Ceiling lamp mounting robot

Abstract

The invention discloses a ceiling lamp mounting robot which comprises a vehicle body, a mechanical arm, a lamp lifting platform, a lampshade mounting device, a punching and screw tightening device, a wiring device and a particle mounting device. The mechanical arm is arranged on the vehicle body; the lamp lifting platform comprises a lamp mounting platform base, and the lamp mounting platform base is arranged on the vehicle body in a lifting manner; the punching and screw tightening device is used for punching a mounting hole and screwing in a screw, the wiring device is used for wiring the ceiling lamp, the particle mounting device is used for mounting expansion particles in the mounting hole, and when the lamp body is mounted, the mounting hole is punched in the ceiling lamp mounting position through the punching and screw tightening device; then, expansion particles are installed in the installation holes through a particle installation device, and then screws are screwed into the expansion particles through a punching and screw tightening device; and the lampshade mounting device is arranged on the lamp mounting platform base and is used for mounting the lampshade on the lamp main body. Manual operation can be reduced, the operation safety risk is reduced, and the installation precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of indoor ceiling lamp installation, and in particular to a ceiling lamp installation robot. Background Art

[0002] With the rapid development of the construction industry, the demand for indoor ceiling lights has increased dramatically, especially in modern high-rise buildings, commercial centers, and large public places. The number and variety of ceiling lights are constantly increasing. However, traditional ceiling light installation methods generally have some problems that need to be solved.

[0003] First, traditional installation methods often rely on manual labor, resulting in low efficiency. Installers need to work with their heads tilted upwards for extended periods, which can easily cause neck, shoulder, and eye fatigue and discomfort, and can also lead to workplace accidents. This is particularly risky when working at height, where the risks are even greater. Second, in some special environments, such as high altitudes, confined spaces, or complex indoor structures, traditional installation methods are more difficult, as the construction environment places significant restrictions on manual operation. Traditional manual operation not only requires a high level of technical expertise and experience, but is also prone to installation errors due to improper operation, affecting the final installation result and increasing the workload for subsequent adjustments and repairs.

[0004] Furthermore, with the increasing diversity of ceiling light types, many designs are complex. This is particularly true for wiring, installation, and commissioning. The precision and efficiency of traditional manual operations cannot meet the high-quality and high-speed installation requirements of modern architecture. This inefficient and imprecise method not only increases labor intensity but also installation costs, placing a significant financial burden on the construction and decoration industries. Therefore, the market urgently needs a more efficient, safe, and precise ceiling light installation technology to replace traditional manual installation methods, reduce operational risks, improve work efficiency, and lower labor costs.

[0005] As an important piece of equipment in the lighting installation field, the technological evolution of ceiling light installation robots has always revolved around two core needs: increasing functional diversity and optimizing operational efficiency. The following two patents are currently being referenced:

[0006] A. Zhejiang Marine Aquaculture Research Institute. Farm Ceiling Light Replacement Robot. CN106863325B.

[0007] 2019-05-07 (hereinafter referred to as "A")

[0008] B. Chen Botao. Tunnel ceiling light automatic replacement robot. CN112171636A. 2021-01-05

[0009] (As shown below: letter "B")

[0010] The above design has the following design flaws:

[0011] -Efficiency bottleneck: A only uses a single robot to perform alternating operations, and a single replacement takes a long time

[0012] -Collision risk: Both A and B lack obstacle avoidance functions, which can easily cause the robot to collide with the outside world when working in complex situations;

[0013] - Stability risk: The lack of a corresponding fixed structure design during operation of B may easily lead to instability during operation (such as abnormal vibration of the machine structure).

[0014] - Limited scenarios: The fixed height design of A or the fixed track design of B cannot adapt to work in various occasions, and the scenario practicality is low

[0015] - Structural deficiencies: Using A's mechanical claw or B's mechanical arm to install lamps can easily lead to positioning deviations. Other structures should be considered for transporting lamps.

[0016] In response to the above-mentioned problems, the present invention proposes a ceiling lamp installation robot. The Mecanum wheels are used as a traveling mechanism to enable the robot to realize obstacle avoidance function and avoid collisions. The independent four-wheel lifting platform enables the bottom of the robot body to touch the ground to ensure working stability. The main gear driven by the motor is transmitted to the three-stage screw group through three pairs of driven gears to realize the lifting platform. While ensuring a greater load capacity, it also ensures accurate positioning when transporting lamps. The multi-structure coordination of the robot achieves higher work efficiency, meeting the requirements of the robot for functional diversity and high working efficiency. Summary of the Invention

[0017] In order to solve at least one of the shortcomings of the prior art, the present invention provides an indoor ceiling light installation robot, which can effectively solve the problems of the prior art such as complicated installation process, low efficiency, and poor operation safety.

[0018] To achieve the purpose of the present invention, the present invention provides a ceiling lamp installation robot, comprising a body, a robotic arm, a lamp raising platform, a lampshade installation device, a drilling and screw tightening device, a wiring device, and a particle installation device;

[0019] The mechanical arm is arranged on the vehicle body;

[0020] The light-raising platform includes a light-mounting platform base, which is detachably mounted on the vehicle body. After the drilling is completed, the ceiling light is lifted to the installation position on the roof by the light-raising platform.

[0021] The punching and screw tightening device, the wiring device and the particle installation device are all arranged on the robotic arm. The punching and screw tightening device is used to punch the installation hole and screw in the screw. The wiring device is used to connect the ceiling light. The particle installation device is used to install the expansion particles in the installation hole. When installing the lamp body, the installation hole is punched on the ceiling light installation position by the punching and screw tightening device, and then the expansion particles are installed in the installation hole by the particle installation device. Then, the screw is screwed into the expansion particle by the punching and screw tightening device.

[0022] The lampshade mounting device is arranged on the lamp mounting platform base and is used for mounting the lampshade on the lamp body.

[0023] Furthermore, the robotic arm includes a right robotic arm and a left robotic arm, the right robotic arm and the left robotic arm are arranged relatively on the vehicle body, the punching and screw tightening devices are arranged on the right robotic arm or the left robotic arm, and the wiring device and the particle installation device are on the left robotic arm or the robotic arm.

[0024] Furthermore, the robotic arm can be flexibly adjusted according to changes in the installation position of the ceiling light, ensuring that it can adapt to operational needs at different angles and directions.

[0025] Furthermore, it also includes a visual positioning system, which is set on the vehicle body and is used to capture installation markers in real time and plan paths, and adjust the motion trajectory of the robotic arm based on environmental feedback.

[0026] The punching and screw tightening device can accurately punch holes after the visual positioning system determines the position, and then install expansion particles in the hole through the particle installation device to ensure the stability of the hole position after drilling, and then screw into the expansion particle through the punching and screw tightening device.

[0027] Furthermore, the visual positioning system uses high-precision cameras and image recognition technology to accurately determine the punching position and automatically adjust the operation path based on environmental feedback.

[0028] Furthermore, the vehicle body includes a vehicle body frame and liftable wheels arranged on the vehicle body frame.

[0029] Furthermore, the vehicle body frame includes a base plate and a four-wheel platform located below the base plate, the wheels are rotatably arranged on the four-wheel platform, the four-wheel platform is connected to the rack, and the rack passes upward through the base plate of the vehicle body frame, an adjusting motor is arranged on the base plate, and the output end of the adjusting motor is connected to the rack through a rack motor gear, and the four-wheel platform is raised and lowered by the transmission of the rack and gear to realize the raising and lowering of the wheels.

[0030] Furthermore, the drilling and screw tightening device includes a motor, an impact drill and an equipped drill bit and a screw mounting head. The motor is arranged at the end of the robotic arm, the impact drill is connected to the output end of the motor, and the drill bit or the screw mounting head is detachably arranged on the impact drill. The mounting hole is drilled by the drill bit, and the screw is screwed in by the screw mounting head.

[0031] Furthermore, the particle installation device includes an airbag and an automatic air pump. The automatic air pump is mounted on a robotic arm, and the airbag is connected to the air outlet of the automatic air pump. The automatic air pump drives the airbag to enable the particle installation device to remove and place the expandable particles. During operation, the airbag expands inside the expandable particle, grabbing the expandable particle through friction between the two. When the captured expandable particle is placed into the installation hole under the drive of the robotic arm, the airbag releases gas to tightly fit the expandable particle against the hole wall, thereby securing the expandable particle in the installation hole.

[0032] Furthermore, the wiring device includes two mechanical claws, the distance between the two mechanical claws is adjustable, and both mechanical claws include a mechanical claw head that can be opened and closed.

[0033] Furthermore, the wiring device also includes a screw transmission mechanism, which is used to adjust the distance between the two mechanical claws to achieve automated operation of the ceiling light wiring.

[0034] Furthermore, the lampshade installation device includes a vacuum suction cup rotatably arranged on the top of the lamp mounting platform base, the vacuum suction cup is used to absorb the lampshade. The lampshade installation device completes the installation of the lampshade by lifting and lowering the lifting platform.

[0035] The lampshade installation device also includes a vacuum rotating motor, which is connected to the vacuum suction cup to drive the vacuum suction cup to rotate.

[0036] Furthermore, the lamp raising platform also includes a platform pillar, a driven gear, a platform center gear, a platform rotating motor and a platform pressure sensor. The platform pillar is retractable, the bottom of the platform pillar is set on the vehicle body, the vacuum suction cup is set on the lamp mounting platform base, the platform pressure sensor is set between the vacuum suction cup and the lamp mounting platform base, the driven gear is set on the platform pillar, the platform center gear is meshed with the driven gear, and the output end of the platform rotating motor is connected to the platform center gear.

[0037] Furthermore, the lamp-lifting platform is a work platform that can be raised and lowered by a three-stage threaded rod, which can adapt to installation requirements of different heights and environments, ensuring working stability and safety.

[0038] Furthermore, the lamp raising platform is provided with an anti-slip pad, which can ensure that the lamp is lifted steadily and avoid sliding or tilting during the lifting process.

[0039] During operation, the robot, after reaching a predetermined position via its vehicle body, is lifted by a four-wheel platform through the coordination of a gear rack, thereby achieving stable standing. The platform then raises the ceiling light body to a predetermined height through the coordination of gears and threads. The mechanical claws of the wiring device grasp the lamp and the magnetic wiring port on the ceiling, and rotate to achieve magnetic interface docking. Simultaneously, a drill is replaced in the drilling and screw tightening device, and a hole is drilled at the predetermined location in the ceiling. The airbag of the particle installation device then removes the expansion particles pre-installed on the platform and installs them in the drilled hole. The platform continues to drive the ceiling light upward. During this ascent, a screw installation head, such as a magnetic cross-head screwdriver, is replaced in the drilling and screw tightening device. Once the ceiling light reaches the top, the screw installation head removes the pre-installed screw on the platform, passes the screw through the lamp hole and tightens it into the expansion particles installed in the ceiling, thereby securing the ceiling light. Finally, the platform descends, installs the ceiling light shade, and then ascends. Once the shade is attached to the ceiling light, the upper vacuum suction cup on the platform rotates to install the shade, completing the entire installation process.

[0040] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0041] (1) The robot of the present invention can be adaptively adjusted according to different environments and installation requirements, has strong flexibility, and is suitable for various indoor environments.

[0042] (2) The entire operation process from drilling to installing the lampshade is fully automated, reducing manual operations, lowering operational safety risks, improving installation accuracy, and avoiding omissions and errors in manual operations.

[0043] (3) The robot of the present invention can complete a variety of installation tasks through simple remote operation or preset instructions, adapting to the needs of less or even no people operating, greatly reducing labor intensity and construction costs.

[0044] (5) The present invention is particularly suitable for indoor ceiling light installation operations and can improve the efficiency and safety of ceiling light installation through visual positioning, mechanical operation and automation processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic diagram of the overall structure of the present invention, showing the layout of the robot body and its main components.

[0046] Figure 2 It is a front view of the vehicle body frame of the present invention.

[0047] Figure 3 This is a partial axonometric view of the vehicle body lifting device of the present invention (including Figure 2 (Schematic diagram of the partial structure at B in the figure).

[0048] Figure 4It is a right rear axonometric view of the right robotic arm of the present invention.

[0049] Figure 5 yes Figure 4 Another view of the center C. (The chassis worm gearbox is hidden in the diagram)

[0050] Figure 6 It is an axonometric view of the left robotic arm of the present invention.

[0051] Figure 7 yes Figure 6 Another view from point E in the middle. (The chassis worm gearbox is hidden in the diagram)

[0052] Figure 8 Yes Figure 6 Enlarged view of the structure at point D in the middle.

[0053] Figure 9 yes Figure 1 Partial axonometric view of the three-stage screw lifting platform at A in the middle.

[0054] Figure 10 It is a front view of the lamp body and lampshade of the present invention.

[0055] Figure 11 It is a front view of the mechanical claw of the present invention.

[0056] Among them, 100-car body, 200-right robotic arm, 300-left robotic arm, 400-three-stage screw lifting platform, 500-lamp body and lampshade, 600-mechanical claw, 1001-car body frame, 1002-Mecanum wheel, 1003-adjustment motor, 1004-rack, 1005-rack motor gear, 1006 industrial camera, 1007-ultrasonic sensor, 1008-four-wheel platform, 1009-drive motor, 1010-umbrella structure, 2001-drill bit, 2002-impact drill, 2003-motor, 2004-mechanical drill base, 2005-mechanical small arm top seat, 2006-mechanical small arm, 2007-mechanical large arm, 2008-connecting rod motor, 200 9- Cycloid reducer mounting flange, 2010- Cycloid reducer, 2011- Parallelogram base, 2012- Mechanical arm base, 2013- Mounting flange, 2014- Worm shaft, 2015- Chassis worm gear box, 2016- Chassis rotating motor, 2017- Worm, 2018- Small electric box, 2019- Mechanical arm jib, 2020- Mechanical arm connecting flange, 2021- Mechanical arm joint bearing, 2022- Mechanical arm base, 2023- Mechanical arm motor, 2024- Pressure and torque sensor, 2025- Screw mounting head, 3001- Small airbag, 3002- Automatic air pump, 3003- Air pump protective shell, 3004- Left mechanical arm, 3005- Left mechanical arm motor, 3006-mechanical arm base, 3007-mechanical arm base bearing, 3008-mechanical arm joint bearing, 3009-mechanical arm compound arm, 3010-chassis turbine box, 3011-manipulator base, 3012-left mechanical arm connecting flange, 3013-left mechanical arm, 3014-connecting rod servo motor, 3015-left cycloidal reducer mounting flange, 3016-left cycloidal reducer, 3017-left parallelogram base, 3018-left mechanical arm base, 3019-small electrical box, 3020-worm gear shaft, 3021-left arm worm, 3022-left chassis rotation motor, 3023-wiring rotation motor, 3024-screw, 3025-screw Base, 3026-mechanical claw drive motor, 3027-screw transmission plate, 4001-platform pillar level one, 4002-platform pillar level two, 4003-platform pillar level three, 4004-platform center large gear, 4005-vacuum rotary motor, 4006-lamp platform base, 4007-screws, 4008-expansion particles, 4009-platform pressure sensor, 4010-vacuum suction cup, 4011-platform rotary motor, 4012-driven gear, 5001-lamp body, 5002-lamp cover, 6001-mechanical claw body frame, 6002-mechanical claw drive rod, 6003-mechanical claw transmission connecting rod, 6004-mechanical claw head, 6005-mechanical claw force sensor. DETAILED DESCRIPTION

[0057] To better understand the present robot, specific embodiments of the present robot will be further described below with reference to the accompanying drawings.

[0058] See also Figure 1 An embodiment of the present invention provides an indoor ceiling lamp installation robot, including a body 100, a right robotic arm 200, a left robotic arm 300, a lamp raising platform, a punching and screw tightening device, a wiring device, a particle installation device, a lampshade installation device and a visual positioning system.

[0059] See also Figure 2 and Figure 3 The vehicle body 100 includes a vehicle frame 1001, a Mecanum wheel 1002 (wheel), an adjustment motor 1003, a rack 1004, a rack motor gear 1005, and a visual positioning system. The four Mecanum wheels 1002 are directly connected to the output end of the drive motor 1009, and the four drive motors 1009 for driving the Mecanum wheels 1002 to rotate are all built into the four-wheel platform 1008. The four-wheel platform 1008 is fixedly connected to the rack 1004, and the rack 1004 passes upward through the bottom plate of the vehicle frame 1001. The rack motor gear 1005 is connected to the output end of the adjustment motor 1003. The rack 1004 and the rack motor gear 1005 are meshed and driven to drive the four-wheel platform 1008 and then the Mecanum wheel 1002 to rise and fall in the vertical direction. The four-wheel platform 1008 is lowered by the rack and gear drive. After reaching the lower limit height, it is stopped by the limit member 1010 (in one embodiment of the present invention, as Figure 2 and Figure 3As shown in the figure, the upper surface of the umbrella-shaped structure (made of soft rubber) passes through the limiting holes on the bottom plate of the body frame 1001 and fits under the body frame 1001 to support the four-wheel platform 1008, forming a form in which the four-wheel platform 1008 supports the body frame 1001, thereby allowing the Mecanum wheels 1002 to descend and contact the ground. The support force of the umbrella-shaped structure 1010 and the rack and pinion mechanism (including the rack 1004 and the rack motor gears 10051005) supports the entire robot and enters the travel mode. When the robot reaches its target position, the adjustment motor 1003 drives the rack motor gear 1005 to rotate in the opposite direction, thereby driving the rack 1004 to move along the guide rail. The linear motion of the rack 1004 drives the four-wheel platform 1008, the built-in drive motor 1009, and the Mecanum wheels 1002 to rise upward as a whole. The lower surface of the umbrella-shaped structure 1010 then passes through the limiting hole and contacts the upper surface of the vehicle frame 1001, forming a shape in which the vehicle frame 1001 supports the four-wheel platform 1008. At this time, the rubber leg frame below the vehicle frame 1001 contacts the ground, forming the appearance of the robot standing on the ground, ensuring the overall stability of the robot and entering the working mode. When it is necessary to move, the adjustment motor 1003 rotates forward, the Mecanum wheels 1002 descend, and the Mecanum wheels 1002 contact the ground instead of the vehicle frame 1001, restoring the robot's omnidirectional mobility.

[0060] The visual positioning system uses a binocular vision positioning system, installed on top of the vehicle frame 1001. It includes an industrial camera 1006 and an ultrasonic sensor 1007 built into the vehicle frame 1001. The binocular vision positioning system uses the SLAM algorithm to generate a three-dimensional point cloud map (positioning error ±1mm), capture the ceiling installation mark points in real time, and plan the path. Based on environmental feedback, the robot arm's motion trajectory is automatically adjusted to ensure millimeter-level accuracy in drilling and installation positions. (The generation of the point cloud map and path planning are existing methods, and this invention does not involve algorithmic improvements.)

[0061] By working together with the visual positioning system and the robotic arm, automated and precise ceiling light installation operations can be achieved, improving work efficiency.

[0062] In one embodiment of the present invention, the vehicle frame 1001 is welded from a high-strength aluminum alloy; the rack 1004 has a module of 2 and a length of 800 mm; the Mecanum wheels 1002 are mounted at the four corners of the vehicle body (the wheel diameter can be 150 mm) and are omnidirectionally movable via flange bearings. The adjustment motor 1003 is a servo motor.

[0063] See also Figure 4 and Figure 5The right robotic arm 200 includes a drill bit 2001, an impact drill 2002, a motor 2003, a mechanical drill base 2004, a robotic arm top base 2005, a robotic arm 2006, a robotic arm 2007, a connecting rod motor 2008, a cycloid reducer mounting flange 2009, a cycloid reducer 2010, a parallelogram base 2011, a robotic arm base 2012, a mounting flange 2013, a worm gear shaft 2014, a chassis worm gear box 2015, a chassis rotating motor 2016, a robotic arm joint bearing 2017, a robotic arm connecting flange 2018, a robotic arm compound arm 2019, an electrical box 2020, a worm 2021, a chassis rotating motor 2022 and a chassis turbine box 2023. The right robotic arm 200 is connected to the upper right side of the vehicle frame 1001 by bolts. The chassis worm gear box 2015 is at the bottom of the right robotic arm 200 and is connected to the vehicle frame 1001. The chassis rotating motor 2016 is horizontally installed on the right side of the chassis worm gear box 2015 and is directly connected to the worm 2017. The worm 2017 is vertically installed with the turbine shaft 2014 and is driven by the worm gear. The mounting flange 2013 is located above the chassis worm gear box 2015 and is directly connected to the turbine shaft 2014. The mechanical arm base 2012 is mounted on the mounting flange 2013, and the mechanical arm base 2012 is connected to the lower end of the mechanical arm 2007 through the cycloid reducer mounting flange 2009. The cycloid reducer 2010 and the connecting rod motor 2008 are respectively installed at the front and rear ends of the cycloid reducer mounting flange 2009. The upper end of the mechanical arm 2007 is connected to the lower end of the mechanical arm 2006 through the mechanical arm connecting flange 220, and the cycloid reducer 2010 is connected to the lower end of the mechanical arm 2006 through the cycloid reducer mounting flange 220. The parallelogram base 2011 directly controlled by the flange 2009 is connected to the lower end of the mechanical arm auxiliary arm 2019, the upper end of the mechanical arm auxiliary arm 2019 is connected to the mechanical arm base 2022, and the mechanical arm base 2022 is connected to the lower end of the mechanical arm 2006, and the mechanical arm 2006 is connected to the output end of the mechanical arm motor 2023 to drive the mechanical arm 2006 to rotate, and the upper end of the mechanical arm 2006 is provided with a mechanical arm top seat 2005, and the mechanical arm top seat 2005 is directly connected to the mechanical drill base 2004; the drilling and screw tightening device is mounted on the mechanical drill base 2004 and includes a motor 2003, an impact drill 2002, a drill bit 2001, and a screw mounting head 2025. The motor 2003 is mounted on the mechanical drill base 2004, and the impact drill 2002 is connected to the output terminal of the motor 2003. The drill bit 2001 or the screw mounting head 2025 (which can be a Phillips bit) is removably mounted in the mounting slot of the impact drill 2002. During operation, the drill bit 2001 or the screw mounting head 2025 is selected according to the user's needs. The drill bit 2001 is driven to rotate by the motor 2003, and the force applied to the drill bit 2001 is monitored in real time by the drilling rig pressure and torque sensor 2024.

[0064] The chassis rotation motor 2016 meshes with the worm gear shaft 2014 via a worm 2017 (30:1 transmission ratio), driving the robotic arm base 2012 in omnidirectional rotation (0-360°, with an accuracy of ±0.1°), allowing the robotic arm to cover any direction on the ceiling. The robotic arm 2007 is connected to the robotic arm base 2012 via a cycloid reducer 2010. The cycloid reducer's high rigidity and zero backlash ensure smooth pitch motion (0-120°). A quadrilateral mechanism is formed by the linkage of the parallelogram base 2011, the robotic arm jib 2019, the robotic arm 2007, and the robotic arm base 2022, maintaining a stable operating state for the end effector. The impact drill 2002 is driven by the motor 2003, which controls the drill bit 2001 (in one embodiment of the present invention, it is made of carbide and has a diameter of 6 mm) to press upward to drill holes (depth 15 mm ± 0.2 mm) at a speed of 3000 r / min. During the drilling process, the drilling rig pressure and torque sensor 2024 monitors the force on the drill bit 2001 in real time to prevent overload or offset; after the drilling is completed, the screw 4007 is adsorbed by the manually replaced magnetic cross bit 2025, and the motor 2003 drives the screw 4007 to be vertically screwed into the expansion particle 4008. The drilling rig pressure and torque sensor 2024 closes the loop to control the tightening torque to 2.5 N·m (error ± 0.1 N·m) to ensure that the screw is tightly combined with the expansion particle 4008 to avoid the risk of loosening; the connecting rod motor 2008 adopts a servo motor.

[0065] See also Figures 6 to 8The left robotic arm 300 includes a left robotic forearm 3004, a left robotic forearm motor 3005, a left robotic forearm base 3006, a robotic forearm joint bearing 3008, a robotic forearm compound arm 3009, a chassis turbine box 3010, a wiring robotic arm base 3011, a left robotic forearm connecting flange 3012, a left robotic arm 3013, a connecting rod servo motor 3014, a left cycloid reducer mounting flange 3015, a left cycloid reducer 3016, a left parallelogram base 3017, a left robotic arm base 3018, a small electrical box 3019, a worm gear 3020, a left arm worm 3021, and a left chassis rotation motor 3022. The left robotic arm 300 is connected to the upper left side of the vehicle frame 1001 by bolts. The chassis turbine box 3010 is at the bottom of the left robotic arm 300. The left chassis rotating motor 3022 is horizontally installed in front of the chassis turbine box 3010 and is directly connected to the left arm worm 3021. The left arm worm 3021 is vertically installed with the turbine shaft 3020 and is driven by a worm gear. The left robotic arm base 3018 is installed directly above the chassis turbine box 3010 and is directly connected to the turbine shaft 3020. The left robotic arm base 3018 is connected to the lower end of the left robotic arm 3013. The output end of the connecting rod servo motor 3014 is connected to the left cycloid reducer 3016 through the left cycloid reducer mounting flange 3015. The upper end of the left robotic arm 3013 is connected to the lower end of the left robotic arm 3004 through the robotic arm base bearing 3007. The upper end of the mechanical arm auxiliary arm 3009 is connected to the left mechanical arm base 3006, and the left mechanical arm motor 3005 directly drives the left mechanical arm 3004 to rotate. The upper end of the left mechanical arm 3004 is connected to the manipulator base 3011 through the left mechanical arm connecting flange 3012.

[0066] The particle installation device is arranged on the manipulator base 3011 and is used to install expanded particles. The particle installation device includes an airbag 3001, an automatic air pump 3002, and an air pump protective shell 3003. The air pump protective shell 3003 is arranged at the upper end of the manipulator base 3011. The automatic air pump 3002 is arranged in the air pump protective shell 3003, and the air outlet end of the automatic air pump 3002 is connected to the airbag 3001 (small airbag).

[0067] A wiring device is also provided on the manipulator base 3011 and is used for wiring the ceiling light. The wiring device includes a screw drive mechanism and two mechanical claws 600, both of which are five-claw mechanical claws. The screw drive mechanism includes a screw base 3025, a wiring rotation motor 3023, and a screw 3024. The screw base 3025 is provided on the manipulator base 3011. The wiring rotation motor 3023 is mounted on the left side of the screw base 3025 and is connected to the screw 3024 through a screw drive plate 3027 for driving. The screw drive plate 3027 is threadedly connected to the screw 3024. The left-side mechanical claw 600 is mounted on the left-side mechanical claw drive motor 3026 and fixed to the left-side screw drive plate 3027. The right-side mechanical claw 600 is mounted on the right-side mechanical claw drive motor 3026 and fixed to the right side of the screw base 3025. When the connection rotation motor 3023 is started, the screw 3024 rotates, and the screw drive plate 3027 moves left and right through the thread transmission, thereby driving the mechanical claw 600 on the left and its corresponding mechanical claw drive motor 3026 to move closer to or away from the mechanical claw 600 on the right. Figure 11 As shown, the mechanical claw body frame 6001 on the left is fixed to the screw transmission plate 3027, and the mechanical claw body frame 6001 on the right is fixed to the screw base 3025. The mechanical claw drive motor 3026 is connected to the mechanical claw drive rod 6002, which is connected to the mechanical claw drive connecting rod 6003. The mechanical claw head 6004 is connected to the mechanical claw drive connecting rod 6003. The mechanical claw drive motor 3026 drives the mechanical claw drive connecting rod 6003 to move, thereby driving the mechanical claw head 6004 to achieve the opening and closing effect. A mechanical claw force sensor 6005 is built into the mechanical claw body frame 6001. When the mechanical claw force sensor 6005 detects that the docking force has reached a set value, it sends a signal to the mechanical claw drive motor 3026 to drive the mechanical claw 600 to move.

[0068] In one embodiment of the present invention, a shock-absorbing structure is provided in the air pump protective shell 3003 to prevent high-frequency vibration from affecting the stability of the air pump; the lead of the screw 3024 is 5 mm; the claw tip 6004 of the mechanical claw is made of silicone material to enhance the clamping friction and insulation performance.

[0069] The expansion particle 4008 is pre-installed on the light-mounting platform base 4006 with a 5N preload. During the installation of the expansion particle 4008, the robot's left robotic arm 300 first drives the left robotic arm base 3018, the left robotic arm 3013, and the left robotic arm 3004 through the left chassis rotation motor 3022, the left cycloid reducer 3016, and the connecting rod servo motor 3014, respectively, to achieve downward movement of the entire working part of the left robotic arm 300 and drive the airbag 3001 to move into the hollow position of the expansion particle 4008. Then, the automatic air pump 3002 drives the airbag 3001 to expand and locks the expansion particles 4008 through friction, overcoming the 5N pre-tightening force to remove the expansion particles 4008 from the pre-installed hole of the lighting platform base 4006. Then the left robotic arm 300 moves toward the direction of the hole pre-drilled on the roof by the drill bit 2001. Finally, the airbag 3001 pushes the expansion particles 4008 into the hole from bottom to top. After reaching the set depth, the airbag 3001 releases the gas, and the expansion particles 4008 fit tightly against the hole wall to form a stable anchor point. The two mechanical claws 600 are driven by two mechanical claw drive motors 3026. The two mechanical claws 600 are defined as the left and right mechanical claws. During operation, the screw base 3025 always remains parallel to the roof. The left mechanical arm 300 first drives the left mechanical claw to grasp the magnetic connection port of the ceiling light. After the left mechanical claw has stabilized, the left mechanical arm 300 then drives the right mechanical claw to clamp the pre-set electromagnetic connection port on the ceiling. At this point, the magnetic connection ports at both ends are aligned and parallel to the screw base 3025 under the mechanical claw's grasp. With the right mechanical claw stationary, the left mechanical claw is driven by the screw 3024 to move toward the right mechanical claw, and the two mechanical claws 600 work together to achieve precise docking after the interfaces move towards each other. During operation, the mechanical claw force sensor 6005 monitors the gripping force in real time (in one embodiment of the present invention, the threshold is set to 0.5 to 1.2 N·m), dynamically adjusting the mechanical claw's closing strength to ensure stable and damage-free contact with the wires.

[0070] The lampshade installation device is mounted on the lamp raising platform and includes a vacuum rotary motor 4005 and a vacuum suction cup 4010 driven by the vacuum rotary motor 4005. During operation, the vacuum suction cup 4010, driven by the vacuum rotary motor 4005, absorbs the edge of the lampshade. The suction cup bracket then rotates ±90° around its axis, combining with the lifting and lowering motion of the lamp raising platform to raise the lampshade to the installation height. The vacuum rotary motor 4005 then rotates the lampshade clockwise at a constant torque (1.5 N·m), precisely engaging the internal clips of the lampshade with the lamp body 5001. Once the clips are fully locked, the negative pressure is released to prevent them from falling out due to external forces during installation.

[0071] In one embodiment of the present invention, the lamp lifting platform is a three-stage screw lifting platform 400, see Figure 1 and Figure 9The three-stage screw lifting platform 400 includes three platform pillars, three driven gears 4012, a platform center large gear 4004, a platform rotation motor 4011, a light-mounted platform base 4006, and a platform pressure sensor 4009. The bottom of the platform pillar is set on the vehicle frame 1001, the light-mounted platform base 4006 is set on the top of the platform pillar, and the vacuum suction cup 4010 is set on the light-mounted platform base 4006. The output end of the vacuum rotation motor 4005 passes through the light-mounted platform base 4006 and is directly connected to the vacuum suction cup 4010 above; the platform pressure sensor 4009 is set between the light-mounted platform base 4006 and the vacuum suction cup 4010. Each platform pillar includes a first-stage platform pillar 4001, a second-stage platform pillar 4002, and a third-stage platform pillar 4000. 3. Platform support level 1 (4001) nests with platform support level 2 (4002), utilizing a trapezoidal thread (Tr20×4) design. Platform support level 2 (4002) nests with platform support level 3 (4003), with each level having a stroke of 500mm, for a total lifting height of 1500mm. The upper ends of the three platform support levels 3 (4003) are welded to the base of the lighting platform. Each platform support level 1 (4001) is equipped with a driven gear (4012). The platform's central gear (4004) is connected to the output of the platform's rotary motor (4011) and meshes with the driven gear (4012). When the three-stage screw lifts the platform upward, the rotary motor (4011) drives the central gear (4004) and the three surrounding driven gears (4012) to rotate in the same direction. The driven gears (4012) and platform support level 1 (4001) are threadedly engaged for transmission. When the platform starts to rise, the driven gear 4012 and the platform support level 1 4001 are the main motion levels, and the platform support level 2 4002 is the auxiliary motion level. Since the three platform support level 3 4003 and the light platform base 4006 are welded to form a triangle and are relatively static, the platform support level 3 4003 is the direction locking level. The platform support level 1 4001 and the platform support level 2 4002 rotate together to push the locking level - the platform support level 3 4003 to rise; after the locking level rises 500mm, the internal limit groove of the platform support level 2 4002 cooperates with the platform support level 3 4003 The connection together becomes the locking stage, the driven gear 4012 is the main motion stage, the platform pillar level 1 4001 is the auxiliary motion stage, and the threaded transmission locking stage rises; after the locking stage rises 500mm, similarly, the platform pillar level 1 4001, level 2 4002, and level 3 4003 become the locking stage, the driven gear 4012 becomes the only motion stage, and the threaded transmission locking stage rises; after the locking stage rises 500mm, similarly, the driven gear 4012 becomes part of the locking stage. At this time, the entire three-stage screw lifting platform 400 has no motion stage, and the lifting height reaches the maximum, which is 1500mm.

[0072] In one embodiment of the present invention, 12 screws 4007 and 12 expansion particles 4008 are pre-installed on the left and right sides of the light mounting platform base 4006, respectively. Figure 9 As shown, screws 4007 and expansion particles 4008 are pre-installed on the right and left sides of the light platform base 4006, respectively. The pre-installed holes for expansion particles 4008 are coated with a non-slip coating (e.g., rubber). When installing or removing expansion particles 4008, the friction of the non-slip coating requires a preset force of 5N±1N to install or remove them. The holes for pre-installed screws 4007 contain thread grooves that are similar in size to the screw threads, but larger. To install or remove screws 4007, simply turn them clockwise or counterclockwise. During the process of installing the lamp, the robot only needs to drive the robotic arm to move to the base 4006 of the lamp installation platform to take out the reserved expansion particles 4008 and screws 4007 according to the corresponding operations. The left robotic arm 300 uses the airbag 3001 to inflate the expansion particles 4008 and squeeze the inner wall of the particles to overcome the pre-tightening force to take out the expansion particles 4008 and ensure that the expansion particles 4008 will not fall off from the inflated airbag 3001 when the robotic arm moves. The right robotic arm 200 uses the electromagnetic suction cross bit 2025 to approach the screw 4007. After the cross bit and the cross slot cooperate, the screw 4007 is unscrewed counterclockwise and the screw 4007 is stably fixed on the cross bit 2025 through the electromagnetic force, which also ensures that it will not fall off during the movement of the robotic arm.

[0073] In one embodiment of the present invention, the platform rotation motor 4011 drives the three-stage platform pillars to extend synchronously through the platform center large gear 4004 (module 3, number of teeth 80) via the driven gear 4012, with a lifting speed of 0.1m / s, which automatically reduces the speed to 0.05m / s when overloaded. The platform pressure sensor 4009 built into the lighting platform base 4006 fixed to the top of the three platform pillars 4003 monitors the platform load in real time (threshold ≤10kg), and the vacuum suction cup 4010 is installed directly above it. The surface of the vacuum suction cup 4010 is provided with an anti-slip pad (preferably an anti-slip rubber pad, Shore hardness 70A, friction coefficient ≥0.6), which increases the friction with the lamp base through elastic deformation. In one embodiment of the present invention, the anti-slip pad is annular. When transporting the lamp body 5001, the annular design of the anti-slip pad on the vacuum suction cup 4010 can fit with the annular structure below the lamp body 5001, thereby limiting the horizontal movement freedom of the lamp body 5001 and preventing it from falling. When the lampshade 5002 is finally installed, it can fit with the curved surface of the lampshade 5002, and the friction of the anti-slip pad prevents the lampshade 5002 from sliding during the lifting process. After the expansion particles 4008 are injected into the holes by the left robotic arm 300, the screws 4007 are screwed vertically by the right robotic arm 200. The screws 4007 engage with the inner wall of the expansion particles 4008 to form a mechanical interlock. When installing the lampshade, the three-stage screw lifting platform 400 lifts the lampshade 5002 to the target height. After the vacuum suction cup absorbs the lampshade 5002, the platform fine-tunes the height to reserve a 1-2mm gap between the lampshade 5002 and the lamp body 5001. Then, the lampshade 5002 is stably absorbed by the vacuum suction cup 4010, and then the vacuum rotating motor 4005 drives the vacuum suction cup 4010 to rotate and drive the lampshade 5002 to rotate, avoiding hard collisions that damage the lamp surface.

[0074] When all components work together, the binocular vision positioning system captures the ceiling marking points through the industrial camera 1006 set on the vehicle body 100, generates three-dimensional coordinates and plans the path, and locks the position after the vehicle body 100 moves to the target area. The chassis rotation motor 2016 of the right robotic arm 200 adjusts the direction of the base, and the right robotic arm 2007 and the right robotic arm 2006 are linked to make the drill bit 2001 vertically align with the drilling point. After the impact drill 2002 completes the drilling, the left robotic arm 300 uses the airbag 3001 to load the expansion particles 4008 into the hole, and the three-stage screw lifting platform 400 lifts the lamp to 70 mm from the roof. The mechanical claw 600 of the left robotic arm 300 connects the wire, and the three-stage screw lifting platform 400 lifts the lamp body 5001 to the installation position on the roof again. The drill bit 2001 of the right robotic arm 200 is manually replaced with a magnetic cross bit 2025, and the screw 4007 is screwed into the expansion particle 4008 to complete the fixation of the lamp body 5001. The three-stage screw lifting platform 400 is lowered to lift the lampshade 5002, making it fit with the lamp body 5001, and the vacuum suction cup 4010 is used to absorb the lampshade for rotation and locking. Throughout the entire process, the ultrasonic sensor 1007 monitors the distance between the vehicle body 1001 and obstacles in real time (safety threshold 200mm). The embedded controller (built into the vehicle frame 1001 and connected to all motors of the vehicle body 100, the right robotic arm 200, and the left robotic arm 300) coordinates multi-axis motion via the EtherCAT bus (control cycle 1ms) to ensure seamless connection between each link. Ultimately, the entire process from environmental scanning, positioning and locking, punching and gluing, wiring and fixing to lampshade installation is automated, which improves efficiency by 300% compared to traditional manual installation, and the accuracy error is controlled within ±0.5mm. It is suitable for complex scenarios such as high-rise buildings and commercial complexes, significantly reducing the risks and labor costs of high-altitude operations.

[0075] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but is intended to be embodied in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. A ceiling light installation robot, characterized in that: It includes a vehicle body, a mechanical arm, a lamp raising platform, a lampshade mounting device, a punching and screw tightening device, a wiring device and a particle mounting device; The mechanical arm is arranged on the vehicle body; The light-raising platform includes a light-mounting platform base, which can be raised and lowered on the vehicle body; The punching and screw tightening device, the wiring device and the particle installation device are all arranged on the robotic arm. The punching and screw tightening device is used to punch the installation hole and screw in the screw. The wiring device is used to connect the ceiling light. The particle installation device is used to install the expansion particles in the installation hole. When installing the lamp body, the installation hole is punched on the ceiling light installation position by the punching and screw tightening device, and then the expansion particles are installed in the installation hole by the particle installation device. Then, the screw is screwed into the expansion particle by the punching and screw tightening device. The lampshade mounting device is arranged on the lamp mounting platform base and is used for mounting the lampshade on the lamp body.

2. A ceiling light installation robot according to claim 1, characterized in that: The robotic arm includes a right robotic arm and a left robotic arm, which are arranged relatively on the vehicle body. The punching and screw tightening devices are arranged on the right robotic arm or the left robotic arm, and the wiring device and the particle installation device are on the left robotic arm or the robotic arm.

3. The ceiling light installation robot according to claim 1, characterized in that: It also includes a visual positioning system for capturing installation markers and planning paths in real time, and adjusting the motion trajectory of the robotic arm based on environmental feedback.

4. The ceiling light installation robot according to claim 1, characterized in that: The vehicle body comprises a vehicle body frame and liftable wheels arranged on the vehicle body frame.

5. The ceiling light installation robot according to claim 4, characterized in that: The vehicle body frame includes a base plate and a four-wheel platform located below the base plate. The wheels are rotatably arranged on the four-wheel platform. The four-wheel platform is connected to a rack, and the rack passes upward through the base plate of the vehicle body frame. An adjusting motor is arranged on the base plate. The output end of the adjusting motor is connected to the rack through a rack motor gear. The four-wheel platform is raised and lowered by the transmission of the rack and gear to realize the raising and lowering of the wheels.

6. The ceiling light installation robot according to claim 1, characterized in that: The drilling and screw tightening device includes a motor, an impact drill and an equipped drill bit and a screw mounting head. The motor is set at the end of the robotic arm, the impact drill is connected to the output end of the motor, and the drill bit or screw mounting head is detachably set on the impact drill. The mounting hole is drilled by the drill bit, and the screw is screwed in by the screw mounting head.

7. The ceiling light installation robot according to claim 1, characterized in that: The particle installation device includes an airbag and an automatic air pump. The automatic air pump is arranged on a robotic arm. The airbag is connected to the air outlet end of the automatic air pump. When working, the airbag expands inside the expandable particles to grab the expandable particles through friction between the two. When the grabbed expandable particles are placed into the installation hole under the drive of the robotic arm, the airbag releases gas to make the expandable particles fit tightly with the hole wall of the installation hole to fix the expandable particles in the installation hole.

8. The ceiling light installation robot according to claim 1, characterized in that: The wiring device comprises two mechanical claws, the distance between the two mechanical claws is adjustable, and the two mechanical claws both comprise mechanical claw heads that can be opened and closed.

9. The ceiling light installation robot according to claim 1, characterized in that: The lampshade mounting device comprises a vacuum suction cup rotatably arranged on the top of the lamp mounting platform base.

10. A ceiling light installation robot according to any one of claims 1 to 9, characterized in that: The lamp-raising platform also includes a platform pillar, a driven gear, a platform center gear, a platform rotating motor and a platform pressure sensor. The platform pillar is retractable. The bottom of the platform pillar is set on the vehicle body, the vacuum suction cup is set on the base of the lamp-mounting platform, the platform pressure sensor is set between the vacuum suction cup and the base of the lamp-mounting platform, the driven gear is set on the platform pillar, the platform center gear is meshed with the driven gear, and the output end of the platform rotating motor is connected to the platform center gear.

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