An automatic chiseling machine and chiseling method suitable for narrow spaces

Abstract

The present invention belongs to the field of mechanical engineering technology, and particularly relates to an automated chiseling machine and chiseling method suitable for narrow spaces, which comprises a machine body, support legs and a top support, wherein the top support is arranged in a groove at the edge of the machine body, and a multifunctional mechanical head is connected to the top of the machine body through a mechanical arm; the multifunctional mechanical head is connected to the mechanical arm through a connecting component, and the connecting component comprises a fixed plate and a pair of top plates and bottom plates arranged in parallel in the transverse direction, and the top plate can rotate relative to the bottom plate under the action of a power system; the lower end of the connecting component is connected to a hollow spherical cover, the top end of which is fixedly connected to the bottom plate, and a hollow sealing plate is coaxially arranged at the bottom end, and a motor, a rotating column, a central turntable and a folding mechanical shear are arranged on the hollow sealing plate, and a telescopic chiseling head is fixedly connected below the rotating column, and under the joint action of a motor and a hydraulic drive mechanism, the switching between the telescopic chiseling head and the folding mechanical shear can be realized.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical engineering, and in particular relates to an automatic chiseling machine and a chiseling method suitable for narrow spaces. Background Art

[0002] Usually, conventional chiseling machines are used for the chiseling construction of local structures of existing buildings. However, even after the mechanical arm of conventional chiseling machines is folded or retracted, the machine's net height is relatively large, making it difficult to enter a narrow construction space for construction. The conventional operation mode of setting a cab on the machine is also difficult to apply. If remote control is used, how the chiseling machine can avoid obstacles in a narrow space and how to achieve accurate positioning of the work object are practical problems faced by technicians in this field.

[0003] Therefore, how to provide an automated chiseling machine and chiseling method suitable for a narrow space is a technical problem that technical personnel in this field urgently need to solve.

[0004] The information disclosed in this background technology section is only intended to increase the understanding of the overall background of the invention and should not be regarded as an admission or any form of suggestion that the information is the prior art known to ordinary technicians in the field. Summary of the invention

[0005] In view of the problem that the existing chiseling machine head cannot normally complete the local chiseling construction in a narrow area, the present invention provides an automated chiseling machine and chiseling method suitable for narrow spaces to complete operations such as concrete chiseling and mechanical shearing in narrow spaces.

[0006] In order to solve the above technical problems, the present invention includes the following technical solutions:

[0007] An automated chiseling machine suitable for use in narrow spaces, comprising:

[0008] A fuselage, support legs and a top support, wherein the four support legs are closely attached to the two sides of the fuselage, the four top supports are arranged in grooves at the edge of the fuselage, and a multifunctional mechanical head is connected to the top of the fuselage through a mechanical arm, and a retractable camera is arranged on the mechanical arm;

[0009] The support leg comprises a hydraulic rod and a first support rod arranged in parallel, one end of the hydraulic rod and the first support rod are connected to the fuselage through a first fixing plate, and the other end of the hydraulic rod and the first support rod are connected to the tire and the second support rod through a second fixing plate;

[0010] The multifunctional mechanical head is connected to the mechanical arm through a connecting component, and the connecting component includes a fixed plate and a pair of top and bottom plates arranged in parallel in a transverse direction, the top and bottom plates are connected through a mechanical head rotating shaft, a power system is provided on the top of the bottom plate, and the top plate can rotate relative to the bottom plate under the action of the power system, a first sliding groove is provided on the lower surface of the bottom plate, one end of the fixed plate is fixed to the upper surface of the top plate, and the other end of the fixed plate is fixedly connected to the mechanical arm;

[0011] The lower end of the connecting component is connected to a hollow spherical cover, and a plurality of arc-shaped movable plates capable of vertical movement are arranged at intervals on the hollow spherical cover. The top of the hollow spherical cover is fixedly connected to the bottom plate, and a hollow sealing plate is coaxially arranged at the bottom end of the hollow spherical cover. A motor, a rotating column, a central turntable and a folding mechanical shear are arranged below the bottom plate. A telescopic chiseling head is fixedly connected below the rotating column, and the telescopic chiseling head is located below the central turntable. A pair of first fixing grooves are coaxially arranged on the central turntable, and two fixing supports are symmetrically arranged on both sides of the central turntable. The central turntable is clamped between the two fixed supports, a rotating shaft is provided in the middle of the fixed support, a second fixed groove is provided on the rotating shaft, the first fixed groove and the second fixed groove are connected by the second slide groove; a scissors strut is provided between the first slide groove and the second slide groove, a hydraulic drive mechanism is provided between the two legs of the scissors strut, the top end of the leg cooperates with the first slide groove on the lower surface of the base plate, and the bottom end of the leg cooperates with the second slide groove respectively; under the joint action of the motor and the hydraulic drive mechanism, the switching between the telescopic chiseling head and the folding mechanical shears can be realized.

[0012] Furthermore, the folding mechanical shears include two scissor blades, which are fixedly connected to the rotating shaft of the fixed support through a folding bracket. Under the action of the motor, the center turntable rotates positively around its center axis at a certain angle. The folding bracket is fixedly connected to the corresponding side arc-shaped movable plate. Under the action of the hydraulic drive mechanism, the lower ends of the two legs switch between the first fixed groove and the second fixed groove, and the arc-shaped movable plate moves downward away from the hollow spherical cover or upward toward the hollow spherical cover, thereby driving the scissor blades to extend or retract the hollow spherical cover.

[0013] Furthermore, it also includes a plurality of water spraying mechanisms, which are arranged on the central turntable at intervals through foldable fixings. Under the action of the motor, the central turntable rotates in the opposite direction around the central axis at a certain angle, and the foldable fixings are extended and stuck into the corresponding ends of the arc-shaped movable plates. Under the action of the hydraulic drive mechanism, the lower ends of the two legs are switched between the first fixed groove and the second fixed groove, and the arc-shaped movable plate moves downward away from the hollow spherical cover or upward close to the hollow spherical cover, thereby driving the water spraying mechanism to extend or retract the hollow spherical cover.

[0014] Furthermore, a plurality of water spray outlets are evenly distributed at the end of the water spray mechanism, and temperature sensors and dust concentration sensors are arranged around the water spray outlets.

[0015] Furthermore, the rotating shaft is provided with a female lock buckle at the bottom surface of the second fixing groove, and the central rotating disk is provided with a connecting portion cooperating with the female lock buckle at the bottom surface of the second sliding groove.

[0016] Furthermore, an obstacle detector is provided on the fuselage, and the obstacle detector is arranged in a groove of the fuselage.

[0017] Furthermore, the tire is connected to the second connecting member via a short shaft, and the tire can rotate around the second connecting member.

[0018] Furthermore, the top support is a retractable rod, and a support pad is provided at the end of the second support rod. When the machine is in a walking state, the second support rod is folded under the first support rod; when the machine is in a supporting state, the second support rod is perpendicular to the ground.

[0019] The present invention also provides an automated chiseling method applicable to a narrow space, and provides the aforementioned automated chiseling machine applicable to a narrow space as a backup, the chiseling method comprising:

[0020] When only the telescopic chiseling head is used for chiseling work, the motor and the hydraulic drive mechanism are controlled so that the lower ends of the two legs of the scissor support slide onto the first fixed groove, and the arc-shaped movable plate moves upward to approach the hollow spherical cover, thereby driving the scissor blades to retract into the hollow spherical cover, so that the foldable mechanical shears are stored in the hollow spherical cover;

[0021] When it is intended to switch to the folding mechanical shears for shearing operations, the motor and the hydraulic drive mechanism are controlled so that the lower ends of the two legs of the scissors support slide to the second fixed groove, and the telescopic chiseling head contracts vertically. At the same time, the arc-shaped movable plate moves downward away from the hollow spherical cover, thereby driving the scissor blades to extend to a certain distance beyond the telescopic chiseling head, so that the folding mechanical shears change from a folded state to an open state, and then the shearing operation can be carried out.

[0022] Furthermore, when it is intended to replace the water spraying mechanism for water spraying operations, under the action of the motor, the central turntable rotates in the opposite direction around the central axis at a certain angle, the foldable fixing part extends and is stuck in the corresponding end of the arc-shaped movable plate, and under the action of the hydraulic drive mechanism, the lower ends of the two legs of the scissors support slide to the second fixed groove, and the telescopic chiseling head contracts vertically. At the same time, the arc-shaped movable plate moves downward away from the hollow spherical cover, thereby driving the water spraying mechanism to extend, and the water spraying head of the water spraying mechanism changes from a folded state to an open state, so that water spraying for cooling and dust reduction can be carried out.

[0023] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0024] The present invention provides an automated chiseling machine suitable for narrow spaces, which integrates a telescopic chiseling head and a folding mechanical shear. The telescopic chiseling head and the folding mechanical shear can be used one by one under the action of a hydraulic drive mechanism. When one of them is used normally, the other is retracted. The automated chiseling machine is small in size and can meet the requirements of narrow space operations, thereby adapting to the construction of narrow spaces. Moreover, when water spraying is required for cooling and dust reduction, a folding water spraying mechanism can also be integrated. The automated chiseling machine of the present invention can realize the steering function without rotating the mechanical arm, so as to perform precise chiseling, shearing and other operations. A groove is provided on the fuselage, so that the net height of the fuselage can be minimized when the mechanical arm is folded. An obstacle detector is provided on the fuselage, and obstacles can be detected and avoided in a narrow space through the obstacle detector, so as to realize unmanned driving, and remote control can be realized in conjunction with a camera provided on the mechanical arm; the retractable camera provided on the mechanical arm can also perform real-time video during operation, so as to realize accurate positioning of the operation object. The automated chiseling method suitable for narrow spaces is easy to operate and has good promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of an automatic chiseling machine suitable for use in a narrow space in a working state according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of an automated excavation machine suitable for use in a narrow space in a walking state according to an embodiment of the present invention;

[0027] Figure 3 This is a second schematic diagram of an automated excavation machine suitable for use in a narrow space in a walking state according to an embodiment of the present invention;

[0028] Figure 4 It is a schematic diagram of an embodiment of the present invention, in which only the telescopic chiseling head is extended in an automated chiseling machine suitable for use in a narrow space;

[0029] Figure 5 A schematic diagram of an embodiment of the present invention being applicable to the extension of a foldable water spray mechanism in an automated chiseling machine for use in a narrow space;

[0030] Figure 6 A schematic diagram of a foldable mechanical shear extending out of an automated chiseling machine for use in a narrow space according to an embodiment of the present invention;

[0031] Figure 7 A schematic diagram of an embodiment of the present invention, which is applicable to an automated chiseling machine for narrow spaces, wherein the top plate is rotated at a certain angle for precise chiseling;

[0032] Figure 8 A schematic diagram of an embodiment of the present invention being applicable to an automated chiseling machine for narrow spaces, wherein the top plate is rotated at a certain angle for precise shearing;

[0033] Fig. 9 An embodiment of the present invention is applicable to an automatic chiseling machine for use in a narrow space, when the telescopic chiseling head is extended, and the internal structure of the automatic chiseling machine;

[0034] Fig.10 An embodiment of the present invention is applicable to an automatic chiseling machine for use in a narrow space, when the telescopic chiseling head is retracted and the foldable mechanical shears are extended, and the internal structure of the automatic chiseling machine;

[0035] Fig.11 An embodiment of the present invention is suitable for an automated chiseling machine for use in a narrow space, wherein the power is switched between a telescopic chiseling head and a folding mechanical shear (a folding fixing part that hides a water spray mechanism);

[0036] Fig.12 A schematic diagram of the structure of a water spray mechanism in an automated chiseling machine suitable for use in a narrow space according to an embodiment of the present invention;

[0037] Fig.13 It is an isometric view of an integrated device of the automatic chiseling machine suitable for narrow spaces of the present invention when traveling in a narrow space;

[0038] Fig.14 It is a top view of the automatic excavation machine suitable for narrow spaces of the present invention when walking in the narrow space;

[0039] Fig.15 It is a top view of the automatic excavation machine suitable for narrow spaces of the present invention when it switches from a walking state in a narrow space to a walking state in a non-narrow space;

[0040] Fig.16 It is an axonometric view of the integrated device of the automatic chiseling machine suitable for narrow spaces of the present invention when traveling in a non-narrow space;

[0041] Fig.17 It is a front view of the integrated device of the automatic chiseling machine suitable for narrow spaces of the present invention when turning in a non-narrow space;

[0042] Fig.18 It is a schematic diagram of the structure of the supporting legs of the automated excavation machine suitable for narrow spaces of the present invention when walking;

[0043] Fig.19 It is a schematic diagram of the support leg in the automated excavation machine suitable for narrow spaces of the present invention switching from a walking state in a non-narrow space to a supporting state;

[0044] Fig. 20 It is a schematic diagram of the supporting legs in the automated chiseling machine suitable for narrow spaces of the present invention when providing a supporting function;

[0045] Fig.21 It is an axonometric diagram of the automated chiseling machine of the present invention, which is suitable for a narrow space, when realizing an upward supporting function.

[0046] In the figure:

[0047] 1-top plate, 2-bottom plate, 3-mechanical head rotation axis, 4-power system, 5-fixed plate, 6-scissor support, 7-hydraulic drive mechanism, 8-first slide slot, 9-second slide slot, 10-hollow spherical cover, 11-arc movable plate, 12-hollow sealing plate, 13-center turntable, 14-motor, 15-first fixed slot, 16-second fixed slot, 17-fixed support, 18-rotation axis, 19-telescopic chiseling head, 20-foldable mechanical scissors , 21-foldable bracket, 22-water spraying mechanism, 23-water spraying port, 24-temperature sensor, 25-dust concentration sensor, 26-female lock buckle, 27-connecting part, 28-foldable fixing part, 29-external water source interface, 30-retractable camera; 31-fuselage, 32-hydraulic rod, 33-first fixing plate, 34-first support rod, 35-tire, 36-second support rod, 37-support pad, 39-obstacle detector. DETAILED DESCRIPTION

[0048] The following is a further detailed description of an automated chiseling machine and chiseling method suitable for narrow spaces provided by the present invention in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer based on the following description. It should be noted that the accompanying drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. For the convenience of description, the "upper" and "lower" described below are consistent with the upper and lower directions of the accompanying drawings, but this cannot be a limitation of the technical solution of the present invention.

[0049] Embodiment 1

[0050] Combine the following Figures 1 to 21 , the structural composition of the automated chiseling machine suitable for narrow spaces of the present invention is described in detail.

[0051] Please refer to Figures 1 to 21 , an automated chiseling machine for small spaces, comprising:

[0052] The fuselage 31, support legs (not shown) and top supports, the four support legs are close to the two sides of the fuselage 31, the four top supports are set in the grooves on the edge of the fuselage 31, and the fuselage 31 is connected to the multifunctional mechanical head through a mechanical arm, and the mechanical arm is provided with a retractable camera 30;

[0053] The support leg includes a hydraulic rod 32 and a first support rod 34 arranged in parallel, one end of the hydraulic rod 32 and the first support rod 34 is connected to the fuselage 31 through a first fixing plate 33, and the other end of the hydraulic rod 32 and the first support rod 34 is connected to a tire 35 and a second support rod 36 through a second fixing plate;

[0054] The multifunctional mechanical head is connected to the mechanical arm through a connecting component (not shown), which includes a fixed plate 5 and a pair of top plate 1 and bottom plate 2 arranged in parallel in the horizontal direction. The top plate 1 and the bottom plate 2 are connected through a mechanical head rotating shaft 3. A power system 4 is provided on the top of the bottom plate 2. The top plate 1 can rotate relative to the bottom plate 2 under the action of the power system 4. A first sliding groove 8 is provided on the lower surface of the bottom plate 2. There are two fixed plates 5, which are symmetrically arranged. One end of the fixed plate 5 is fixed to the upper surface of the top plate 1, and the other end of the fixed plate 5 is fixedly connected to the mechanical arm.

[0055] The lower end of the connecting component is connected to the hollow spherical cover 10, and a plurality of arc-shaped movable plates 11 capable of vertical movement are arranged at intervals on the hollow spherical cover 10. The top of the hollow spherical cover 10 is fixedly connected to the bottom plate 2, and a hollow sealing plate 12 is coaxially arranged at the bottom of the hollow spherical cover 10. A motor 14, a rotating column (not shown), a central turntable 13 and a folding mechanical shear 20 are arranged below the bottom plate 2. A telescopic chiseling head 19 is fixedly connected below the rotating column, and the telescopic chiseling head 19 is located below the central turntable 13. A pair of first fixed grooves 15 are coaxially arranged on the central turntable 13, and two fixed supports 17 are symmetrically arranged on both sides of the central turntable 13. The central turntable 13 is clamped between two fixed supports 17, a rotating shaft 18 is provided in the middle of the fixed support 17, a second fixed groove 16 is provided on the rotating shaft 18, and the first fixed groove 15 and the second fixed groove 16 are connected by a second slide groove 9; a scissors support 6 is provided between the first slide groove 8 and the second slide groove 9, and a hydraulic drive mechanism 7 is provided between the two legs of the scissors support 6, the top of the leg cooperates with the first slide groove 8 on the lower surface of the base plate 2, and the bottom end of the leg cooperates with the second slide groove 9 respectively; under the joint action of the motor 14 and the hydraulic drive mechanism 7, the switching of the telescopic chiseling head 19 and the folding mechanical shears 20 can be realized.

[0056] Specifically, the chiseling machine can realize the switching between the mechanical walking and supporting functions, can realize the walking state in a narrow space and the walking state in a non-narrow space, and can be switched according to the walking environment of the machine, so that the machine can freely enter the working surface in a narrow space and realize flexible turning and walking in a narrow space. The multifunctional mechanical head carried on the mechanical arm of the chiseling machine integrates a telescopic chiseling head 19, a folding mechanical shear 20 and a water spray head. When not working, the folding mechanical shear 20 and the water spray head are retracted in a folded state at the side and rear of the telescopic chiseling head 19, wrapped in the inside of the fuselage groove that fits the folding mechanical arm as much as possible, and the net height of the fuselage is minimized when the mechanical arm is folded. In this way, the multifunctional mechanical head has a smaller volume and meets the requirements of narrow space operations. The telescopic chiseling head 19, the folding mechanical shear 20 and the water spray head share a power system, which can realize the switching or coordinated work among the three. It meets the needs of frequent switching between chiseling and shearing functions or spraying water to cool down and reduce dust while chiseling, greatly improving the construction efficiency. In order to adapt to the narrow space operation, the multifunctional mechanical head can realize the steering function without rotating the mechanical arm, so as to perform precise chiseling, shearing and other work. The retractable camera 30 set on the mechanical arm can also take real-time video during the operation to achieve accurate positioning of the operation object. The body 31 is provided with an obstacle detector 39, which can detect obstacles and avoid them in a narrow space, realize unmanned driving, and cooperate with the retractable camera 30 set on the mechanical arm to realize remote control.

[0057] In this embodiment, more preferably, the folding mechanical shears 20 includes two scissor blades, which are fixedly connected to the rotating shaft 18 of the fixed support 17 through a folding bracket 21. Under the action of the motor 14, the center turntable 13 rotates forward around the center axis at a certain angle, and the folding bracket 21 is fixedly connected to the corresponding side arc-shaped movable plate 11. Under the action of the hydraulic drive mechanism 7, the lower ends of the two legs of the scissor support 6 switch between the first fixed groove 15 and the second fixed groove 16, and the arc-shaped movable plate 11 moves downward away from the hollow spherical cover 10 or moves upward toward the hollow spherical cover 10, thereby driving the scissor blades to extend or retract the hollow spherical cover 10.

[0058] In this embodiment, more preferably, a plurality of water spraying mechanisms 22 are arranged on the central turntable 13 at intervals through foldable fixings 28. Under the action of the motor 14, the central turntable 13 rotates in the opposite direction around the central axis at a certain angle, and the foldable fixings are extended and snapped into the corresponding ends of the arc-shaped movable plates 11. Under the action of the hydraulic drive mechanism 7, the lower ends of the two legs of the scissors support 6 are switched between the first fixed groove 15 and the second fixed groove 16, and the arc-shaped movable plate 11 moves downward away from the hollow spherical cover 10 or moves upward toward the hollow spherical cover 10, thereby driving the water spraying mechanism 22 to extend or retract into the hollow spherical cover 10.

[0059] In this embodiment, more preferably, a plurality of water spray ports 23 are evenly distributed at the end of the water spray mechanism 22, and a temperature sensor 24 and a dust concentration sensor 25 are arranged around the water spray ports 23. The working quantity and water flow output flow of the water spray ports 23 are adjusted accordingly according to the temperature and dust concentration detected by the temperature sensor 24 and the dust concentration sensor 25 respectively. The end of the water spray head can also be rotated to make the water spray range larger and more uniform. The water spray mechanism 22 is equipped with an external water source interface 29.

[0060] In this embodiment, more preferably, the rotating shaft 18 is provided with a female lock buckle 26 at the bottom of the second fixing groove 16, and the central rotating disk 13 is provided with a connecting portion 27 that cooperates with the female lock buckle 26 at the bottom of the second sliding groove 9. The connection between the connecting portion 27 and the female lock buckle 26 is respectively C connection, O connection, or convex block connection.

[0061] In this embodiment, more preferably, an obstacle detector 39 is provided on the fuselage 31 , and the obstacle detector 39 is arranged in a groove of the fuselage 31 .

[0062] In this embodiment, more preferably, the tire 35 is connected to the second connecting member via a short shaft, and the tire 35 can rotate around the second connecting member.

[0063] In this embodiment, more preferably, the top support is a retractable rod, and a support pad 37 is provided at the end of the second support rod 36. When the machine is in a walking state, the second support rod 36 is folded under the first support rod 34; when the machine is in a supporting state, the second support rod 36 is perpendicular to the ground.

[0064] Please continue to refer to Figures 1 to 21 The present invention also provides an automated chiseling method applicable to narrow spaces, and provides the aforementioned automated chiseling mechanical backup applicable to narrow spaces, and the chiseling method comprises:

[0065] When only the telescopic chiseling head 19 is used for chiseling operation, the motor 14 and the hydraulic drive mechanism 7 are controlled so that the lower ends of the two legs of the scissor support 6 slide onto the first fixed groove 15, and the arc-shaped movable plate 11 moves upward to approach the hollow spherical cover 10, thereby driving the scissor blades to retract into the hollow spherical cover 10, so that the foldable mechanical shears 20 are stored in the hollow spherical cover 10;

[0066] When it is intended to replace the folding mechanical shears 20 for shearing operations, the motor 14 and the hydraulic drive mechanism 7 are controlled so that the lower ends of the two legs of the scissors support 6 slide onto the second fixed groove 16, and the telescopic chiseling head 19 contracts vertically. At the same time, the arc-shaped movable plate 11 moves downward away from the hollow spherical cover 10, thereby driving the scissor blades to extend to a certain distance beyond the telescopic chiseling head 19, so that the folding mechanical shears 20 changes from a folded state to an open state, and shearing operations can be performed.

[0067] In this embodiment, more preferably, when it is intended to replace the water spraying mechanism 22 for water spraying operation, under the action of the motor 14, the central turntable 13 rotates in the opposite direction around the central axis at a certain angle, and the foldable fixing part is extended and stuck into the corresponding end of the arc-shaped movable plate 11. Under the action of the hydraulic drive mechanism 7, the lower ends of the two legs of the scissors support 6 slide to the second fixed groove 16, and the telescopic chiseling head 19 contracts vertically. At the same time, the arc-shaped movable plate 11 moves downward away from the hollow spherical cover 10, thereby driving the water spraying mechanism 22 to extend, and the water spraying head of the water spraying mechanism 22 changes from a folded state to an open state, so that water spraying for cooling and dust reduction can be carried out.

[0068] The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples. The above embodiments only express several embodiments of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An automated chiseling machine suitable for use in narrow spaces, characterized in that: include: A fuselage, support legs and a top support, wherein the four support legs are closely attached to the two sides of the fuselage, the four top supports are arranged in grooves at the edge of the fuselage, and a multifunctional mechanical head is connected to the top of the fuselage through a mechanical arm, and a retractable camera is arranged on the mechanical arm; The support leg comprises a hydraulic rod and a first support rod arranged in parallel, one end of the hydraulic rod and the first support rod are connected to the fuselage through a first fixing plate, and the other end of the hydraulic rod and the first support rod are connected to the tire and the second support rod through a second fixing plate; The multifunctional mechanical head is connected to the mechanical arm through a connecting component, and the connecting component includes a fixed plate and a pair of top and bottom plates arranged in parallel in a transverse direction, the top and bottom plates are connected through a mechanical head rotating shaft, a power system is provided on the top of the bottom plate, and the top plate can rotate relative to the bottom plate under the action of the power system, a first sliding groove is provided on the lower surface of the bottom plate, one end of the fixed plate is fixed to the upper surface of the top plate, and the other end of the fixed plate is fixedly connected to the mechanical arm; The lower end of the connecting component is connected to the hollow spherical cover, and a plurality of arc-shaped movable plates that can move vertically are arranged at intervals on the hollow spherical cover. The top of the hollow spherical cover is fixedly connected to the bottom plate, and a hollow sealing plate is coaxially arranged at the bottom end of the hollow spherical cover. A motor, a rotating column, a central turntable and a folding mechanical shear are arranged below the bottom plate. A telescopic chiseling head is fixedly connected below the rotating column, and the telescopic chiseling head is located below the central turntable. A pair of first fixed grooves are coaxially arranged on the central turntable, and two fixed supports are symmetrically arranged on both sides of the central turntable. The central turntable is clamped between the two fixed supports, and a rotating shaft is arranged in the middle of the fixed support, and a second fixed groove is arranged on the rotating shaft, and the first fixed groove and the second fixed groove are connected by a second slide groove; a scissors brace is arranged between the first slide groove and the second slide groove. A hydraulic drive mechanism is provided between the two legs of the scissors support, the top end of the leg cooperates with the first slide groove on the lower surface of the base plate, and the bottom end of the leg cooperates with the second slide groove respectively; under the joint action of the motor and the hydraulic drive mechanism, the switching of the telescopic chiseling head and the folding mechanical shears can be realized; the folding mechanical shears includes two scissor blades, which are fixedly connected to the rotating shaft of the fixed support through a folding bracket. Under the action of the motor, the center turntable rotates positively around its center axis at a certain angle, and the folding bracket is fixedly connected to the corresponding side arc-shaped movable plate. Under the action of the hydraulic drive mechanism, the lower ends of the two legs switch between the first fixed groove and the second fixed groove, and the arc-shaped movable plate moves downward away from the hollow spherical cover or upward close to the hollow spherical cover, thereby driving the scissor blades to extend or retract the hollow spherical cover.

2. The automated chiseling machine suitable for narrow spaces according to claim 1, characterized in that: It also includes a plurality of water spraying mechanisms, which are arranged on the central turntable at intervals through foldable fixings. Under the action of a motor, the central turntable rotates in the opposite direction around the central axis at a certain angle, and the foldable fixings are extended and snapped into the corresponding ends of the arc-shaped movable plates. Under the action of a hydraulic drive mechanism, the lower ends of the two legs are switched between the first fixing groove and the second fixing groove, and the arc-shaped movable plate moves downward away from the hollow spherical cover or upward toward the hollow spherical cover, thereby driving the water spraying mechanism to extend or retract the hollow spherical cover.

3. The automated chiseling machine suitable for narrow spaces according to claim 2, characterized in that: A plurality of water spraying ports are evenly distributed at the end of the water spraying mechanism, and temperature sensors and dust concentration sensors are arranged around the water spraying ports.

4. The automated chiseling machine suitable for narrow spaces according to any one of claims 1 to 3, characterized in that: The rotating shaft is provided with a female lock buckle at the bottom surface of the second fixing groove, and the central rotating disk is provided with a connecting portion which cooperates with the female lock buckle at the bottom surface of the second sliding groove.

5. The automated chiseling machine suitable for narrow spaces according to claim 4, characterized in that: The fuselage is provided with an obstacle detector, and the obstacle detector is arranged in a groove of the fuselage.

6. The automated chiseling machine suitable for narrow spaces according to claim 1, characterized in that: The tire is connected to the second connecting member via a short shaft, and the tire can rotate around the second connecting member.

7. The automated chiseling machine suitable for narrow spaces according to claim 1, characterized in that: The top support is a retractable rod, and a support pad is provided at the end of the second support rod. When the machine is in a walking state, the second support rod is folded under the first support rod; when the machine is in a supporting state, the second support rod is perpendicular to the ground.

8. An automated chiseling method suitable for narrow spaces, characterized in that: Using the automated chiseling machine suitable for narrow spaces as described in any one of claims 1 to 7, the chiseling method comprises: When only the telescopic chiseling head is used for chiseling work, the motor and the hydraulic drive mechanism are controlled so that the lower ends of the two legs of the scissor support slide onto the first fixed groove, and the arc-shaped movable plate moves upward to approach the hollow spherical cover, thereby driving the scissor blades to retract into the hollow spherical cover, so that the foldable mechanical shears are stored in the hollow spherical cover; When it is intended to switch to the folding mechanical shears for shearing operations, the motor and the hydraulic drive mechanism are controlled so that the lower ends of the two legs of the scissors support slide to the second fixed groove, and the telescopic chiseling head contracts vertically. At the same time, the arc-shaped movable plate moves downward away from the hollow spherical cover, thereby driving the scissor blades to extend to a certain distance beyond the telescopic chiseling head, so that the folding mechanical shears change from a folded state to an open state, and then the shearing operation can be carried out.

9. The chiseling method according to claim 8, characterized in that: When it is intended to replace the water spraying mechanism for water spraying operation, under the action of the motor, the central turntable rotates in the opposite direction around the central axis at a certain angle, the foldable fixing part extends and is stuck in the corresponding end of the arc-shaped movable plate, and under the action of the hydraulic drive mechanism, the lower ends of the two legs of the scissors support slide to the second fixed groove, and the telescopic chiseling head contracts vertically. At the same time, the arc-shaped movable plate moves downward away from the hollow spherical cover, thereby driving the water spraying mechanism to extend, and the water spraying head of the water spraying mechanism changes from a folded state to an open state, so that water spraying for cooling and dust reduction can be carried out.

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