A robot and method for drilling and installing gypsum board ceilings

Abstract

This invention discloses a robot and method for drilling and installing gypsum board ceilings, comprising: a movable platform system; a lifting structure system installed on the movable platform system to raise the top working platform to a corresponding height for construction operations; a drilling turntable system installed on the working platform, comprising a turntable, a motor turntable for driving the turntable to rotate, and dust removal, drilling, and repair spraying parts evenly installed around the turntable, for realizing the functions of drilling, dust removal, and repair spraying of gypsum board ceilings; a keel delivery system for delivering main and secondary keels and gripping gypsum board; a gypsum board lifting system for lifting gypsum board; and a gypsum board cutting system for cutting gypsum board. This invention integrates gypsum board ceiling drilling and installation, automatically completing commands such as drilling and installation of gypsum board ceilings, further improving construction efficiency and quality.

Description

Technical Field

[0001] This invention relates to the technical field of building engineering, specifically to a robot for drilling and installing gypsum board ceilings, and also to a method for drilling and installing gypsum board ceilings. Background Technology

[0002] In the construction and decoration process, gypsum board ceilings, with gypsum as the main material, are frequently used. Many decorative ceiling designs on the market involve first fixing hanging rods with expansion bolts, then using main and secondary joists as the frame, self-tapping screws, and rivets for fixing and connecting, and finally covering the gypsum board with it, securing it to the joists, and then performing subsequent work such as filling holes, sanding, and cleaning. Drilling is unavoidable in the installation of expansion bolts, the connection and installation between the main and secondary joists, and the connection and fixing of the gypsum board.

[0003] Currently, traditional methods such as manual drilling and transporting plasterboard joists require construction workers to move the equipment using ladders, lifting plasterboard or joists up and down the ladders. This causes workers to experience arm pain from prolonged drilling, resulting in high labor intensity, low construction efficiency, and high safety risks. Furthermore, the depth and accuracy of ceiling drilling have significant errors, making it difficult for construction workers to guarantee drilling efficiency and precision. Summary of the Invention

[0004] Based on the shortcomings of the existing technology, 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 gypsum board ceiling drilling and installation, uses machines to replace manual labor, automatically completes instructions such as gypsum board ceiling drilling and installation, further improves construction efficiency and quality, and also reduces the safety risks to construction personnel.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The gypsum board ceiling drilling and installation robot of the present invention includes: a movable platform system for moving the robot to a construction position; a lifting structure system installed on the movable platform system for raising the top working platform to a corresponding height for construction operations; a drilling turntable system installed on the working platform, comprising a turntable, a motor turntable part for driving the turntable to rotate, and a dust removal part, a drilling part, and a repair spraying part evenly installed on the turntable along the circumference, for realizing the functions of drilling, dust removal, and repair spraying of the gypsum board ceiling; and a keel delivery system installed on the working platform, comprising a... A ball screw section and a first robotic arm section mounted on the first ball screw section are used to deliver the main and secondary keels and pick up plasterboard; a plasterboard lifting system is installed on the working platform to lift the plasterboard and cooperate with the drilling turntable system to fix the plasterboard; a plasterboard cutting system is installed on the working platform, which includes a second ball screw section and a second robotic arm section and an angle grinder section mounted on the second ball screw section, for cutting the plasterboard; a storage system is installed on one side of the movable platform system for storing plasterboard, main and secondary keels, hanging rods, screws and nuts.

[0007] Preferably, the drilling section operates first, driven by a fourth motor, with a gearbox and bearings transmitting the motion and driving the electric drill bit. After drilling is completed, the turntable rotates, rotating the dust removal section to the same working position to clean the newly drilled hole. The dust removal section includes a housing b and is powered by a battery. A third motor drives a turbine fan to perform dust removal. After dust removal, the turntable rotates again, rotating the repair and spraying section to the same working position to repair and spray the hole.

[0008] Furthermore, the first ball screw section converts the motion of the fifth motor in the power unit into the movement of the support platform. The rotational motion of the fifth motor is transmitted to the ball screw through the coupling, causing the ball screw to rotate. The ball screw is threadedly connected to the support platform, thereby achieving efficient and smooth transmission. The left and right movement of the support platform drives the first robotic arm section to move left and right, thereby performing the translation of the subsequent delivery keel.

[0009] Furthermore, the mechanical claw unit of the first robotic arm grasps the main and secondary keels, plasterboard, hanging rods, screws, and nuts stored in the storage system; the base unit a of the first robotic arm is driven by an eighth motor, and the base unit a contains bearings and bevel gears to transmit motion, enabling the robotic arm to rotate horizontally around the base unit a; the shoulder unit a of the first robotic arm is driven by a seventh motor, and the shoulder unit a contains bearings and gear reducers to transmit motion, thereby realizing the up-and-down swinging motion of the shoulder unit a; the elbow unit a of the first robotic arm is driven by a sixth motor, and the elbow unit a contains bearings, planetary reducers, and bevel gears to transmit motion, realizing the movement of the elbow unit a degree of freedom; the wrist unit a of the first robotic arm is driven by a motor, bearings, planetary reducers, and bevel gears to transmit motion, further precisely controlling the movement of the wrist unit a; the mechanical claw unit of the wrist unit a has three degrees of freedom, realizing the mechanical claw grasping of materials.

[0010] Preferably, the gypsum board lifting system mainly consists of a platform, a base, and a second and third connecting rod located between the platform and the base. The second and third connecting rods are bolted together to form a scissor lift frame. One end of the bottom of the scissor lift frame is connected to one end of the base via a shaft, and the other end of the bottom of the scissor lift frame is slidably connected to the base. One end of the top of the scissor lift frame is connected to one end of the platform via a shaft, and the other end of the top of the scissor lift frame is slidably connected to the platform. A hydraulic drive mechanism is provided in the scissor lift frame to realize the lifting function of the platform.

[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 housing d. The angle grinder part is connected to the wrist unit b of the second robotic arm part by a thread. The movement of the robotic arm controls the movement of the angle grinder part, thereby cutting the plasterboard.

[0012] Furthermore, the lifting structure system includes a support section and a power section. The support section is mainly composed of first connecting rods, which are bolted together to form a scissor-type frame. The hydraulic oil tank of the power section stores liquid oil, and oil pipes connect various hydraulic components to form a closed hydraulic system. The gear pump draws hydraulic oil from the hydraulic oil tank through baffles and oil pipes, pressurizes it, and delivers it to the hydraulic column, which acts on the piston of the hydraulic column, thereby generating an upward force that pushes the piston upward, driving the scissor-type frame to move, thus realizing the lifting function. The working platform is connected to the first connecting rod located at the top through a sliding plate, and the hydraulic column pushes the scissor-type frame to lift and lower, thereby realizing the lifting and lowering of the working platform.

[0013] Accordingly, the present invention also provides a method for drilling and installing gypsum board ceilings, the steps of which are as follows:

[0014] S1. Install expansion bolts, complete drilling, dust removal and vacuuming, and repair spraying operations;

[0015] First, a laser level and sensors determine the installation location and a suitable drill bit. The drill bit on the turntable is perpendicular to the concrete ceiling to drill holes. After drilling, the turntable is rotated to bring the dust removal and cleaning section to the same position to clean the holes and ensure they are clean. After dust removal and vacuuming, the turntable is rotated again to bring the repair and spraying section to the same position to repair the holes. Then, the first robotic arm and the first ball screw, which are close to the turntable, move left and right to insert the expansion bolts into the holes. The electric hammer is used to tap the bolts to ensure they are fully inserted. The first robotic arm is then used to tighten the expansion bolts. Sensors monitor in real time whether the installation is complete and whether there is any looseness. Next, the first robotic arm is used again to fix the hanging rods. These preparatory works are completed to advance the subsequent operations.

[0016] S2, Deliver the keel;

[0017] The first robotic arm retrieves the main keel from the storage system, positions it for installation, and then, using the first ball screw, moves the support platform left and right via threaded transmission between the ball screw and the support platform to deliver the keel, achieving precise position control and motion transmission. The first ball screw, in conjunction with the lifting structure system, guides the main keel through the hanging rods and secures it with self-tapping screws. Simultaneously, a level adjusts the main keel's levelness. Next, the first robotic arm retrieves the main keel connector and connects it to the main keel. After installing the main keel, the same steps are used to deliver and install the secondary keel. The first robotic arm then retrieves the secondary keel connector and connects it to the secondary keel, securing it with self-tapping screws. The main and secondary keels are connected and secured using a rivet gun next to the first robotic arm. Finally, a laser level is used again to check the flatness and levelness of the main and secondary keels.

[0018] S3. Cutting plasterboard;

[0019] To cut gypsum boards of different sizes, the first robotic arm grabs the gypsum board from the storage system, and the first ball screw moves the support platform left and right to place and fix the gypsum board to be cut on the platform of the lifting gypsum board system. Then the angle grinder of the gypsum board cutting system cuts the gypsum board. During the cutting process, the gypsum board is precisely positioned and cut by cooperating with the second ball screw.

[0020] S4, Lifting gypsum board;

[0021] After the gypsum board is cut, the sensor determines the position and height of the gypsum board lifting. 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 works in conjunction with the drilling turntable system to carry out subsequent operations to fix the gypsum board.

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

[0023] 1. This invention not only reduces labor costs and minimizes the risk of injury, but also achieves high-precision drilling using laser positioning, sensors, and other technologies, enabling accurate and continuous operation. Furthermore, the gypsum board ceiling drilling robot of this invention adds functions such as keel delivery, gypsum board lifting, cutting, hole repair, grinding, and dust removal, further improving the workflow for gypsum board ceiling drilling and installation.

[0024] 2. This invention can automatically complete tasks such as drilling and installing gypsum board ceilings according to instructions without human intervention, and can work stably and efficiently continuously, quickly completing a large number of drilling and gypsum board installation tasks, thus improving construction efficiency.

[0025] 3. This invention is equipped with a precise control system and sensor system. Compared with traditional manual drilling, the drilling robot of this invention for gypsum board ceiling is more precise in drilling position and more secure in installation. It maintains the consistency of drilling depth, angle and position height for each hole, ensuring the flatness of the gypsum board installation and improving the quality of construction.

[0026] 4. This invention greatly reduces the labor intensity of operators, while at the same time significantly reducing safety hazards during construction, ensuring the personal safety of construction workers, and reducing labor costs.

[0027] 5. This invention allows for adjustments, upgrades, and optimizations of the equipment to meet different construction environments and needs. By setting different parameters, it can satisfy a wide variety of construction requirements and application scenarios, thus broadening its applicability. Attached Figure Description

[0028] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this 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 2This is a schematic diagram of the structure of the movable platform portion of the present invention;

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

[0032] Figure 4 This is a schematic diagram of the power component of the lifting structure system of the present invention;

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

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

[0035] Figure 7 This is a schematic diagram of the dust removal and cleaning section of the present invention;

[0036] Figure 8 This is a schematic diagram of the drilling portion of the present invention;

[0037] Figure 9 This is a schematic diagram of the repair spraying part of the present invention;

[0038] Figure 10 This is a schematic diagram of the delivery keel system of the present invention;

[0039] Figure 11 This is a schematic diagram of the structure of the first ball screw portion of the delivery keel system of the present invention;

[0040] Figure 12 This is a schematic diagram of the structure of the first robotic arm portion of the delivery keel system of the present invention;

[0041] Figure 13 This is a schematic diagram of the lifting gypsum board system of the present invention;

[0042] Figure 14 This is a schematic diagram of the gypsum board cutting system of the present invention;

[0043] Figure 15 This is a schematic diagram of the storage system of the present invention.

[0044] Explanation of reference numerals in the attached figures:

[0045] 1000 - Mobile Platform System;

[0046] 1110 - Front axle; 1120 - Bearing; 1130 - Retaining ring; 1140 - Tire; 1150 - First hexagonal nut;

[0047] 1160 - Alloy bracket; 1170 - Support leg; 1180 - Second hexagonal bolt; 1210 - First motor;

[0048] 2000 - Lifting Structure System;

[0049] 2100 - Support frame; 2200 - Power unit;

[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 check valve;

[0052] 3000-Drilling Rotary Table System;

[0053] 3100 - Motor turntable section; 3200 - Turntable section; 3300 - Dust removal and cleaning section; 3400 - Drilling section; 3500 - Repair and spraying section;

[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 - Gearbox;

[0057] 3510 - Housing c; 3520 - Check valve;

[0058] 4000-Delivery Keel System;

[0059] 4100 - First ball screw section;

[0060] 4110 - First base; 4120 - Fifth motor; 4130 - Coupling; 4140 - Bearing platform; 4150 - Ball screw; 4160 - Linear guide rail;

[0061] 4200 - First robotic arm section;

[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-Lifting Drywall System;

[0064] 5110 - Platform; 5120 - Second Link; 5130 - Third Link; 5140 - Shaft; 5150 - Second Base;

[0065] 6000 - Drywall Cutting System;

[0066] 6100 - Second ball screw section;

[0067] 6200 - Second robotic arm section;

[0068] 6210 - Base unit b; 6220 - Shoulder unit b; 6230 - Elbow unit b; 6240 - Wrist unit b;

[0069] 6300 - Angle grinder section;

[0070] 6310 - Grinding wheel guard; 6320 - Grinding wheel; 6330 - Housing d;

[0071] 7000 - Storage System;

[0072] 7100-Housing e. Detailed Implementation

[0073] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0074] Below, in conjunction with Figures 1 to 15 This invention provides a detailed description of the robot and method for drilling and installing gypsum board ceilings.

[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 enables the movement of the gypsum board ceiling drilling and installation robot, moving it to the corresponding construction position; the lifting structure system 2000 enables the lifting and lowering of the ceiling drilling platform, raising the top platform to the appropriate height for construction work; the drilling turntable system 3000, mainly composed of a motor turntable 3100, a turntable 3200, a dust removal and cleaning unit 3300, a drilling unit 3400, and a repair and spraying unit 3500, performs drilling, dust removal, and repair and spraying functions for the gypsum board ceiling; the keel delivery system 4000 consists of the first... The main body consists of the ball screw section 4100 and the first robotic arm section 4200, which are used to deliver the main and secondary keels and grab the gypsum board. The gypsum board lifting system 5000 is used to lift the gypsum board and work with the drilling turntable system 3000 to fix the gypsum board. The gypsum board cutting system 6000 consists of the second ball screw section 6100, the second robotic arm section 6200, and the angle grinder section 6300, which is used to cut the gypsum board to meet the construction requirements under different conditions. The storage system 7000 is used to store the gypsum board and the main and secondary keels for easy material grabbing.

[0077] like Figure 2 As shown, the mobile platform system 1000 consists of a support frame as its main body, a first motor 1210 as its power unit, and a front axle 1110, bearing 1120, retaining ring 1130, and first hexagonal nut 1150 that work together to actuate the tires 1140, enabling the movement of the gypsum board ceiling drilling and installation robot. The support frame also includes an alloy bracket 1160 and outriggers 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 section 2100 and a power section 2200. The support section 2100 is mainly composed of first connecting rods 2110, which are bolted together to form a scissor-type frame. The hydraulic oil tank 2220 of the power section 2200 stores liquid oil, and oil pipes 2240 connect the various hydraulic components to form a closed hydraulic system. The gear pump 2210 draws hydraulic oil from the hydraulic oil tank 2220 through the baffle 2230 and oil pipes 2240, pressurizes it, and delivers it to the hydraulic column 2120. This hydraulic column acts on the piston of the hydraulic column 2120, generating an upward force that pushes the piston upward, thereby moving the scissor-type frame and achieving the lifting function. During this process, the hydraulically controlled check valve 2260 controls the flow direction of the hydraulic oil, allowing it to move only in one direction to prevent backflow. The hydraulic column 2120 provides stable support to ensure the stability of the lifting structure. The work platform 2130 is connected to the first connecting rod 2110 located at the top via the sliding plate 2140. The hydraulic column 2120 pushes the scissor frame to lift and lower, thereby realizing the lifting and lowering of the work platform 2130.

[0079] like Figures 5 to 9As shown, the drilling turntable system 3000 is mounted on the work platform 2130 and consists of an electric turntable part 3100 and three main functional devices: a dust removal and cleaning part 3300, a drilling part 3400, and a repair and spraying part 3500. The dust removal and cleaning part 3300, the drilling part 3400, and the repair and spraying part 3500 are evenly mounted circumferentially on the turntable 3200. The electric turntable part 3100 is powered by a second motor 3120, which, in conjunction with a worm gear 3130 and a worm 3140, reduces speed and drives the rotation of the turntable 3200. The worm gear 3130 and the worm 3140 are located within the housing a3110. The electric turntable part 3100 and the turntable 3200 are fixedly connected by bolts. The drilling section 3400 operates first, driven by the fourth motor 3410. The gearbox 3450 and bearing 3440 transmit power, driving the drill bit 3430. The drilling section 3400 also includes a cooling fan 3420 to dissipate heat from the fourth motor 3410. After drilling is complete, the turntable 3200 rotates, rotating the dust removal section 3300 to the same working position to clean the drilled hole, facilitating subsequent construction work. The dust removal section 3300 includes a housing b3340 and is powered by a battery 3310. The third motor 3320 drives the turbine fan 3330 to perform dust removal. After dust removal, the turntable 3200 rotates again, rotating the repair and spraying section 3500 to the same working position for repairing and spraying the holes. The paint is pre-stored inside the housing C3510. When a repair spraying operation is needed, the internal pressure of the housing C3510 decreases, causing the paint to flow from low pressure to high pressure and be sprayed upwards from the nozzle onto the hole requiring repair. The one-way valve 3520 of the repair spraying section 3500 controls the one-way flow of the paint, preventing backflow of paint and air and ensuring that the paint can only be sprayed upwards; at the same time, the one-way valve 3520 maintains the stability of the internal pressure of the housing C3510.

[0080] like Figures 10 to 12 As shown, the keel delivery system 4000 is mounted on the work platform 2130 and consists of a first ball screw section 4100 and a first robotic arm section 4200 mounted on the first ball screw section 4100. The first ball screw section 4100 converts the motion of the fifth motor 4120, which is fixed on the first base 4110 in the power unit, into the movement of the support platform 4140. The rotational motion of the fifth motor 4120 is transmitted to the ball screw 4150 through the coupling 4130, causing the ball screw 4150 to rotate. The ball screw 4150 is threadedly connected to the support platform 4140, thereby achieving efficient and smooth transmission. The support platform 4140 is guided by a linear guide rail 4160. The left and right movement of the support platform 4140 drives the first robotic arm section 4200 to move left and right, thereby performing the translation of the subsequent keel delivery.

[0081] The mechanical claw unit 4250 of the first robotic arm 4200 grasps the main and secondary keels, plasterboard, hanging rods, screws and nuts, etc. stored in the storage system 7000. The base unit a4210 of the first robotic arm section 4200 is driven by the eighth motor 4280. The base unit a4210 contains bearings and bevel gears to transmit motion, enabling the robotic arm to rotate horizontally around the base unit a4210. The shoulder unit a4220 of the first robotic arm section 4200 is driven by the seventh motor 4270. The shoulder unit a4220 contains bearings and a gear reducer to transmit motion, thereby realizing the up-and-down swinging motion of the shoulder unit a4220. The elbow unit a4230 of the first robotic arm section 4200 is driven by the sixth motor 4260. The elbow unit a4230 contains bearings, a planetary reducer, and bevel gears to transmit motion, realizing the movement of the elbow unit a4230. Similarly, the wrist unit a4240 is driven by a motor, bearings, a planetary reducer, and bevel gears to transmit motion, further precisely controlling the movement of the wrist unit a4240. The mechanical gripper unit 4250 of the wrist unit a4240 has three degrees of freedom, enabling the mechanical gripper to operate at a suitable and flexible angle when grasping materials.

[0082] like Figure 13 As shown, the gypsum board lifting system 5000 is installed on the working platform 2130 and mainly consists of a platform 5110, a second base 5150, a second connecting rod 5120 located between the platform 5110 and the second base 5150, and a third connecting rod 5130. The second connecting rod 5120 and the third connecting rod 5130 are bolted together to form a scissor lift frame. One end of the bottom of the scissor lift frame is connected to one end of the second base 5150 via a shaft 5140, and the other end of the bottom of the scissor lift frame is slidably connected to the second base 5150. One end of the top of the scissor lift frame is connected to one end of the platform 5110 via a shaft, and the other end of the top of the scissor lift frame is slidably connected to the platform 5110. A hydraulic drive mechanism is installed in the scissor lift frame to realize the lifting function of the platform 5110, achieving motion transmission.

[0083] like Figure 14As shown, the plasterboard cutting system 6000 is installed on the work platform 2130 and consists of a second ball screw section 6100, a second robotic arm section 6200 mounted on the second ball screw section 6100, and an angle grinder section 6300. The angle grinder section 6300 includes a grinding wheel guard 6310, a grinding wheel 6320, and a housing d6330. The structural principle of the second ball screw section 6100 is the same as that of the first ball screw section 4100, and the structural principle of the second robotic arm section 6200 is the same as that of the first robotic arm section 4200. The second robotic arm section 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 robotic arm part 6200 by threads. The movement of the robotic arm controls the movement of the angle grinder part 6300, thereby cutting the plasterboard.

[0084] like Figure 15 As shown, the storage system 7000 is installed on one side of the mobile platform system 1000. The main body is made of alloy plate to form the shell e7100, which realizes the storage of materials such as gypsum board, main and secondary keel, hanging rods, screws and nuts, etc., to facilitate subsequent construction operations.

[0085] In practical applications, the movable platform system 1000 first moves the gypsum board ceiling drilling and installation robot to the corresponding construction position, and sets various drilling parameters, such as drilling position, depth, and diameter, through the control system. Then, the lifting structure system 2000 raises the work platform 2130 to a suitable working height, and then locks it in place. Following this, the drilling turntable system 3000, in conjunction with the first robotic arm 4200, begins operation, driving the electric drill bit 3430 to rotate and controlling its feed speed and depth. The sensor system monitors parameters during the drilling process in real time, such as position, depth, and stress, ensuring the safety and accuracy of the drilling operation. After drilling, cleaning, and repair work is completed, the keel delivery system 4000 begins operation. After installing the main and secondary keels, the first robotic arm 4200 grips the gypsum board and, in coordination with the second robotic arm 6200, cuts the gypsum board, finally lifting and fixing it in place.

[0086] Accordingly, the gypsum board ceiling drilling and installation method of the present invention includes the following steps:

[0087] S1. Install expansion bolts, complete drilling, dust removal and vacuuming, and repair spraying operations;

[0088] First, a laser level and sensors determine the installation location, and a suitable drill bit 3430 is selected. The drill bit 3430 on the turntable 3200 is perpendicular to the concrete ceiling to drill a hole. After drilling, the turntable 3200 is rotated, and the dust removal and cleaning section 3300 is rotated to the same position to clean the drilled hole, ensuring it is clean. After dust removal and vacuuming, the turntable 3200 is rotated again, and the repair spraying section 3500 is rotated to the same position to repair the hole. Then, the first robotic arm section 4200 and the first ball screw section 4100, located near the turntable 3200, move left and right to insert the expansion bolt into the hole. An electric hammer is used to tap the bolt to ensure it is fully inserted into the hole, and the first robotic arm section 4200 is used to tighten the expansion bolt. Sensors monitor in real time whether the installation is complete and whether there is any loosening. Next, the first robotic arm section 4200 is used again to fix the hanging rod. Completing these preparatory works allows subsequent operations to proceed.

[0089] S2, Deliver the keel;

[0090] The first robotic arm 4200 grasps the main keel from the storage system 7000, positions the main keel for installation, and then, using the first ball screw 4100, moves the support platform 4140 of the first robotic arm 4200 left and right through the threaded transmission between the ball screw 4150 and the support platform 4140, delivering the keel and achieving precise position control and motion transmission. The first ball screw 4100, in cooperation with the lifting structure system 2000, passes the main keel through the hanging rod and secures it with self-tapping screws. Simultaneously, a level adjusts the levelness of the main keel. Subsequently, the first robotic arm 4200 grasps the main keel connector and connects it to the main keel. After installing the main keel, the secondary keel is delivered and installed using the same steps. The first robotic arm 4200 grasps the secondary keel connector and connects it to the secondary keel, securing it with self-tapping screws. The main and secondary keels are connected and secured using a rivet gun next to the first robotic arm 4200. Finally, use a laser level to check the flatness and levelness of the main and secondary keels again, and adjust any deviations in a timely manner.

[0091] S3. Cutting plasterboard;

[0092] To cut gypsum boards of varying sizes, the first robotic arm 4200 picks up the boards from the storage system 7000, and the first ball screw 4100 moves the support platform 4140 left and right. The gypsum board to be cut is then placed and fixed on the platform of the lifting gypsum board system 5000. The angle grinder 6300 of the gypsum board cutting system 6000 then cuts the gypsum board. During the cutting process, the gypsum board is precisely positioned and cut using the cooperation of the second ball screw 6100.

[0093] S4, Lifting gypsum board;

[0094] After the gypsum board is cut, sensors determine the position and height of the gypsum board lifting. The movable platform system 1000 and the lifting structure system 2000 remain stable, while 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, cooperating with the drilling turntable system 3000 to perform subsequent operations to fix the gypsum board.

[0095] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A method for drilling and installing gypsum board ceilings, using a gypsum board ceiling drilling and installation robot, characterized in that... The gypsum board ceiling drilling and installation robot includes: Mobile platform system for moving robots to construction sites; A lifting structure system, installed on a movable platform system, is used to raise the top working platform to a corresponding height for construction work; The drilling turntable system is installed on the work platform. It includes a turntable, a motor turntable part that drives the turntable to rotate, and dust removal, drilling and repair spraying parts that are evenly installed on the turntable along the circumference. It is used to realize the functions of drilling, dust removal and repair spraying of gypsum board ceiling. A keel delivery system, installed on a work platform, includes a first ball screw section and a first robotic arm section mounted on the first ball screw section, for delivering the main and secondary keels and gripping plasterboard. The gypsum board lifting system is installed on the work platform to lift the gypsum board and works in conjunction with the drilling turntable system to fix the gypsum board. A gypsum board cutting system, installed on a work platform, includes a second ball screw section, a second robotic arm section mounted on the second ball screw section, and an angle grinder section, for cutting gypsum boards; The storage system, installed on one side of the mobile platform system, is used to store gypsum board, main and secondary keel, hanging rods, screws and nuts; The steps for drilling and installing gypsum board ceilings are as follows: S1. Install expansion bolts, complete drilling, dust removal and vacuuming, and repair spraying operations; First, a laser level and sensors determine the installation location and a suitable drill bit. The drill bit on the turntable is perpendicular to the concrete ceiling to drill holes. After drilling, the turntable is rotated to bring the dust removal and cleaning section to the same position to clean the holes and ensure they are clean. After dust removal and vacuuming, the turntable is rotated again to bring the repair and spraying section to the same position to repair the holes. Then, the first robotic arm and the first ball screw, which are close to the turntable, move left and right to insert the expansion bolts into the holes. The electric hammer is used to tap the bolts to ensure they are fully inserted. The first robotic arm is then used to tighten the expansion bolts. Sensors monitor in real time whether the installation is complete and whether there is any looseness. Next, the first robotic arm is used again to fix the hanging rods. These preparatory works are completed to advance the subsequent operations. S2, Deliver the keel; The first robotic arm retrieves the main keel from the storage system, positions it for installation, and then, using the first ball screw, moves the support platform left and right via threaded transmission between the ball screw and the support platform to deliver the keel, achieving precise position control and motion transmission. The first ball screw, in conjunction with the lifting structure system, guides the main keel through the hanging rods and secures it with self-tapping screws. Simultaneously, a level adjusts the main keel's levelness. Next, the first robotic arm retrieves the main keel connector and connects it to the main keel. After installing the main keel, the same steps are used to deliver and install the secondary keel. The first robotic arm then retrieves the secondary keel connector and connects it to the secondary keel, securing it with self-tapping screws. The main and secondary keels are connected and secured using a rivet gun next to the first robotic arm. Finally, a laser level is used again to check the flatness and levelness of the main and secondary keels. S3. Cutting plasterboard; To cut gypsum boards of different sizes, the first robotic arm grabs the gypsum board from the storage system, and the first ball screw moves the support platform left and right to place and fix the gypsum board to be cut on the platform of the lifting gypsum board system. Then the angle grinder of the gypsum board cutting system cuts the gypsum board. During the cutting process, the gypsum board is precisely positioned and cut by cooperating with the second ball screw. S4, Lifting gypsum board; After the gypsum board is cut, the sensor determines the position and height of the gypsum board lifting. 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 works in conjunction with the drilling turntable system to carry out subsequent operations to fix the gypsum board.

2. The method for drilling and installing gypsum board ceilings according to claim 1, characterized in that, The drilling section operates first, driven by the fourth motor, with the gearbox and bearings transmitting the motion and driving the electric drill bit. After drilling is completed, the turntable rotates to move the dust removal and cleaning section to the same working position to clean and remove dust from the newly drilled holes. The dust removal and cleaning section includes a housing b, which is powered by a battery. A third motor drives a turbine fan to perform dust removal and cleaning. After dust removal and cleaning, the turntable rotates again, rotating the repair and spraying section to the same working position to repair and spray holes.

3. The method for drilling and installing gypsum board ceilings according to claim 1, characterized in that, The first ball screw section converts the motion of the fifth motor in the power unit into the movement of the support platform. The rotational motion of the fifth motor is transmitted to the ball screw through the coupling, causing the ball screw to rotate. The ball screw is threadedly connected to the support platform, thereby achieving efficient and smooth transmission. The left and right movement of the support platform drives the first robotic arm section to move left and right, thereby performing the translation of the subsequent delivery keel.

4. The method for drilling and installing gypsum board ceilings according to claim 3, characterized in that, The first robotic arm's gripper unit grasps the main and secondary keels, plasterboard, hanging rods, screws, and nuts stored in the storage system. The base unit a of the first robotic arm is driven by the eighth motor. Base unit a contains bearings and bevel gears to transmit motion, allowing the robotic arm to rotate horizontally around the base unit a. The shoulder unit a of the first robotic arm is driven by the seventh motor. Shoulder unit a contains bearings and a gear reducer to transmit motion, enabling the shoulder unit a to swing up and down. The elbow unit a of the first robotic arm is driven by the sixth motor. Elbow unit a contains bearings, a planetary reducer, and bevel gears to transmit motion, enabling the elbow unit a to move freely. The wrist unit a of the first robotic arm is driven by a motor, bearings, a planetary reducer, and bevel gears, further precisely controlling the movement of the wrist unit a. The gripper unit of wrist unit a has three degrees of freedom, enabling the gripper to grasp materials.

5. The method for drilling and installing gypsum board ceilings according to claim 1, characterized in that, The gypsum board lifting system mainly consists of a platform, a base, and a second and third connecting rod located between the platform and the base. The second and third connecting rods are bolted together to form a scissor lift frame. One end of the bottom of the scissor lift frame is connected to one end of the base via a shaft, and the other end of the bottom of the scissor lift frame is slidably connected to the base. One end of the top of the scissor lift frame is connected to one end of the platform via a shaft, and the other end of the top of the scissor lift frame is slidably connected to the platform. A hydraulic drive mechanism is installed in the scissor lift frame to realize the lifting function of the platform.

6. The method for drilling and installing gypsum board ceilings according to claim 4, characterized in that, 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 housing d. The angle grinder part is connected to the wrist unit b of the second robotic arm part by a thread. The movement of the robotic arm controls the movement of the angle grinder part, thereby cutting the plasterboard.

7. The method for drilling and installing gypsum board ceilings according to claim 1, characterized in that, The lifting structure system includes a support section and a power section. The support section is mainly composed of first connecting rods, which are bolted together to form a scissor-type frame. The hydraulic oil tank of the power section stores liquid oil, and oil pipes connect various hydraulic components to form a closed hydraulic system. The gear pump draws hydraulic oil from the hydraulic oil tank through baffles and oil pipes, pressurizes it, and delivers it to the hydraulic cylinder. This hydraulic cylinder acts on the piston, generating an upward force that pushes the piston upward, thereby moving the scissor-type frame and achieving the lifting function. The work platform is connected to a sliding plate and a first connecting rod at the top. The hydraulic column pushes the scissor frame to lift and lower the work platform.

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