Screw gun apparatus for semi-automated sheetrock system
In particular embodiments, a sheetrock robot may be an autonomous (or semi-autonomous) system comprising a drive base, lift assembly, load Manipulator, and screw gun assembly. In particular embodiments, the sheetrock robot's functions may include, for example: (1) taking a piece of sheetrock off of a stack; (2) picking it up and transporting it to a desired location; (3) lifting and manipulating it into position using the load manipulator; (4) detecting studs; and (5) attaching it to a studded wall with sheetrock screws.
1. A screw-gun apparatus comprising:
a lift assembly;
a load manipulator disposed on the lift assembly, the load manipulator comprising a hexapod manipulator comprising at least one suction cup;
a vacuum system in communication with the at least one suction cup; and
a screw gun disposed above load manipulator on the lift assembly, the screw gun comprising two compression springs disposed on opposing sides of the screw gun, the two compression springs being configured to apply a constant pressure between the screw gun and a wall stud as the screw gun screws a screw into the wall stud, wherein:
the lift assembly is configured to adjust a vertical position of the screw gun and the load manipulator;
the vacuum system is configured to cause the at least one suction cup to hold and maintain a piece of sheet rock as the screw gun screws the screw through the piece of sheet rock into the wall stud; and
the load manipulator is configured to adjust an orientation of the piece of sheet rock while the at least one suction cup is holding the piece of sheet rock through modification of the hexapod manipulator.
2. The screw-gun apparatus of claim 1 , further comprising a lateral actuator configured to modify a lateral position of the screw gun relative to the hexapod manipulator.
3. The screw-gun apparatus of claim 1 , wherein the screw gun comprises a tilting mechanism configured to adjust a vertical angle of the screw gun relative to the load manipulator.
4. The screw-gun apparatus of claim 1 , wherein the screw gun comprises a rotating base configured to adjust an orientation of the screw gun relative to the load manipulator.
5. The screw-gun apparatus of claim 1 , wherein the screw gun comprises one or more slide actuators configured to adjust a distance of the screw gun from the wall stud.
6. The screw-gun apparatus of claim 5 , wherein the one or more slide actuators are configured to slide the screw gun toward the wall stud at a desired rate.
7. The screw-gun apparatus of claim 1 , wherein the screw gun apparatus is configured to cause the screw gun to drive the screw through the piece of sheet rock at a desired torque.
8. The screw-gun apparatus of claim 7 , wherein the desired torque is determined based on a compression of the two compression springs.
9. The screw-gun apparatus of claim 7 , wherein the desired torque comprises an initial torque and a second torque, wherein the second torque is triggered in response to detection of the compression of the two compression springs.