Suspended ceiling plate mounting robot

Abstract

The utility model discloses a ceiling board mounting robot. Comprising a walking chassis, a forking mechanism located on the walking chassis and used for forking a suspended ceiling plate stack, plate stack clamping mechanisms located on the walking chassis, symmetrically arranged on the two sides of the suspended ceiling plate stack and used for clamping the suspended ceiling plate stack from the four sides, and people loading operation platforms located on the plate stack clamping mechanisms and symmetrically arranged on the two sides of the suspended ceiling plate stack. The first-stage jacking mechanism is used for jacking a single plate; the second-stage jacking mechanism is used for continuously jacking the single plate on the first-stage jacking mechanism; the third-stage jacking mechanism is positioned at the top of the second-stage jacking mechanism and is used for continuously jacking the single plate on the second-stage jacking mechanism to a working height; and the control system is connected with the forking mechanism, the plate stack clamping mechanism, the people-climbing operation platform, the first-stage jacking mechanism, the second-stage jacking mechanism and the third-stage jacking mechanism. According to the plate jacking device, single plates can be jacked alternately one by one to the required height, and the construction efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of building robots, in particular to a ceiling panel installation robot. Background Art

[0002] Many buildings have high floors, and installing ceiling panels inside them is an aerial operation. The traditional installation method is for construction workers to carry the ceiling panels one by one to a aerial platform, and then the workers drive the aerial platform to the installation location, and then manually lift the panels for installation. For larger panels, it is often necessary to use two aerial platforms to carry them together and multiple workers to lift them simultaneously. As a result, the existing installation operation is cumbersome, time-consuming and labor-intensive, which puts great mental pressure on workers and causes high labor and time costs for installation. Utility Model Content

[0003] Purpose of the utility model: The purpose of the utility model is to provide a ceiling panel installation robot that can alternately lift single panels one by one to the required height, greatly improving construction efficiency.

[0004] Technical solution: To achieve the above objectives, the utility model discloses a ceiling panel installation robot, comprising a walking chassis, a forking mechanism located on the walking chassis and used for forking a ceiling panel stack, a panel stack clamping mechanism located on the walking chassis and symmetrically arranged on both sides of the ceiling panel stack and used for clamping the ceiling panel stack on four sides, a manned working platform located on the panel stack clamping mechanism and symmetrically arranged on both sides of the ceiling panel stack, a first-stage lifting mechanism located on the left and right sides of the ceiling panel stack and used for lifting a single panel, a second-stage lifting mechanism located on the front and rear sides of the ceiling panel stack and used for continuing to lift a single panel on the first-stage lifting mechanism, a third-stage lifting mechanism located on the top of the second-stage lifting mechanism and used for continuing to lift a single panel on the second-stage lifting mechanism to a working height, and a control system respectively connected to the walking chassis, the forking mechanism, the panel stack clamping mechanism, the manned working platform, the first-stage lifting mechanism, the second-stage lifting mechanism and the third-stage lifting mechanism.

[0005] The forking mechanism includes fork teeth for forking the pallet, a horizontal moving mechanism for driving the fork teeth to move forward and backward on the walking chassis, and a vertical moving mechanism for driving the fork teeth to move vertically on the walking chassis. The horizontal moving mechanism includes a horizontal motor fixed on the walking chassis, a driving gear connected to the output shaft of the horizontal motor, a driven gear connected to the driving gear through a transmission chain, a main transmission shaft mounted on the walking chassis through a bearing seat and coaxially arranged with the driven gear, driving wheels located at both ends of the main transmission shaft, a secondary transmission shaft parallel to the main transmission shaft and mounted on the walking chassis through a bearing seat, driven wheels located at both ends of the secondary transmission shaft, and a gear mounted on the walking chassis. Belts on the driving wheel and the driven wheel, a fork frame connected to the belt and used to install the fork, a horizontal movable groove parallel to the belt and arranged on the walking chassis, and a horizontal roller located on the outside of the fork frame and able to slide back and forth along the horizontal movable groove; the vertical moving mechanism includes a vertical motor arranged on the fork frame, a vertical movable groove vertically arranged on the fork frame, a vertical roller located on the outside of the fork and able to move up and down along the vertical movable groove, a driving wire wheel connected to the output shaft of the vertical motor, a fixed wire wheel located at the top of the fork frame, a hinge connection block located at the fork, and a wire rope wound around the driving wire wheel, the hinge connection block and the fixed wire wheel.

[0006] Preferably, the plate stack clamping mechanism includes left and right telescopic motors fixed on the walking chassis, a connecting frame connected to the telescopic ends of the left and right telescopic motors, front and rear telescopic motors located at the front end of the connecting frame, a telescopic outer tube connected to the telescopic ends of the front and rear telescopic motors, and an L-shaped push plate connected to the telescopic outer tube and located at the corner of the plate stack.

[0007] Furthermore, the access work platform includes a retractable access ladder fixed on the connection frame and a C-shaped work platform located at the top of the access ladder. The access ladder includes a lower ladder, an upper ladder and a ladder telescopic hydraulic cylinder for adjusting the position between the upper and lower ladders.

[0008] Furthermore, the first-level jacking mechanism includes a first vertically arranged jacking slide rail connected to the man-mounted working platform, a first jacking motor located at one end of the first jacking slide rail, a jacking driving wheel connected to the output shaft of the first jacking motor, a jacking driven wheel located at the other end of the first jacking slide rail, a jacking synchronous belt wound around the jacking driving wheel and the jacking driven wheel, a first jacking slider located on the first jacking slide rail and connected to the jacking synchronous belt, a limit switch located on the first jacking slider, and a fork claw assembly located on the first jacking slider for forking a single plate. When the first jacking motor is started, the jacking synchronous belt is driven to move through the jacking driving wheel and the jacking driven wheel, and the first jacking slider slides up and down together with the jacking synchronous belt. When the limit switch contacts the first plate at the top of the plate stack, the fork claw assembly is actuated to fork the single plate.

[0009] Preferably, the fork claw assembly includes a fork claw motor fixed on the first lifting slider and a fork claw located at the output end of the fork claw motor, and a groove matched with the fork claw is opened on the side of the single plate.

[0010] Furthermore, the second-stage lifting mechanism includes a first linear module connected to the plate stack clamping mechanism, a second linear module connected to the slider of the first linear module, a third linear module connected to the slider of the second linear module, and a flap connected to the slider of the third linear module and unidirectionally rotatable. The first-stage lifting mechanism lifts the single plate upwards, and the first linear module, the second linear module and the third linear module of the second-stage lifting mechanism move to drive the flap down to the single plate, and the single plate pushes the flap to flip, and the flap passes over the single plate to the bottom of the single plate to lift the plate.

[0011] Furthermore, the third-level lifting mechanism includes a third-level lifting motor fixed on the top of the second-level lifting mechanism, a lifting rod located at the output end of the third-level lifting motor, a lifting turntable located at the end of the lifting rod, a turntable motor connected to the lifting turntable, a crank connected to the lifting turntable and capable of rotating with the lifting turntable, and a support plate located at the end of the crank and used to support a single plate. The second-level lifting mechanism lifts the single plate upwards, the turntable motor is activated to drive the crank to rotate to the outside, the third-level lifting motor is activated, the lifting rod drives the crank to move downward to the bottom of the single plate, the turntable motor is activated to drive the crank to rotate to the inside until the support plate is located under the single plate to lift the plate.

[0012] Preferably, it also includes a laser radar, a pair of laser rangefinders and a binocular camera arranged on the walking chassis, and the laser radar, the laser rangefinder and the binocular camera are all connected to the control system.

[0013] Furthermore, four rubber wheels with steering gears are arranged on the walking chassis.

[0014] Beneficial effects: Compared with the prior art, the utility model has the following advantages: the utility model can fork the stacked ceiling panels one by one and lift the ceiling panels to a suitable height, which is convenient for personnel to install; in the process of lifting one ceiling panel, the next ceiling panel can be prepared alternately, which reduces waiting time, facilitates rapid replenishment, and improves construction speed; the utility model solves the problems of low efficiency and high labor intensity of traditional construction equipment and methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the state of the fork-taking mechanism of the utility model clamping the pallet;

[0017] Figure 3The structure diagram of the fork-taking mechanism in the utility model is shown in FIG. Figure 1 ;

[0018] Figure 4 The structure diagram of the fork-taking mechanism in the utility model is shown in FIG. Figure 2 ;

[0019] Figure 5 The structure diagram of the fork-taking mechanism in the utility model is shown in FIG. Figure 3 ;

[0020] Figure 6 The structure diagram of the fork-taking mechanism in the utility model is shown in FIG. Figure 4 ;

[0021] Figure 7 The structure diagram of the fork-taking mechanism in the utility model is shown in FIG. Figure 5 ;

[0022] Figure 8 It is a structural schematic diagram of the middle plate stack clamping mechanism and the man-mounted working platform of the utility model;

[0023] Fig. 9 It is a structural schematic diagram of the first-stage lifting mechanism in the utility model;

[0024] Fig.10 It is a partial enlarged schematic diagram of the first-stage lifting mechanism in the utility model;

[0025] Fig.11 It is a schematic diagram of the structure of a single plate in the utility model;

[0026] Fig.12 It is a structural schematic diagram of the second-stage lifting mechanism and the third-stage lifting mechanism in the utility model. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0028] It should be understood that the present invention can be implemented in different forms and should not be construed as being limited to the embodiments presented herein. On the contrary, providing these embodiments will make the disclosure thorough and complete and fully convey the scope of the present invention to those skilled in the art. In the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity. The same reference numerals throughout represent the same components.

[0029] like Figure 1As shown, a ceiling panel installation robot of the utility model includes a walking chassis 1, a forking mechanism 2, a plate stack clamping mechanism 3, a man-mounted working platform 4, a first-level lifting mechanism 5, a second-level lifting mechanism 6, a third-level lifting mechanism 7, a laser radar, a laser rangefinder, a binocular camera and a control system, wherein the walking chassis 1, the forking mechanism 2, the plate stack clamping mechanism 3, the man-mounted working platform 4, the first-level lifting mechanism 5, the second-level lifting mechanism 6, the third-level lifting mechanism 7, the laser radar, the laser rangefinder and the binocular camera are all connected to the control system.

[0030] There are 4 rubber wheels with steering gears on the walking chassis, and the laser radar, laser rangefinder and binocular camera are all set on the walking chassis. The laser radar is arranged on a narrow side of the walking chassis, a binocular camera is arranged at the center of the long side of the self-propelled chassis facing the palletizing, and another binocular camera is arranged on the manned working platform. The control system is arranged on the manned working platform, and the laser rangefinder is located on the side of the walking chassis facing the board stack. The laser rangefinder is a pair.

[0031] like Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, the forking mechanism 2 is located on the walking chassis 1, and is used to fork the ceiling panel stack. The forking mechanism 2 includes fork teeth 202, a horizontal moving mechanism and a vertical moving mechanism, wherein the pallet 201 is used to stack the panels in sequence to form a ceiling panel stack, the fork teeth 202 are used to fork the pallet 201, the horizontal moving mechanism is used to drive the fork teeth to move back and forth on the walking chassis, and the vertical moving mechanism is used to drive the fork teeth to move vertically on the walking chassis. The horizontal moving mechanism includes a horizontal motor 203, a driving gear 204, a transmission chain 205, a driven gear 206, a bearing seat 207, a main transmission shaft 208, a driving wheel 209, a secondary transmission shaft 210, a driven wheel 211, a belt 212, a fork frame 213, a horizontal moving groove 214 and a horizontal roller 215, wherein the horizontal motor 203 is fixed on the walking chassis 1, the driving gear 204 is connected to the output shaft of the horizontal motor 203, the driven gear 206 is connected to the driving gear 204 through the transmission chain 205, the main transmission shaft 208 is mounted on the walking chassis 1 through the bearing seat 207, the main transmission shaft 208 is coaxially arranged with the driven gear 206, and the secondary transmission shaft 210 is connected to the driving gear 204. The main transmission shaft 208 is arranged in parallel, the secondary transmission shaft 210 is mounted on the walking chassis 1 through the bearing seat 207, the driving wheel 209 is located at both ends of the main transmission shaft 208, the driven wheel 211 is located at both ends of the secondary transmission shaft 210, the belt 212 is wound around the driving wheel 209 and the driven wheel 211, the fork frame 213 is connected to the belt 212, the fork frame 213 is used to install the fork, the horizontal moving groove 214 is parallel to the belt 212, the horizontal moving groove 214 is arranged on the walking chassis 1, the horizontal roller 215 is located outside the fork frame 213, and the horizontal roller 215 on the fork frame 213 can move forward and backward along the horizontal moving groove 214 driven by the belt 212. The horizontal motor 203 is started to drive the fork frame 213 and the fork 202 to move forward and backward along the horizontal moving groove 214. The vertical moving mechanism includes a vertical motor 216, a vertical moving groove 217, a vertical roller 218, a driving line wheel 219, a fixed line wheel 220, a hinge connection block 221 and a wire rope. The vertical motor 216 is arranged on the fork frame 213, the vertical moving groove 217 is vertically arranged on the fork frame 213, the vertical roller 218 is located on the outside of the fork tine 202, and the vertical roller 218 can move up and down along the vertical moving groove 217. The driving line wheel 219 is connected to the output shaft of the vertical motor 216, the fixed line wheel 220 is located at the top of the fork frame 213, the hinge connection block 221 is located on the fork tine 202, and the wire rope is wound around the driving line wheel 219, the hinge connection block 221 and the fixed line wheel 220; the vertical motor 216 is started, and the fork tine 202 is pulled up and down along the vertical moving groove 217 on the fork frame 213 by the wire rope.

[0032] like Figure 8As shown, the plate stack clamping mechanism 3 is located on the walking chassis 1, and the plate stack clamping mechanism 3 is symmetrically arranged on both sides of the ceiling plate stack and is used to clamp the ceiling plate stack on four sides. The plate stack clamping mechanism 3 includes left and right telescopic motors 301, a connecting frame 302, a front and rear telescopic motor 303, a telescopic outer tube 304 and an L-shaped push plate 305. The left and right telescopic motors 301 are fixed on the walking chassis 1, the connecting frame 302 is connected to the telescopic ends of the left and right telescopic motors 301, the front and rear telescopic motors 303 are located at the front end of the connecting frame 302, the telescopic outer tube 304 is connected to the telescopic ends of the front and rear telescopic motors 303, the L-shaped push plate 305 is connected to the telescopic outer tube 304, and the L-shaped push plate 305 is located at the corner of the plate stack. When the left and right telescopic motors 301 are started, the L-shaped push plate 305 is driven to move left and right through the connecting frame 302, and when the front and rear telescopic motors 303 are started, the L-shaped push plate 305 is driven to move forward and backward through the telescopic outer tube 304, so as to achieve the four-sided clamping of the ceiling plate stack. There are two access work platforms 4, which can move independently of each other. The access work platforms 4 are located on the plate stack clamping mechanism 3, and are symmetrically arranged on both sides of the ceiling plate stack. The access work platforms 4 include a ladder and a C-shaped work platform 401. The ladder is fixed on the connection frame 302, and the ladder is retractable. The C-shaped work platform 401 is located at the top of the ladder. The ladder includes a lower ladder 402, an upper ladder 403, and a ladder telescopic hydraulic cylinder 404. The ladder telescopic hydraulic cylinder 404 is used to adjust the position between the upper and lower ladders.

[0033] like Fig. 9 , Fig.10 and Fig.11As shown, the first-stage lifting mechanism 5 is located on the left and right sides of the ceiling panel stack, and is used to lift a single panel. The first-stage lifting mechanism 5 includes a first lifting rail 501, a first lifting motor 502, a lifting driving wheel 503, a lifting driven wheel 504, a lifting synchronous belt 505, a first lifting slider 506, a limit switch 507 and a fork claw assembly. The fork claw assembly includes a fork claw motor 508 and a fork claw 509. A groove 510 is provided on the side of the single panel, and the groove 510 is adapted to the fork claw 509. The first lifting rail 501 is connected to the lower ladder 402 of the man-mounted working platform, the first lifting motor 502 is located at the upper end of the first lifting rail, the lifting driving wheel 503 is connected to the output shaft of the first lifting motor 502, the lifting driven wheel 504 is located at the lower end of the first lifting rail, the lifting synchronous belt 505 is wound around the lifting driving wheel 503 and the lifting driven wheel 504, the first lifting slider 506 is located on the first lifting rail 501, the first lifting slider 506 is connected to the lifting synchronous belt 505, the limit switch 507 is located on the first lifting slider 506, the fork claw assembly is located on the first lifting slider 506, the fork claw assembly is used to fork a single sheet, the fork claw motor 508 is fixed on the first lifting slider 506, and the fork claw 509 is located at the output end of the fork claw motor 508. The first lifting motor 502 is started, and the lifting synchronous belt 505 is driven to move through the lifting active wheel 503 and the lifting driven wheel 504. The first lifting slider 506 slides up and down with the lifting synchronous belt 505. When the limit switch 507 contacts the first plate at the top of the plate stack, the fork claw motor 508 is activated, and the fork claw 509 extends out and is inserted into the groove 510 of the plate to fork a single plate.

[0034] like Fig.12As shown, the second-stage lifting mechanism 6 is located at the front and rear sides of the ceiling plate stack. The second-stage lifting mechanism 6 is used to continue lifting the single plate on the first-stage lifting mechanism. The third-stage lifting mechanism 7 is located at the top of the second-stage lifting mechanism 6. The third-stage lifting mechanism 7 is used to continue lifting the single plate on the second-stage lifting mechanism 2 to the working height. The second-stage lifting mechanism 6 includes a first linear module 601, a second linear module 602, a third linear module 603 and a flap 604. The first linear module 601 is connected to the L-shaped push plate 305 of the plate stack clamping mechanism 3, the second linear module 602 is connected to the slider of the first linear module 601, the third linear module 603 is connected to the slider of the second linear module 602, the flap 604 is connected to the slider of the third linear module 603, and the flap can rotate in one direction. Mechanism 5 lifts the single sheet upwards, and the first linear module 601, the second linear module 602 and the third linear module 603 of the second-stage lifting mechanism 6 are actuated, driving the flap 604 to move down to the single sheet, and the single sheet pushes the flap 604 to flip, and the flap 604 passes over the single sheet to the bottom of the single sheet to lift the sheet, and the fork claw motor 508 is actuated, and the fork claw 509 is retracted, and the first-stage lifting mechanism 5 is started, driving the fork claw to move downward and repeating the action to continue lifting the next sheet. The third-stage lifting mechanism 7 includes a third-stage lifting motor 701, a lifting rod 702, a lifting turntable 703, a turntable motor 704, a turning rod 705 and a supporting plate 706. The third-stage lifting motor 701 is fixed on the third linear module 603 of the second-stage lifting mechanism 6. The lifting rod 702 is located at the output end of the third-stage lifting motor 701. The lifting turntable 703 is located at the end of the lifting rod 702. The turntable motor 704 is connected to the lifting turntable 703 for driving the lifting turntable 703 to rotate; the turning rod 705 is connected to the lifting turntable 70 4 is connected and can rotate with the lifting turntable 704, the support plate 706 is located at the end of the turning rod 705, and the support plate 706 is used to hold a single plate. The second-level lifting mechanism 6 lifts the single plate to the top, the turntable motor 704 is actuated, driving the turning rod 705 to rotate to the outside to avoid the single plate, the third-level lifting motor 701 is actuated, the lifting rod 702 drives the turning rod 705 to move downward to the bottom of the single plate, the turntable motor 704 is actuated, driving the turning rod 705 to rotate to the inside until the support plate 706 is located under the single plate to lift the plate. When the second-level lifting mechanism and the third-level lifting mechanism of the utility model are lifting the plate, the first-level lifting mechanism can automatically lift the next plate and wait for the second-level lifting mechanism to extract it next time.

[0035] The utility model discloses a ceiling panel installation robot applied to an industrial plant, wherein a plurality of piles of color steel plates with pallet bottoms are stacked on the floor inside the plant, a ceiling keel has been installed above the plant in advance, and now a layer of color steel plate ceiling panel needs to be installed on the keel.

[0036] The utility model discloses a ceiling panel installation robot, the working process of which is:

[0037] The laser radar scans the environment and transmits it to the control system. The binocular camera takes a picture of the plate stack and transmits it to the control system. The laser rangefinder measures the distance to the plate stack and transmits it to the control system. The control system controls the walking chassis to move to the target plate stack according to the data measured by the laser radar, binocular camera and laser rangefinder. The control system controls the fork mechanism to extend the fork teeth, pick up the pallet, retract the fork teeth, and the plate stack clamping mechanism clamps and fixes the plate stack. The operator climbs onto the manned working platform and operates the manned working platform to rise to the required position.

[0038] The plate stack clamping mechanism releases the clamping of the plate stack, the first-level lifting mechanism clamps the single plate on the top of the plate stack and lifts it to the required height, waiting for the second-level lifting mechanism; the second-level lifting mechanism clamps the single plate on the first-level lifting mechanism and continues to lift it upward, waiting for the third-level lifting mechanism; then the pallet of the third-level lifting mechanism takes over the single plate and lifts it to the specified height for the operator to use;

[0039] When a single plate on the first-stage lifting mechanism is taken away, the first-stage lifting mechanism moves downward to clamp the next plate and lifts it to the required height, waiting for the next clamping by the second-stage lifting mechanism;

[0040] When the operator completes the installation of the current plate, the control system controls the walking chassis to move straight or horizontally to the position of the next top plate to be installed according to the length or width of the plate.

[0041] The utility model can automatically fork the plate stack and lift the plates one by one, thus avoiding the work of manually carrying the plates one by one to the aerial platform, manually driving the aerial platform and lifting the plates together, thereby reducing the operating intensity of personnel; the utility model also realizes the function of lifting the plates in advance through the multi-stage lifting mechanism, thus significantly reducing the waiting time for extracting the plates.

Claims

1. A ceiling panel installation robot, characterized in that: The invention comprises a walking chassis (1), a forking mechanism (2) located on the walking chassis and used for forking a ceiling plate stack, a plate stack clamping mechanism (3) located on the walking chassis and symmetrically arranged on both sides of the ceiling plate stack and used for clamping the ceiling plate stack on four sides, a manned working platform (4) located on the plate stack clamping mechanism and symmetrically arranged on both sides of the ceiling plate stack, a first-stage lifting mechanism (5) located on the left and right sides of the ceiling plate stack and used for lifting a single plate, a second-stage lifting mechanism (6) located on the front and rear sides of the ceiling plate stack and used for further lifting a single plate on the first-stage lifting mechanism, and a second-stage lifting mechanism (7) located on the top of the second-stage lifting mechanism and used for further lifting a single plate on the second-stage lifting mechanism. A third-stage lifting mechanism (7) for lifting to a working height and a control system respectively connected to the walking chassis (1), the forking mechanism (2), the plate stack clamping mechanism (3), the manned work platform (4), the first-stage lifting mechanism (5), the second-stage lifting mechanism (6) and the third-stage lifting mechanism (7); the forking mechanism (2) comprises a fork tooth (202) for forking a pallet (201), a horizontal moving mechanism for driving the fork tooth to move forward and backward on the walking chassis, and a vertical moving mechanism for driving the fork tooth to move vertically on the walking chassis; the horizontal moving mechanism comprises a horizontal motor (203) fixed to the walking chassis, and a control system respectively connected to the horizontal motor. A driving gear (204) connected to an output shaft, a driven gear (206) connected to the driving gear through a transmission chain (205), a main transmission shaft (208) mounted on a traveling chassis through a bearing seat (207) and coaxially arranged with the driven gear, driving wheels (209) located at both ends of the main transmission shaft, a secondary transmission shaft (210) parallel to the main transmission shaft and mounted on the traveling chassis through the bearing seat (207), driven wheels (211) located at both ends of the secondary transmission shaft, a belt (212) wound around the driving wheel and the driven wheel, a fork tooth frame (213) connected to the belt and used for mounting fork teeth, and a fork tooth frame (213) parallel to the belt and arranged on the traveling chassis. The invention relates to a vertical moving mechanism, comprising a horizontal moving groove (214) and a horizontal roller (215) located outside the fork tine frame and capable of sliding forward and backward along the horizontal moving groove; the vertical moving mechanism comprises a vertical motor (216) arranged on the fork tine frame (213), a vertical moving groove (217) vertically arranged on the fork tine frame, a vertical roller (218) located outside the fork tine and capable of moving up and down along the vertical moving groove, a driving wire wheel (219) connected to the output shaft of the vertical motor, a fixed wire wheel (220) located at the top of the fork tine frame, a hinge connection block (221) located at the fork tine, and a steel wire rope wound around the driving wire wheel, the hinge connection block and the fixed wire wheel.

2. A ceiling panel installation robot according to claim 1, characterized in that: The plate stack clamping mechanism (3) comprises left and right telescopic motors (301) fixed to the walking chassis, a connection frame (302) connected to the telescopic ends of the left and right telescopic motors, front and rear telescopic motors (303) located at the front end of the connection frame, a telescopic outer tube (304) connected to the telescopic ends of the front and rear telescopic motors, and an L-shaped push plate (305) connected to the telescopic outer tube and located at a corner of the plate stack.

3. A ceiling panel installation robot according to claim 2, characterized in that: The access work platform (4) comprises a retractable access ladder fixed on a connection frame (302) and a C-shaped work platform (401) located at the top of the access ladder. The access ladder comprises a lower ladder (402), an upper ladder (403) and a ladder retractable hydraulic cylinder (404) for adjusting the position between the upper and lower ladders.

4. The ceiling panel installation robot according to claim 1, characterized in that: The first-stage lifting mechanism (5) comprises a first vertically arranged lifting rail (501) connected to the man-entering working platform, a first lifting motor (502) located at one end of the first lifting rail, a lifting driving wheel (503) connected to the output shaft of the first lifting motor, a lifting driven wheel (504) located at the other end of the first lifting rail, a lifting synchronous belt (505) wound around the lifting driving wheel and the lifting driven wheel, a first lifting slider (506) located on the first lifting rail and connected to the lifting synchronous belt, a limit switch (507) located on the first lifting slider, and a fork claw assembly located on the first lifting slider for forking a single sheet of plate. When the first lifting motor is started, the lifting synchronous belt is driven to move via the lifting driving wheel and the lifting driven wheel, and the first lifting slider slides up and down together with the lifting synchronous belt. When the limit switch contacts the first sheet of plate at the top of the plate stack, the fork claw assembly is actuated to fork the single sheet of plate.

5. A ceiling panel installation robot according to claim 4, characterized in that: The fork claw assembly comprises a fork claw motor (508) fixed on the first lifting slider and a fork claw (509) located at the output end of the fork claw motor, and a groove (510) matching the fork claw is formed on the side of the single plate.

6. The ceiling panel installation robot according to claim 1, characterized in that: The second-stage lifting mechanism (6) comprises a first linear module (601) connected to the plate stack clamping mechanism, a second linear module (602) connected to the slider of the first linear module, a third linear module (603) connected to the slider of the second linear module, and a flap (604) connected to the slider of the third linear module and rotatable in one direction. The first-stage lifting mechanism lifts the single plate upwards, and the first linear module, the second linear module and the third linear module of the second-stage lifting mechanism move to drive the flap to move downward to the single plate. The single plate pushes the flap to flip, and the flap passes over the single plate to the bottom of the single plate to lift the plate.

7. The ceiling panel installation robot according to claim 1, characterized in that: The third-stage lifting mechanism (7) comprises a third-stage lifting motor (701) fixed to the top of the second-stage lifting mechanism, a lifting rod (702) located at the output end of the third-stage lifting motor, a lifting turntable (703) located at the end of the lifting rod, a turntable motor (704) connected to the lifting turntable, a crank (705) connected to the lifting turntable and rotatable with the lifting turntable, and a support plate (706) located at the end of the crank and used to support a single sheet of material. The second-stage lifting mechanism lifts the single sheet of material upward, the turntable motor is actuated to drive the crank to rotate to the outside, the third-stage lifting motor is actuated, the lifting rod drives the crank to move downward to below the single sheet of material, the turntable motor is actuated to drive the crank to rotate to the inside until the support plate is located below the single sheet of material to lift the sheet of material.

8. The ceiling panel installation robot according to claim 1, characterized in that: It also includes a laser radar, a pair of laser rangefinders and a binocular camera arranged on a walking chassis. The laser radar, the laser rangefinder and the binocular camera are all connected to a control system.

9. The ceiling panel installation robot according to claim 1, characterized in that: The walking chassis (1) is provided with four rubber wheels with steering gears.

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