressed above the first guide hole. At this point, the second electric push rod actuates, pressing the clip down through the limiting block and gun head into the first guide hole, securing the underfloor heating pipe in place. Then, the electromagnetic nail gun head fires a nail, which passes through the nail hole, fixing the clip to the underfloor heating pipe installation surface. After installation, the first electric push rod retracts, causing the insert plate to rise. The robot continues to move along the set path, repeating the above operation when a new installation position is reached, until the underfloor heating pipe installation is complete.

Claims

1. An intelligent robot for automatically laying underfloor heating pipes, characterized in that: it includes a first shell, a battery, a walking mechanism, a control mechanism, a camera, a winding roller, underfloor heating pipes, a traction mechanism, a guiding mechanism, and a fixing mechanism; the walking mechanism is provided at the bottom of the first shell, and a camera is provided on the outer surface of the first shell; the control mechanism, the winding roller, the traction mechanism, the guiding mechanism, and the fixing mechanism are provided inside the first shell; the underfloor heating pipes are wound on the winding roller; the head of the underfloor heating pipes is inserted into the guiding mechanism through the traction mechanism and led out to a set position at the bottom rear end of the first shell through the guiding mechanism; the fixing mechanism is used to fix the led-out underfloor heating pipes to the underfloor heating pipe laying surface by clamps; the control mechanism is electrically connected to the battery and configured to control the walking mechanism, the camera, the traction mechanism, and the fixing mechanism. A horizontally arranged first partition is fixedly connected to the upper part of the first housing. The first partition and the first housing wall form a first compartment. The control mechanism and the battery are located in the first compartment. A second partition is longitudinally arranged on the front side of the lower surface of the first partition. The second partition and the front side of the first housing wall form a second compartment for accommodating wires. A third compartment is formed inside the first housing on the rear side of the second partition. A protrusion is fixedly provided at the bottom of the outer surface of the rear wall of the first housing. A second housing is provided at the upper end of the protrusion. The front part of the second housing is connected to the first housing. The second partition has a first fixing plate extending rearward on the upper part of its rear end face. The first fixing plate is parallel to the left and right side walls of the first housing. A winding roller is rotatably connected between the first fixing plate and the right side wall of the first housing. The left side wall of the first housing has a door. The rear end face of the second partition below the first fixed plate is provided with a second fixed plate extending to the rear side. The second fixed plate and the right side wall of the first housing are rotatably connected with an active roller and a driven roller. The head of the floor heating pipe passes through the gap between the active roller and the driven roller. The central shaft end of the active roller is provided with a third motor. The third motor is fixed to the outer surface of the second fixed plate. The output shaft of the third motor is fixedly connected to the central shaft end of the active roller. The floor heating pipe is pulled into the guide mechanism by the squeezing friction of the active roller and the driven roller. The third motor is electrically connected to the control mechanism through a wire. The guiding mechanism includes a guide sleeve fixedly installed in the third compartment. The floor heating pipe passes through the guide sleeve and is slidably connected to the guide sleeve. The protrusion has a sliding hole that slopes downwards and backwards along the front-back direction. The rear end of the guide sleeve is connected to the front end of the sliding hole. The head of the floor heating pipe passes through the sliding hole and fits against the floor heating pipe laying surface. The fixing mechanism includes an insert plate penetrating the lower end face of the second housing and an electromagnetic nail gun. The lower end of the insert plate has a positioning groove for use with the underfloor heating pipe. A first electric push rod is fixedly installed longitudinally inside the second housing. The telescopic end of the first electric push rod is fixedly connected to the top of the insert plate. Driven by the first electric push rod, the insert plate moves back and forth longitudinally. The rear end of the protrusion has a guide groove penetrating the top, bottom, and rear end of the protrusion and connecting to the rear end of the sliding hole. The guide groove and the insert plate form a first guide hole. The electromagnetic nail gun is located above the first guide hole. A second electric push rod is installed on the top of the electromagnetic nail gun body. The fixed end of the second electric push rod is fixedly connected to the inner surface of the top of the second housing, and the telescopic end extends longitudinally downward and is fixedly connected to the top of the gun body. The handle of the electromagnetic nail gun has a second guide hole penetrating the upper and lower end faces. A guide rod passes through the second guide hole. A third fixing plate is fixedly connected to both ends of the guide rod. The right end of the third fixing plate is connected to the inner surface of the right side wall of the first housing. A fixed connection is provided. In the third compartment located below the third fixed plate, a floor heating clip conveying mechanism is also provided. The conveying mechanism includes a housing with clip guide rails arranged along the front-to-back direction inside the housing. Several clips arranged sequentially are slidably connected to the guide rails. A compression spring is fitted at the other end of the guide rail. One end of the compression spring is fixedly connected to the end of the guide rail away from the clip, and the other end of the compression spring is provided with a push plate. The push plate has a through hole that matches the cross-sectional shape of the guide rail and is fitted onto the guide rail. The rear end of the push plate is connected to the... The front clip is pressed tight; the end of the guide rail is aligned with the front edge of the upper port of the second guide hole; a limiting block is provided on one side of the head of the electromagnetic nail gun; the bottom end of the limiting block cooperates with the top of the clip; the head of the electromagnetic nail gun cooperates with the nail hole on one side of the clip; the first guide hole cooperates with the clip; under the pressure of the limiting block, the clip is snapped onto the outer wall of the floor heating pipe on the outer side of the rear end of the sliding hole; and when the clip is snapped onto the floor heating pipe, a nail is shot into the nail hole by the electromagnetic nail gun to fix the clip to the floor heating pipe laying surface. The width of the lower end of the positioning groove is greater than the diameter of the underfloor heating pipe. When fixing, the first electric push rod is used to insert the insert plate to fix the underfloor heating pipe and to form the first guide hole.

2. The intelligent robot for automatically laying underfloor heating pipes as described in claim 1, characterized in that: The camera is located on the top of the first housing, and a first motor is fixedly installed at the top of the first housing. The output shaft of the first motor extends longitudinally and is fixedly connected to the bottom of the camera. The first motor is electrically connected to the control mechanism through wires.

3. The intelligent robot for automatically laying underfloor heating pipes as described in claim 2, characterized in that: The walking mechanism includes four walking wheels located on both sides of the bottom of the side wall of the first housing. Each walking wheel has a second motor on its central shaft. The second motor is fixed to the inner surface of the side wall of the first housing. The output shaft of the second motor rotatably passes through the side wall of the first housing and is fixedly connected to the central shaft of the walking wheel. The control mechanism is electrically connected to the second motor through a wire.

4. The intelligent robot for automatically laying underfloor heating pipes as described in claim 3, characterized in that: The cross-sectional dimensions of the first guide hole are matched with the head and limiting block of the electromagnetic nail gun.

5. The intelligent robot for automatically laying underfloor heating pipes as described in claim 4, characterized in that: The control mechanism is equipped with a wireless transmission module and connects to a mobile phone control terminal through the wireless transmission module. The mobile phone control terminal sends the laying path and laying environment drawings of the underfloor heating pipes to the control mechanism. The control mechanism lays and fixes the underfloor heating pipes according to the planned laying scheme by controlling the walking mechanism and the fixing mechanism.

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