Ceiling automatic installation robot

Abstract

The utility model discloses a kind of ceiling automatic installation robot, robot includes mobile chassis, scissor type lifting mechanism, three-axis moving mechanism, external frame, nail gun assembly and control sensing mechanism;Scissor type lifting mechanism includes first platform, scissor arm group and second platform, first platform is set on the top of mobile chassis, first platform is connected with second platform by scissor arm group, control sensing mechanism is set below first platform;External frame is set on the top of second platform, three-axis moving mechanism is set in external frame, to be installed ceiling panel is placed on the top of external frame;The execution end of three-axis moving mechanism is connected with nail gun assembly transmission, nail gun assembly is used to perform installation work to to-be-installed ceiling panel.The utility model realizes the whole-process automation of to-be-installed ceiling panel from handling, compacting to automatic nailing, effectively reduces manual labor intensity and high-altitude operation risk, improves the overall operation precision of to-be-installed ceiling panel installation.

Description

Technical Field

[0001] This utility model relates to the field of building automation equipment technology, and in particular to an automatic ceiling installation robot. Background Technology

[0002] With the promotion of prefabricated steel structure modular building and decoration integration technology, the requirements for standardization, automation and high-altitude operation safety in the building interior decoration process are increasing.

[0003] Currently, the installation of ceiling panels and wall panels still relies heavily on manual labor. Construction workers must climb to the top of scaffolding or A-frame ladders several meters high, lift large panels weighing more than 15 kg by hand, and simultaneously perform delicate operations such as leveling the panels, aligning the joints, and positioning the screws while suspended in the air. They then use a high-speed electric screwdriver to nail the panels in place.

[0004] This method has the following prominent problems: 1. When nailing at heights, workers need to hold the panel with one hand. Operating a vibrating electric drill with only one hand greatly increases the risk of falling due to loss of balance; 2. Panels weighing over 15kg require two people to lift them, and the workers have to maintain an upright, arm-raising posture for extended periods, which is physically demanding; 3. Manual visual positioning is limited by the field of view, resulting in significant misalignment of panel seams. Although semi-automatic equipment such as scissor lifts can assist in lifting panels to the working height, they essentially replace manual lifting with mechanical jacking, and do not fundamentally solve the safety hazards and standardization problems of working at heights.

[0005] Therefore, existing ceiling installation methods have high safety risks due to high-altitude operations, high labor intensity, and difficulty in ensuring construction accuracy. Utility Model Content

[0006] This utility model provides an automatic ceiling installation robot, which aims to solve the problems of high safety risks, high labor intensity, and difficulty in ensuring construction accuracy in existing ceiling installation methods.

[0007] To solve the above-mentioned technical problems, this utility model provides an automatic ceiling installation robot, which includes a mobile chassis, a scissor lift mechanism, a three-axis moving mechanism, an external frame, a nail gun assembly, and a control and sensing mechanism.

[0008] The scissor lift mechanism includes a first platform, a scissor arm assembly, and a second platform. The first platform is located above the mobile chassis and is connected to the second platform via the scissor arm assembly. The control sensing mechanism is located below the first platform.

[0009] The external frame is positioned above the second platform, the three-axis moving mechanism is positioned inside the external frame, and the ceiling panel to be installed is placed above the external frame.

[0010] The actuator of the three-axis moving mechanism is connected to the nail gun assembly, which is used to perform installation work on the ceiling panel to be installed.

[0011] Furthermore, the scissor arm assembly includes a first scissor arm, a second scissor arm, and a lifting drive mechanism;

[0012] The first scissor arm and the second scissor arm are symmetrically arranged on the upper surface of the first platform. The first scissor arm and the second scissor arm are connected by multiple connecting rods. The first scissor arm and the second scissor arm move up and down under the drive of the lifting drive mechanism.

[0013] Furthermore, the three-axis moving mechanism includes an X-axis slide, a Y-axis slide, and a Z-axis slide, which are arranged sequentially from bottom to top, with the X-axis slide located on the side closest to the second platform;

[0014] The sliding actuator of the X-axis slide table moves along the long axis of the X-axis slide table under the drive of the first sliding drive mechanism, and drives the Y-axis slide table to move synchronously.

[0015] The sliding actuator of the Y-axis slide table moves along the long axis of the Y-axis slide table under the drive of the second sliding drive mechanism, and drives the Z-axis slide table to move synchronously.

[0016] Driven by the third sliding drive mechanism, the sliding actuator of the Z-axis slide moves along the long axis of the Z-axis slide, and drives the nail gun assembly to move synchronously.

[0017] Furthermore, the Y-axis slide is connected to the sliding execution end of the X-axis slide, and the sliding direction of the Y-axis slide is perpendicular to the sliding direction of the X-axis slide;

[0018] The Z-axis slide is connected to the sliding execution end of the Y-axis slide, and the sliding direction of the Z-axis slide is perpendicular to the sliding direction of the X-axis slide and the sliding direction of the Y-axis slide.

[0019] The sliding end of the Z-axis slide table serves as the execution end of the three-axis moving mechanism and is connected to the nail gun assembly.

[0020] Furthermore, the external frame includes a bottom frame, four columns and an upper frame. The four columns are disposed between the bottom frame and the upper frame. The bottom frame is disposed below the upper frame, and the ceiling panel to be installed is placed above the upper frame.

[0021] Furthermore, the upper frame extends along a preset direction to form an extension end, which extends beyond the outline of the bottom frame.

[0022] Furthermore, multiple pressure sensor plates are provided on the upper frame.

[0023] Furthermore, the upper frame is equipped with a position sensor, which is used to detect the distance signal between the ceiling panel to be installed and the ceiling mounting surface.

[0024] Furthermore, the nail gun assembly includes an electric screwdriver and a nail gun protective housing, with the electric screwdriver disposed inside the nail gun protective housing.

[0025] Furthermore, the working end of the electric screwdriver extends from a pre-set opening in the screwdriver protective housing to perform installation work on the ceiling panel to be installed.

[0026] This utility model discloses an automatic ceiling installation robot. The robot includes a mobile chassis, a scissor lift mechanism, a three-axis moving mechanism, an external frame, a nail gun assembly, and a control and sensing mechanism. The scissor lift mechanism includes a first platform, a scissor arm assembly, and a second platform. The first platform is located above the mobile chassis and is connected to the second platform via the scissor arm assembly. The control and sensing mechanism is located below the first platform. The external frame is located above the second platform, and the three-axis moving mechanism is located within the external frame. The ceiling panel to be installed is placed above the external frame. The actuator of the three-axis moving mechanism is connected to the nail gun assembly, which is used to perform the installation operation on the ceiling panel to be installed. In this embodiment of the utility model, the mobile chassis drives the robot to the work area, the scissor lift mechanism raises the external frame to the installation height, the three-axis moving mechanism drives the nail gun assembly to accurately position, and finally the nail gun assembly completes the automated nailing of the ceiling panel to be installed above the external frame. This process realizes the full automation of the ceiling panel to be installed from handling and pressing to automatic nailing, effectively reducing the intensity of manual labor and the risk of high-altitude operation, and improving the overall operation accuracy of the ceiling panel installation. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a structural diagram of the automatic ceiling installation robot provided in this embodiment of the utility model;

[0029] Figure 2 This is a front view of the ceiling automatic installation robot provided in this embodiment of the utility model;

[0030] Figure 3 This is a side view of the ceiling automatic installation robot provided in this embodiment of the utility model;

[0031] The labels for the attached figures are as follows:

[0032] 1. Mobile chassis; 2. Scissor lift mechanism; 21. First platform; 22. Second platform; 23. Scissor arm assembly; 31. X-axis slide; 32. Y-axis slide; 33. Z-axis slide; 4. External frame; 41. Bottom frame; 42. Upper frame; 5. Nail gun assembly; 51. Electric screw gun; 52. Nail gun protective housing; 6. Control and sensing mechanism; 7. Ceiling panel to be installed. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0034] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0035] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0036] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0037] Please see Figures 1 to 3 This utility model proposes an automatic ceiling installation robot. The robot includes a mobile chassis 1, a scissor lift mechanism 2, a three-axis moving mechanism, an external frame 4, a nail gun assembly 5, and a control and sensing mechanism 6. The scissor lift mechanism 2 includes a first platform 21, a scissor arm assembly 23, and a second platform 22. The first platform 21 is located above the mobile chassis 1 and is connected to the second platform 22 via the scissor arm assembly 23. The control and sensing mechanism 6 is located below the first platform 21. The external frame 4 is located above the second platform 22, and the three-axis moving mechanism is located inside the external frame 4. The ceiling panel 7 to be installed is placed above the external frame 4. The actuator of the three-axis moving mechanism is connected to the nail gun assembly 5, which is used to perform the installation operation on the ceiling panel 7.

[0038] In this embodiment, the control and sensing mechanism 6 includes a lidar and a microcomputer. The lidar scans the working environment to generate an environmental map, and the microcomputer, as the control core, performs data processing and logical decisions based on the environmental map to generate the robot's work planning information. The work planning information includes a movement path with multiple nailing positions. During operation, the control and sensing mechanism 6 controls the mobile chassis 1 to move the robot to the current nailing position according to the work planning information. Then, the underlying controller drives the scissor lift mechanism 2 to raise it to a preset installation height. Next, based on the nailing path of the current nailing position (with multiple nailing points), the underlying controller coordinates and controls the three-axis moving mechanism and the nail gun assembly 5 to complete all nailing tasks in the nailing path. Specifically, the underlying controller controls the three-axis moving mechanism to move the nail gun assembly 5 directly below the current nailing point, and simultaneously activates the nail gun assembly 5 while controlling the three-axis moving mechanism to advance upwards, allowing the nail gun to... Component 5 drives screws into the ceiling panel 7 to be installed, thus completing the nailing task at the current nailing point. After the nailing task at the current nailing point is completed, the three-axis moving mechanism is controlled to reset, and the current nailing point is updated according to the next nailing point. The nailing task continues until all nailing points at the current nailing position have been completed. After the nailing operation at the current nailing position is completed, the scissor lifting mechanism 2 is controlled to reset by the bottom controller. Then, the current nailing position is updated according to the next nailing position, and the nailing operation continues until all nailing positions have been completed. Finally, the ceiling panel 7 to be installed is precisely fixed at multiple points and is stably attached to the ceiling mounting surface for automated installation.

[0039] Furthermore, a counterweight module is provided below the mobile chassis 1 to adjust the overall center of gravity distribution of the robot, so that the robot always maintains a stable center of gravity balance, avoids tipping over due to imbalance of the center of gravity during lifting or moving, and ensures operational safety.

[0040] Furthermore, the mobile chassis 1 adopts an omnidirectional four-wheel drive layout, and each drive wheel can be independently controlled to achieve forward, backward, lateral movement and on-the-spot turning, which can adapt to the precise displacement requirements in narrow spaces or complex working environments.

[0041] Furthermore, the control and sensing mechanism 6 integrates a lidar and a microcomputer, using ROS (Robot Operating System) as its operating platform, and undertakes mapping, job planning, and task scheduling functions. The control and sensing mechanism 6 communicates with the mobile chassis 1, and communicates with the scissor lift mechanism 2, the three-axis moving mechanism, and the nail gun assembly 5 through the underlying controller, thereby achieving coordinated control of the entire machine.

[0042] In one embodiment, such as Figure 1 As shown, the scissor arm assembly 23 includes a first scissor arm, a second scissor arm, and a lifting drive mechanism; the first scissor arm and the second scissor arm are symmetrically arranged on the upper end face of the first platform 21, and the first scissor arm and the second scissor arm are connected by multiple connecting rods, and the first scissor arm and the second scissor arm perform lifting and lowering movements under the drive of the lifting drive mechanism.

[0043] In this embodiment, the first scissor arms and the second scissor arms are symmetrically arranged on the upper surface of the first platform 21. The first scissor arms and the second scissor arms are connected by multiple connecting rods to form a stable support structure. The fixed end of the lifting drive mechanism is connected to the first platform 21 or the fixed end of the first scissor arms or the fixed end of the second scissor arms. The driving end of the lifting drive mechanism is hinged to the movable section of the first scissor arms or the second scissor arms. The extension and retraction of the driving end drives the first scissor arms and the second scissor arms to rotate synchronously around their respective hinge points, so that the scissor arm assembly 23 as a whole can achieve vertical lifting and lowering movement, thereby accurately adjusting the working height of the ceiling panel 7 to be installed.

[0044] In one embodiment, such as Figures 1 to 3 As shown, the three-axis moving mechanism includes an X-axis slide 31, a Y-axis slide 32, and a Z-axis slide 33, arranged sequentially from bottom to top. The X-axis slide 31 is located on the side closest to the second platform 22. The sliding actuator of the X-axis slide 31 moves along the long axis of the X-axis slide 31 under the drive of the first sliding drive mechanism, and drives the Y-axis slide 32 to move synchronously. The sliding actuator of the Y-axis slide 32 moves along the long axis of the Y-axis slide 32 under the drive of the second sliding drive mechanism, and drives the Z-axis slide 33 to move synchronously. The sliding actuator of the Z-axis slide 33 moves along the long axis of the Z-axis slide 33 under the drive of the third sliding drive mechanism, and drives the nail gun assembly 5 to move synchronously.

[0045] In this embodiment, the X-axis slide 31 and the Y-axis slide 32 are first controlled to move the nail gun assembly 5 directly below the current nailing point. Then, the nail gun assembly 5 is activated while the sliding execution end of the Z-axis slide 33 is pushed upward, so that the nail gun assembly 5 drives the screw into the ceiling panel 7 to be installed, thereby completing the nailing task at the current nailing point. After the nailing task at the current nailing point is completed, the Z-axis slide 33 is reset, and the current nailing point is updated according to the next nailing point. The nailing task continues to be executed until all nailing points at the current nailing position have been nailed.

[0046] This embodiment of the utility model achieves three-dimensional precise positioning of the nailing point and automated execution of the nailing action through the precise coordination of the X-axis slide 31, Y-axis slide 32 and Z-axis slide 33, effectively improving the installation efficiency of the ceiling panel 7 to be installed.

[0047] Furthermore, the first sliding drive mechanism, the second sliding drive mechanism, and the third sliding drive mechanism all adopt a combination structure of stepper motor and lead screw pair. The rotational power output by the stepper motor is converted into linear driving force along the corresponding axis by the lead screw pair. The X-axis slide 31, Y-axis slide 32, and Z-axis slide 33 are also respectively equipped with photoelectric limit devices for limiting the extreme positions of the stroke, and absolute encoders for real-time acquisition of the position information of the sliding actuator end, so as to realize precise control and safety protection of the motion of each axis.

[0048] In one embodiment, such as Figures 1 to 3 As shown, the Y-axis slide 32 is connected to the sliding execution end of the X-axis slide 31, and the sliding direction of the Y-axis slide 32 is perpendicular to the sliding direction of the X-axis slide 31; the Z-axis slide 33 is connected to the sliding execution end of the Y-axis slide 32, and the sliding direction of the Z-axis slide 33 is perpendicular to both the sliding direction of the X-axis slide 31 and the sliding direction of the Y-axis slide 32; the sliding execution end of the Z-axis slide 33 serves as the execution end of the three-axis moving mechanism and is connected to the nail gun assembly 5.

[0049] In this embodiment, the Y-axis slide 32 is connected to the sliding actuator of the X-axis slide 31. The sliding direction of the Y-axis slide 32 is perpendicular to the sliding direction of the X-axis slide 31. By controlling the coordinated movement of the X-axis slide 31 and the Y-axis slide 32, the nail gun assembly 5 can be precisely moved to any position in the horizontal plane. The Z-axis slide 33 is connected to the sliding actuator of the Y-axis slide 32. The sliding direction of the Z-axis slide 33 is perpendicular to the sliding directions of the X-axis slide 31 and the Y-axis slide 32. The sliding actuator of the Z-axis slide 33 serves as the actuator of the three-axis moving mechanism and is connected to the nail gun assembly 5. By controlling the lifting and lowering of the sliding actuator of the Z-axis slide 33, the nail gun assembly 5 can be precisely moved in the vertical direction. This embodiment of the invention achieves three-dimensional precise positioning of the nail gun assembly 5 through the precise coordination of the X-axis slide 31, the Y-axis slide 32, and the Z-axis slide 33.

[0050] In one embodiment, such as Figures 1 to 3 As shown, the external frame 4 includes a bottom frame 41, four columns and an upper frame 42. The four columns are arranged between the bottom frame 41 and the upper frame 42. The bottom frame 41 is located below the upper frame 42, and the ceiling panel 7 to be installed is placed above the upper frame 42.

[0051] In this embodiment, the external frame 4 includes a bottom frame 41, four columns and an upper frame 42. The four columns are arranged between the bottom frame 41 and the upper frame 42. The bottom frame 41 is arranged below the upper frame 42, together forming a three-dimensional support structure. The upper frame 42 serves as a bearing platform for placing the ceiling panel 7 to be installed. The three-dimensional support structure can effectively prevent the ceiling panel 7 to be installed from shaking or deforming during transportation, lifting and nailing.

[0052] In one embodiment, such as Figure 2 As shown, the upper frame 42 extends along a preset direction to form an extension end, which extends beyond the outline of the bottom frame 41.

[0053] In this embodiment, the upper frame 42 extends along a preset direction to form an extension end. The extension end extends beyond the outline of the bottom frame 41, which can effectively improve the stable support capability of the ceiling panel 7 to be installed.

[0054] In one embodiment, such as Figure 2 As shown, multiple pressure sensor plates are installed on the upper frame 42.

[0055] In this embodiment, the scissor lift mechanism 2 is driven by the underlying controller to rise to a preset installation height, so that the ceiling panel 7 to be installed is in contact with the ceiling mounting surface. At this time, the pressure sensor will output a real-time clamping force value. The control sensing mechanism 6 dynamically adjusts the height of the scissor lift mechanism 2 according to the real-time clamping force value, so that the real-time clamping force value is always stably maintained in the range of 10-15N. This ensures that the ceiling panel 7 to be installed is in close contact with the ceiling mounting surface, while avoiding excessive pressure that could cause indentations or deformation of the ceiling panel 7 to be installed.

[0056] In one embodiment, such as Figure 1 and Figure 2 As shown, the upper frame 42 is equipped with a position sensor, which is used to detect the distance signal between the ceiling panel 7 to be installed and the ceiling mounting surface.

[0057] In this embodiment, the upper frame 42 is equipped with a position sensor, which is used to detect the distance signal between the ceiling panel 7 to be installed and the ceiling mounting surface. By detecting and analyzing the distance signal, it can be accurately determined whether the ceiling panel 7 to be installed is in close contact with the ceiling mounting surface. When it is determined that the ceiling panel 7 to be installed is in close contact with the ceiling mounting surface, the scissor lift mechanism 2 is controlled to stop rising.

[0058] In one embodiment, such as Figure 2As shown, the nail gun assembly 5 includes an electric screwdriver 51 and a nail gun protective housing 52, with the electric screwdriver 51 disposed inside the nail gun protective housing 52.

[0059] In this embodiment, the nail gun assembly 5 includes an electric screwdriver 51 and a nail gun protective housing 52. The electric screwdriver 51 is disposed inside the nail gun protective housing 52, which provides physical protection for the electric screwdriver 51, preventing debris, dust, and other impurities from entering the gun body and affecting its operating accuracy during nailing. The nail gun protective housing 52 is equipped with quick-locking latches at its four corners, allowing for rapid opening and closing of the housing and simplifying the replacement / maintenance process of the electric screwdriver 51.

[0060] In one embodiment, such as Figure 1 and Figure 2 As shown, the working end of the electric screwdriver 51 extends from the preset opening of the screwdriver protective shell 52 to perform installation work on the ceiling panel 7 to be installed.

[0061] In this embodiment, the working end of the electric screwdriver 51 extends from the preset opening of the nail gun protective shell 52. The size and position of the preset opening are precisely matched to the working trajectory of the electric screwdriver 51, ensuring that the rotation, advancement, and other actions of the electric screwdriver 51 are not obstructed by the nail gun protective shell 52 during the nailing process.

[0062] This utility model discloses an automatic ceiling installation robot. The robot includes a mobile chassis, a scissor lift mechanism, a three-axis moving mechanism, an external frame, a nail gun assembly, and a control and sensing mechanism. The scissor lift mechanism includes a first platform, a scissor arm assembly, and a second platform. The first platform is located above the mobile chassis and is connected to the second platform via the scissor arm assembly. The control and sensing mechanism is located below the first platform. The external frame is located above the second platform, and the three-axis moving mechanism is located within the external frame. The ceiling panel to be installed is placed above the external frame. The actuator of the three-axis moving mechanism is connected to the nail gun assembly, which is used to perform the installation operation on the ceiling panel to be installed. In this embodiment of the utility model, the mobile chassis drives the robot to the work area, the scissor lift mechanism raises the external frame to the installation height, the three-axis moving mechanism drives the nail gun assembly to accurately position, and finally the nail gun assembly completes the automated nailing of the ceiling panel to be installed above the external frame. This process realizes the full automation of the ceiling panel to be installed from handling and pressing to automatic nailing, effectively reducing the intensity of manual labor and the risk of high-altitude operation, and improving the overall operation accuracy of the ceiling panel installation.

[0063] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A ceiling-mounted automatic installation robot, characterized in that, The robot includes a mobile chassis, a scissor lift mechanism, a three-axis motion mechanism, an external frame, a nail gun assembly, and a control and sensing mechanism. The scissor lift mechanism includes a first platform, a scissor arm assembly, and a second platform. The first platform is located above the mobile chassis and is connected to the second platform via the scissor arm assembly. The control sensing mechanism is located below the first platform. The external frame is positioned above the second platform, the three-axis moving mechanism is positioned inside the external frame, and the ceiling panel to be installed is placed above the external frame. The actuator of the three-axis moving mechanism is connected to the nail gun assembly, which is used to perform installation work on the ceiling panel to be installed.

2. The automatic ceiling installation robot according to claim 1, characterized in that, The scissor arm assembly includes a first scissor arm, a second scissor arm, and a lifting drive mechanism; The first scissor arm and the second scissor arm are symmetrically arranged on the upper surface of the first platform. The first scissor arm and the second scissor arm are connected by multiple connecting rods. The first scissor arm and the second scissor arm move up and down under the drive of the lifting drive mechanism.

3. The automatic ceiling installation robot according to claim 1, characterized in that, The three-axis moving mechanism includes an X-axis slide, a Y-axis slide, and a Z-axis slide, which are arranged sequentially from bottom to top, with the X-axis slide located on the side closest to the second platform. The sliding actuator of the X-axis slide table moves along the long axis of the X-axis slide table under the drive of the first sliding drive mechanism, and drives the Y-axis slide table to move synchronously. The sliding actuator of the Y-axis slide table moves along the long axis of the Y-axis slide table under the drive of the second sliding drive mechanism, and drives the Z-axis slide table to move synchronously. Driven by the third sliding drive mechanism, the sliding actuator of the Z-axis slide moves along the long axis of the Z-axis slide, and drives the nail gun assembly to move synchronously.

4. The automatic ceiling installation robot according to claim 3, characterized in that, The Y-axis slide is connected to the sliding execution end of the X-axis slide, and the sliding direction of the Y-axis slide is perpendicular to the sliding direction of the X-axis slide. The Z-axis slide is connected to the sliding execution end of the Y-axis slide, and the sliding direction of the Z-axis slide is perpendicular to the sliding direction of the X-axis slide and the sliding direction of the Y-axis slide. The sliding end of the Z-axis slide table serves as the execution end of the three-axis moving mechanism and is connected to the nail gun assembly.

5. The automatic ceiling installation robot according to claim 1, characterized in that, The external frame includes a bottom frame, four columns and an upper frame. The four columns are located between the bottom frame and the upper frame. The bottom frame is located below the upper frame, and the ceiling panel to be installed is placed above the upper frame.

6. The automatic ceiling installation robot according to claim 5, characterized in that, The upper frame extends along a preset direction to form an extension end, which extends beyond the outline of the bottom frame.

7. The automatic ceiling installation robot according to claim 5, characterized in that, Multiple pressure sensor plates are installed on the upper frame.

8. The automatic ceiling installation robot according to claim 5, characterized in that, The upper frame is equipped with a position sensor, which is used to detect the distance signal between the ceiling panel to be installed and the ceiling mounting surface.

9. The automatic ceiling installation robot according to claim 1, characterized in that, The nail gun assembly includes an electric screwdriver and a nail gun protective housing, with the electric screwdriver disposed inside the nail gun protective housing.

10. The automatic ceiling installation robot according to claim 9, characterized in that, The working end of the electric screwdriver extends from a pre-set opening in the screwdriver's protective housing to perform installation work on the ceiling panel to be installed.

Images