Intelligent multifunctional spraying and drilling robot and method

Abstract

The intelligent multifunctional spraying and drilling robot comprises a lifting side construction part, the lifting side construction part comprises a lifting frame, the lifting frame is provided with at least two rails, each rail is provided with at least one spraying and drilling unit, the spraying and drilling units arranged on the same rail are installed in the same direction, and the spraying and drilling units are installed on the lifting frame in the same direction. The spraying drilling units arranged on the upper track and the lower track are installed in the same direction or in the opposite direction or in the opposite direction and used for achieving continuous circulating construction, large-range covering construction from the top face to the bottom face on the whole side wall and small-area rapid construction. The rotating top construction part comprises a rotating frame body capable of rotating around the main machine body part and a construction base / construction mechanism installation base which is arranged on the rotating frame body and can move left and right, front and back and up and down, and the construction base is used for installing a top construction laser range finder and a top construction electric drill / spraying gun and is used for covering spraying drilling construction of a whole ceiling or a high space. The construction time, manpower and material resources can be greatly saved, and the efficiency and the construction quality are improved.

Description

Technical Field

[0001] The invention relates to the technical field of construction engineering, and in particular to an intelligent multifunctional spray drilling robot, and also to an intelligent multifunctional spray drilling method. Background Art

[0002] The spraying and drilling operations in existing construction are usually carried out on-site by manual handheld construction equipment. Manual construction is relatively slow, which affects the overall construction progress. The construction effect is affected by factors such as the operator's skill level and physical strength, and the quality may be unstable. At the same time, there are certain safety risks in spraying and drilling operations. For example, improper operation may lead to accidents, and long-term physical labor can easily lead to worker fatigue and occupational diseases. The use of intelligent construction robots for construction has the following advantages: first, the robot can complete the operation quickly, greatly improving the construction progress; second, the robot has a high degree of operating accuracy, which can ensure the consistency of spraying and drilling quality; third, it reduces manual operation and reduces the safety risks of operators. At the same time, the intelligent robot can operate in complex environments or high-risk areas, expanding the flexibility of construction, and can also monitor the construction process in real time and feedback data for easy management and adjustment. Therefore, an intelligent multifunctional spraying and drilling robot and method are needed. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent multifunctional spray-drilling robot, which can perform construction on lower side walls, ceilings, and floors through the lifting side construction part on the main body, and perform large-scale circular construction on higher ceilings or construction areas through the rotating top construction part. The specific construction method is similar to that of a 3D printer, covering the rectangular area on the side and the rectangular area on the top respectively, realizing the intelligence and automation of spray-drilling construction, greatly saving construction time, manpower and material resources, and improving efficiency and construction quality.

[0004] Another object of the present invention is to provide an intelligent and multifunctional spray drilling method, which can be directly applied to the existing spray drilling construction. The side wall is constructed through a three-level lifting frame mechanism. The mechanism that was originally shrunk to the height of a lifting frame can be quickly extended to a construction mechanism with three lifting frames through a winch and a master-slave rope mechanism, so that its construction coverage area becomes three times the original rectangular area, effectively improving the construction coverage area, and at the same time being able to better cope with construction needs at different heights. The rotating top construction part can be directly extended to twice the height of the alloy frame for construction through a higher alloy frame and a top construction electric push rod installation sleeve, which better matches the construction needs of ceilings or higher spaces and effectively expands the application scenarios of robots.

[0005] To further achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an intelligent multifunctional spray drilling robot, including a main body as a main body, and also including:

[0006] The lifting side construction part is arranged at the front side of the main body part, including a lifting frame, the lifting frame is provided with at least two tracks, each track is provided with at least one spray drilling unit, the spray drilling units provided on the same track are installed in the same direction, and the spray drilling units provided on the upper and lower tracks are installed in the same direction, in the opposite direction or in opposite directions, so as to realize continuous cycle construction, large-scale coverage construction from the entire side wall to the top surface and the bottom surface, and quick construction in a small area;

[0007] The rotating top construction part is arranged in the middle part of the main body part, including a rotating frame that can rotate around the main body part and a construction seat / construction mechanism mounting seat arranged on the rotating frame and can move left and right, front and back, up and down. The construction seat is used to install a top construction laser rangefinder and a top construction electric drill / spray gun, and the construction mechanism mounting seat is used to install a spray drilling unit for spray drilling construction covering the entire ceiling or a higher space.

[0008] Optionally, the lifting frame includes a first-stage lifting frame, a second-stage lifting frame and a third-stage lifting frame which are installed on the main body part and connected in sequence from bottom to top, and the first-stage lifting frame, the second-stage lifting frame and the third-stage lifting frame are all connected by two vertical alloy rods and a horizontal lifting cross bar, and the lifting cross bar is located behind the two vertical alloy rods and is not directly inserted between the two vertical alloy rods;

[0009] The distance between the two vertical alloy rods of the secondary lifting frame and the tertiary lifting frame is shortened successively, so that the outer wall of the vertical alloy rod of the secondary lifting frame contacts the inner wall of the vertical alloy rod of the primary lifting frame, and the inner wall of the vertical alloy rod of the secondary lifting frame contacts the outer wall of the vertical alloy rod of the tertiary lifting frame;

[0010] The two vertical alloy rods of the secondary lifting frame and the tertiary lifting frame are provided with a cross bar at the bottom, and the cross bar and the two vertical alloy rods are in the same plane; the outer surfaces of the vertical alloy rods of the primary lifting frame and the secondary lifting frame near the top are each provided with an inward lifting limit pulley, and the lifting limit pulley extends outward and makes the roller surface contact with the surface of the vertical alloy rods of the secondary lifting frame and the tertiary lifting frame on the inner side, so that the secondary lifting frame and the tertiary lifting frame can respectively achieve horizontal limit under the joint action of the lifting cross bar and the lifting limit pulley of the primary lifting frame and the secondary lifting frame.

[0011] Furthermore, it also includes a winch mechanism for enabling the lifting frame to achieve vertical lifting, the winch mechanism includes a winch arranged on the main body part, an active pull rope mechanism arranged between the first-level lifting frame and the second-level lifting frame, and a driven pull rope mechanism arranged between the second-level lifting frame and the third-level lifting frame, the active pull rope mechanism includes a lifting ring provided in the middle part of the lower surface of the lifting cross bar of the first-level lifting frame, a lifting ring provided in the middle part of the upper surface of the bottom cross bar of the second-level lifting frame, and a pull rope connecting them, the pull rope extends from the winch, passes through the lifting ring in the middle part of the lower surface of the lifting cross bar of the first-level lifting frame, and is connected and fixed to the lifting ring in the middle part of the upper surface of the bottom cross bar of the second-level lifting frame through a hook;

[0012] The driven pull rope mechanism includes openings arranged on both sides of the middle of the lifting crossbar of the first-stage lifting frame, lifting rings arranged on both sides of the middle of the lower surface of the lifting crossbar of the second-stage lifting frame, lifting rings arranged on both sides of the middle of the bottom crossbar of the third-stage lifting frame, and a fixed pull rope connecting them, one end of the pull rope is fixed through the openings arranged on both sides of the middle of the lifting crossbar of the first-stage lifting frame, and the other end passes through the lifting rings arranged on both sides of the middle of the lower surface of the lifting crossbar of the second-stage lifting frame and is connected to the lifting rings arranged on both sides of the middle of the bottom crossbar of the third-stage lifting frame through a hook;

[0013] When the winch pulls the first-stage lifting frame and the second-stage lifting frame to generate a height difference, the height difference between the second-stage lifting frame and the third-stage lifting frame will also change synchronously, so that the extension distance of the entire lifting frame is doubled, and the third-stage lifting frame can be raised to the highest point and can be retracted to the bottom of the main body part when retracted.

[0014] Furthermore, the outer surfaces of the lifting crossbar at the top and the bottom of the three-stage lifting frame are both provided with side construction tracks, and the side construction tracks are equipped with spray drilling units through electric trolleys;

[0015] The construction mechanism mounting seat of the spray drilling unit is mounted on the side construction track through an electric trolley, and a first steering gear is provided on the lower surface of the construction mechanism mounting seat. The output shaft of the first steering gear passes through the construction mechanism mounting seat and is connected to a first rotating seat located above, and the first rotating seat is connected with a first electric push rod, a second steering gear, a second electric push rod, a third steering gear, and a second rotating seat in sequence from bottom to top;

[0016] The first electric push rod, the second electric push rod and the third steering gear are oriented vertically, and the second steering gear is oriented horizontally; two construction component clamping seats are provided on the second rotating seat, and the construction component clamping seats clamp an electric drill and a spray gun.

[0017] Furthermore, a plurality of laser rangefinders are provided on the second rotating seat for monitoring the distance between the entire spray drilling unit and the construction surface, and then adjusting the construction angle and direction.

[0018] Optionally, the rotating frame includes a chassis composed of a rotating base installed at the middle and rear side of the main body part, a hydraulic turntable is provided under the rotating base, two first cross bars are provided on the rotating base, two track longitudinal bars are provided on the upper surfaces of the left and right ends of the first cross bars, the track longitudinal bars extend a certain length to the rear of the main body part, and the upper surfaces of the track longitudinal bars are provided with top construction first tracks;

[0019] The track longitudinal rod is provided with an auxiliary support seat at the lower part of each of the four corners near the main body part, and a plurality of downward bull's eye balls are provided on the lower surface of the auxiliary support seat. The auxiliary support seat is also provided with a vertical top construction vertical rod, and the auxiliary support seat is also provided with a second cross bar between the two track longitudinal rods; the track longitudinal rod, the second cross bar, and the top construction vertical rod are connected to each other;

[0020] The top of the top construction vertical rod is provided with an upper track longitudinal rod identical to the track longitudinal rod, the rod length and track length of the upper track longitudinal rod are matched with the track longitudinal rod below, the left and right ends of the upper track longitudinal rod are provided with a second cross rod for stability, and an oblique rod is also provided between the top construction vertical rod and the upper track longitudinal rod;

[0021] A top construction unit is also provided between the upper and lower first top construction tracks.

[0022] Furthermore, the top construction unit is composed of a top construction second track mounting seat mounted on the top construction first track by an electric trolley to form a chassis, and a mounting seat identical to the top construction second track mounting seat is mounted on the top construction second track mounting seat; two top construction second tracks are arranged on the upper surfaces of the left and right top construction second track mounting seats, a lower mounting seat is connected to the top construction second track located at the bottom by an electric trolley, and an upper stabilizing seat is connected to the top construction second track located at the top by an electric trolley; the lower mounting seat is a solid rectangular plate, and a rectangular opening is arranged in the middle of the upper stabilizing seat, the size of which matches the cross-sectional area of ​​the top construction electric push rod mounting sleeve, the top of the top construction electric push rod mounting sleeve is inserted into the upper stabilizing seat, and the bottom is mounted on the lower mounting seat;

[0023] A vertically upward top construction electric push rod is arranged inside the top construction electric push rod installation sleeve.

[0024] Furthermore, a rotating motor is installed on the output shaft of the top construction electric push rod, and a construction seat is installed on the output shaft of the rotating motor. A top construction laser rangefinder and a top construction electric drill / spray gun are provided on the construction seat.

[0025] Furthermore, a spray drilling unit is installed on the top construction electric push rod through a construction mechanism mounting seat.

[0026] Accordingly, the present invention also claims protection for an intelligent multifunctional spray drilling method, which uses the aforementioned intelligent multifunctional spray drilling robot and comprises the following steps:

[0027] S1. Side construction: When construction on the side of the wall is required, the robot moves to the vicinity of the construction site and aligns the lifting side construction part with the construction wall. At this time, the lifting side construction part is in a fully retracted state. The construction height is determined according to the actual construction situation. The active pull rope mechanism is pulled by the winch, and the first-level lifting frame and the second-level lifting frame are pulled out of the height difference. At the same time, the second-level lifting frame and the third-level lifting frame are synchronously pulled out of the height difference under the action of the driven pull rope mechanism. When the active pull rope mechanism is pulled to the lifting ring on the cross bar below the second-level lifting frame and the lifting ring of the first-level lifting frame When the lifting rings below the horizontal bar are at the same height, the entire lifting side construction part is fully unfolded, and the three-level lifting frame is raised to the highest point. At this time, if the construction is near the top of the wall, the spray drilling unit on the upper part of the three-level lifting frame is used for construction. When the construction is in the middle of the wall, the relative heights of the first-level lifting frame, the second-level lifting frame, and the third-level lifting frame are adjusted to cooperate with the spray drilling unit at the bottom of the three-level lifting frame for construction. When the construction is carried out on the lower part of the wall, the entire first-level lifting frame, the second-level lifting frame, and the third-level lifting frame are retracted, and the spray drilling unit at the bottom of the three-level lifting frame is used for construction;

[0028] S2. Top surface construction: When spray drilling construction is required on the ceiling or in a higher space, the robot moves to the construction area so that the rotating top construction part is within the construction range. The hydraulic turntable is adjusted to rotate according to the actual situation to drive the entire frame to rotate. The bull's eye ball under the auxiliary support seat rotates on the upper surface of the main body to share the force. At the same time, the area extending outward from the rotating frame can be turned to the left or right side or oblique side of the body. The position of the electric trolley on the first top construction track and the second top construction track is adjusted according to the construction position. The top construction electric push rod in the top construction electric push rod installation sleeve is controlled to extend out of the upper construction seat. The distance between the top construction electric drill and the construction surface is monitored by the top construction laser rangefinder. When the distance is appropriate, the electric drill can be started to drill. When spraying is performed, the spray thickness is monitored in real time to monitor the construction quality. Corresponding spraying strategies are adopted for different areas, including spraying more paint if there are more grooves, or construction is carried out by replacing the spray drilling unit;

[0029] S3, spray drilling unit operation: After the spray drilling unit is controlled to move to the vicinity of the construction area, the distance to the wall is monitored by a laser rangefinder, and then the three-dimensional orientation of the unit is adjusted in coordination with the first, second and third servos, so that the electric drill or spray gun is aimed at the construction area, and then the first and second electric push rods are coordinated to make it close to the wall for final drilling or spraying construction.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The robot designed in the present invention divides its main body into two parts. The lifting side construction part on the front side and the rotating top construction part on the middle and rear sides can respectively cope with the needs of different construction scenes. When facing most of the lower construction scenes such as walls and floors, the lifting side construction part can be used for construction, and it can also perform a large degree of height adjustment. For the construction of ceilings or other higher top surfaces (such as inside tunnels), the rotating top construction part can be directly used for construction. It can not only extend upward to a greater height and thus cover more construction areas, but also because its upper alloy frame already covers a certain rectangular construction range, the flexibility of construction is further increased after rotation, so that the coverage area is expanded from a rectangle to a whole circular area, effectively improving construction efficiency and expanding the application scenarios of robots.

[0032] 2. The lifting side construction part designed by the present invention is directly installed on the front side of the main body, and only occupies a small horizontal area to complete the installation. At the same time, it can be compressed to the height of the first-level lifting frame in the vertical space. During construction, the master-slave pull rope mechanism thereon cooperates with the winch to finally stretch out the height of three first-level lifting frames. At the same time, it cooperates with the side construction track on the three-level lifting frame to increase or change the number of cross bars, the number of tracks, and the number of spray drilling units on the frame according to actual conditions, so as to cover and apply the entire rectangular construction space, which can reach from the ceiling to the ground, and has a large application range. The upper and lower directions of the spray drilling units thereon can be installed in any combination, including same-direction, reverse-direction, and opposite-direction installation, which can cope with various working conditions such as continuous cycle construction, large-scale coverage construction, and small-area quick construction.

[0033] 3. The spray drilling unit designed in the present invention adjusts the three-dimensional orientation of the construction mechanism through the first steering gear, the second steering gear, and the third steering gear, and then the first electric push rod and the second electric push rod adjust the distance between the mechanism and the construction area, cooperate with the laser rangefinder for real-time monitoring, and then the electric drill and spray gun on the second rotating seat are used to construct the wall, which effectively improves the degree of automation of construction, saves manpower and material resources, reduces human construction errors and ensures construction quality.

[0034] 4. The rotating top construction part designed in the present invention is directly installed on the middle and rear side of the main body. Usually, the longer side of the construction frame thereon is in the same direction as the body, which is better converged and reduces the floor space. When construction is needed, the frame can be quickly controlled to unfold through the hydraulic turntable, and then rotated to cover an approximately circular construction range, and the left and right sides and oblique sides of the body can also be well covered for construction. The first and second tracks of the top construction designed thereon cooperate with each other, and the upper and lower sets of track units cooperate with each other, and the lower mounting seat cooperates with the upper stabilizing seat, so that the top construction electric push rod with the construction equipment can be moved arbitrarily in the top construction electric push rod mounting sleeve, and stably come to the position closest to the construction site for telescopic construction, similar to the construction of a 3D printer plate near the body. Because the frame is relatively high, combined with its longer electric push rod, the rotating top construction part can extend twice the height of the frame for construction, which greatly increases the construction application range of the robot and increases flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0036] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0037] Figure 2 It is a schematic diagram of the overall structure of the main body of the present invention;

[0038] Figure 3 This is a schematic diagram of the overall structure of the lifting side construction part of the present invention;

[0039] Figure 4 This is a schematic diagram of the overall structure of the spray drilling unit of the present invention;

[0040] Figure 5 This is a schematic diagram of the overall structure of the rotating top construction part of the present invention;

[0041] Figure 6 It is a schematic diagram of the overall structure of the top construction unit of the present invention.

[0042] Description of Reference Numerals :

[0043] 1000-Main body part:

[0044] 1001-roller; 1002-machine body installation chassis; 1003-main body; 1004-installation groove of the lifting side construction part;

[0045] 2000- Lifting side construction part:

[0046] 2001- winch; 2002- first level lifting frame; 2003- second level lifting frame; 2004- third level lifting frame; 2004a- side construction track; 2005- lifting cross bar; 2006- lifting limit pulley; 2007- active pull rope mechanism; 2008- driven pull rope mechanism;

[0047] 2100-spraying and drilling unit; 2101-construction mechanism mounting seat; 2102-first steering gear; 2103-first rotating seat; 2104-first electric push rod; 2105-second steering gear; 2106-second electric push rod; 2107-second rotating seat; 2108-construction component clamping seat; 2109-laser rangefinder; 2110-electric drill; 2111-spraying gun;

[0048] 3000- Rotating top construction part:

[0049] 3001-rotating base; 3002-first horizontal bar; 3003-track longitudinal bar; 3003a-first track for top construction; 3004-second horizontal bar; 3005-auxiliary support seat; 3006-vertical bar for top construction; 3007-diagonal bar;

[0050] 3100-top construction unit; 3101-top construction second track mounting seat; 3102-screw nut; 3103-top construction second track; 3104-lower mounting seat; 3105-top construction electric push rod mounting sleeve; 3106-top construction electric push rod; 3107-upper stabilizing seat; 3108-top construction laser rangefinder; 3109-top construction electric drill. DETAILED DESCRIPTION

[0051] In order to facilitate ordinary technicians in the field to understand and implement the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0052] Example 1

[0053] An intelligent multifunctional spray drilling robot, Figure 1 As shown, it includes a main body part 1000 as a main body, and also includes a lifting side construction part 2000 installed on the front side thereof and a rotating top construction part 3000 installed on the upper surface of the middle part thereof.

[0054] The main body part 1000 is composed of Figure 2As shown, it includes two left and right machine body mounting chassis 1002 as the main body, a plurality of rollers 1001 are arranged at the lower part of the machine body mounting chassis 1002, a main body 1003 is arranged at the upper end of the machine body mounting chassis 1002, and a slot is arranged at the front side of the main body 1003, i.e., a lifting side construction part mounting slot 1004. The main body 1003 can store equipment such as battery packs and PLC control boards inside, and its exterior is divided into a front slot and a middle and rear top plate part, which are used to install the lifting side construction part 2000 and the rotating top construction part 3000 respectively. Compared with the prior art, the robot designed in the present invention divides its main body into two parts. The lifting side construction part on the front side and the rotating top construction part on the middle and rear sides can respectively cope with the needs of different construction scenes. When facing most of the lower construction scenes such as walls and floors, the lifting side construction part can be used for construction, and it can also perform a large degree of height adjustment. For ceiling or other higher top surface construction, the rotating top construction part can be directly used for construction. It can not only extend upward to a greater height and thus cover more construction areas, but also because its upper alloy frame already covers a certain rectangular construction range, the rotation further increases the flexibility of construction, so that the coverage area is expanded from a rectangle to an entire circular area, effectively improving construction efficiency and expanding the application scenarios of robots.

[0055] The lifting side construction part 2000, by Figure 3 , Figure 4As shown, its main body is installed in the installation groove 1004 of the lifting side construction part of the main body 1003, including a winch 2001 in the middle, and a first-level lifting frame 2002, a second-level lifting frame 2003, and a third-level lifting frame 2004 connected from bottom to top on both sides of the winch; the first-level lifting frame 2002 is directly installed and fixed on the main body 1003, and is connected by two vertical alloy rods and a horizontal lifting cross bar 2005. The lifting cross bar 2005 is located behind the two vertical alloy rods and is not directly inserted between the two vertical alloy rods. It is connected and fixed to the vertical alloy rods by bolts and nuts; the second-level lifting frame 2003 and the third-level lifting frame 2004 are generally similar in structure, and the second and third levels are similar in structure. The distance between the two vertical alloy rods of the lifting frame is shortened successively, so that the outer wall of the vertical alloy rod of the secondary lifting frame 2003 contacts the inner wall of the vertical alloy rod of the primary lifting frame 2002, and the inner wall of the vertical alloy rod of the secondary lifting frame 2003 contacts the outer wall of the vertical alloy rod of the tertiary lifting frame 2004. It should be noted that since the bottom of the secondary lifting frame 2003 and the tertiary lifting frame 2004 are not directly fixed on the main body 1003, a cross bar is further provided between the bottoms of the two vertical alloy rods, which is connected to the two vertical alloy rods by bolts and nuts. The cross bar is in the same plane with the two vertical alloy rods and in a different plane with the lifting cross bar 2005. Therefore, when the secondary and tertiary lifting frames are ascending and descending, the cross bar at the bottom thereof is in contact with the lifting cross bar. The rod 2005 will not collide; the outer surface of the vertical alloy rod near the top of the first-level lifting frame 2002 and the second-level lifting frame 2003 is provided with an inward lifting limit pulley 2006, and the mounting seat of the lifting limit pulley 2006 is fixed on the first-level lifting frame 2002 or the second-level lifting frame 2003. At this time, only the lifting limit pulley 2006 on the first-level lifting frame 2002 is described, that is, the lifting limit pulley 2006 mounting seat is fixed on the first-level lifting frame 2002, and the lifting limit pulley 2006 extends outward and contacts the roller surface with the vertical alloy rod surface of the second-level lifting frame 2003 on the inner side, so that the second-level lifting frame 2003 can be lifted and lowered in the lifting horizontal direction of the first-level lifting frame 2002. The horizontal limit is achieved by the joint action of the rod 2005 and the lifting limit pulley 2006, and then the vertical lifting is achieved through the winch 2001 and other structures; the lifting limit pulley 2006 on the secondary lifting frame 2003 is similar to the above, and is used to limit the third-level lifting frame 2004; the lifting cross bar 2005 at the top of the third-level lifting frame 2003 and the outer surface of the cross bar at the bottom are both provided with a side construction track 2004a, wherein the spray drilling unit 2100 can be installed on the side construction track 2004a through an electric trolley; an active rope pulling mechanism 2007 is provided between the first-level lifting frame 2002 and the second-level lifting frame 2003, and a driven rope pulling mechanism 2008 is provided between the second-level lifting frame 2003 and the third-level lifting frame 2004;The active rope pulling mechanism 2007 includes a winch 2001 installed on the main body 1003, a lifting ring in the middle of the lower surface of the lifting cross bar 2005 of the first-level lifting frame 2002, a lifting ring in the middle of the upper surface of the bottom cross bar of the second-level lifting frame 2003, and a pulling rope connecting them. The specific connection method is that the pulling rope extends from the winch 2001, passes through the lifting ring in the middle of the lower surface of the lifting cross bar 2005 of the first-level lifting frame 2002, and is connected and fixed to the lifting ring in the middle of the upper surface of the bottom cross bar of the second-level lifting frame 2003 through a hook; the driven rope pulling mechanism 2008 includes openings set on both sides of the middle of the lifting cross bar 2005 of the first-level lifting frame 2002, and a lifting ring in the middle of the lower surface of the lifting cross bar 2005 of the second-level lifting frame 2003. The lifting rings provided on both sides of the top, the lifting rings provided on both sides of the middle part of the bottom cross bar of the three-stage lifting frame 2004, and the fixed pull rope connecting them, the specific connection method is that one end of the pull rope is fixed through the openings provided on both sides of the middle part of the lifting cross bar 2005 of the first-stage lifting frame 2002, and the other end passes through the lifting rings provided on both sides of the middle part of the lower surface of the lifting cross bar 2005 of the second-stage lifting frame 2003 and is connected to the lifting rings provided on both sides of the middle part of the bottom cross bar of the three-stage lifting frame 2004 through a hook. The total length of the connecting rope of the driven rope is fixed. Therefore, when the winch 2001 pulls the first and second lifting frames to generate a height difference, the height difference between the second and third lifting frames will also change synchronously, so that the extension distance of the entire lifting frame is doubled, and the three-stage lifting frame 2 004 can be raised to the highest point, and can also be retracted to the bottom of the main body 1003 when retracted; the construction mechanism mounting seat 2101 of the spray drilling unit 2100 is installed on the side construction track 2004a through an electric trolley, and the spray drilling unit 2100 can be moved on the side construction track 2004a by the electric trolley for construction; the lower surface of the construction mechanism mounting seat 2101 is provided with an upward first steering gear 2102, and its output shaft passes through the construction mechanism mounting seat 2101 and is connected to the upper first rotating seat 2103, and the first rotating seat 2103 is connected with the first electric push rod 2104, the second steering gear 2105, the second electric push rod 2106, the third steering gear, and the second rotating seat 2107 in sequence from bottom to top; in the above-mentioned equipment The first electric push rod 2104, the second electric push rod 2106, and the third steering gear are oriented vertically, and the second steering gear 2105 is oriented horizontally, so that the construction mechanism can be rotated in three dimensions and the push rod can be pushed out and pushed back accurately in terms of construction distance; the second rotating seat 2107 is provided with two construction component clamping seats 2108, and the construction component clamping seats 2108 are provided with a plurality of threaded holes and rope holes, so that the electric drill 2110 and the spray gun 2111 can be fixed on the construction component clamping seats 2108. The second rotating seat 2107 is also provided with a plurality of laser rangefinders 2109 for monitoring the distance between the entire spray drilling unit 2100 and the construction surface, so as to adjust the construction angle and direction;The electric push rod, steering gear and electric trolley used in the present invention are all universal parts, and the first and second expressions are only used to distinguish their relative functions; the purpose of setting up this structure is that when it is necessary to carry out construction on the side of the wall, the lifting side construction part 2000 can be used to complete the construction. First, the robot is controlled to move to the vicinity of the construction site, and the installation groove 1004 area of ​​the lifting side construction part of the main body is aligned with the construction wall surface. At this time, the lifting side construction part 2000 is in a fully retracted state (; Figure 3The first and second lifting frames are pulled out of the height difference by the active pull rope mechanism 2007 through the winch 2001. At the same time, the second and third lifting frames are synchronously pulled out of the height difference under the action of the driven pull rope mechanism 2008. When the active pull rope mechanism 2007 is pulled to the same height as the lifting ring on the lower cross bar of the second lifting frame 2003 and the lower lifting ring of the lifting cross bar 2005 of the first lifting frame 2002, the entire lifting side construction part 2000 is fully unfolded, and the third lifting frame 2004 is raised to the highest point. At this time, if the construction is near the top of the wall, the third lifting frame can be used. The first, second and third level lifting frames are used for construction. When construction is performed on the middle of the wall, the relative heights of the first, second and third level lifting frames can be adjusted to cooperate with the two pairs of spray drilling units 2100 on the upper and lower side construction tracks 2004a for construction. When construction is performed on the lower part of the wall, the first, second and third level lifting frames can be retracted, and the downward spray drilling units 2100 on the side construction track 2004a at the lower part of the third level lifting frame 2004 can be used for construction. The spray drilling units 2100 extend out of the machine body. It should be noted that the two sets of spray drilling units installed on the upper and lower tracks are The specific orientation of the spray drilling unit 2100 can be changed according to actual conditions. For example, in this example, full coverage from the top to the bottom is required, so the upper and lower units are respectively upward and downward to achieve the maximum construction height range. When the embodiment is to carry out synchronous cycle construction and does not require large-scale coverage, the two units can be installed in the same direction or opposite to each other, and even a cross bar with a side construction track 2004a can be added between the two vertical alloy rods of the three-stage lifting frame 2004, and the spray drilling unit 2100 is set thereon, and the spray drilling units 2100 on each cross bar are installed in the same direction on the two vertical alloy rods. Between the gold rods, a spray drilling construction matrix is ​​finally formed, covering the entire rectangular construction area; the specific spraying and drilling construction method is to control the spray drilling unit 2100 to move to the vicinity of the construction area, and then monitor the distance to the wall through the laser rangefinder 2109 on its second rotating seat 2107, and then cooperate with the first servo 2102, the second servo 2105, and the third servo to adjust the three-dimensional orientation of the unit, so that the electric drill 2110 or the spray gun 2111 on it is aimed at the construction area, and then cooperate with the first electric push rod 2104 and the second electric push rod 2106 to make it close to the wall for final drilling or spraying construction.Compared with the prior art, the lifting side construction part 2000 designed in the present invention is directly installed on the front side of the main body 1003, and only occupies a small horizontal area to complete the installation. At the same time, it can be compressed to the height of the first-level lifting frame 2002 in the vertical space. During construction, the master-slave pull rope mechanism thereon cooperates with the winch 2001 to finally stretch out the height of three first-level lifting frames. At the same time, it cooperates with the side construction track 2004a on the third-level lifting frame to increase or change the number of cross bars, the number of tracks, and the number of spray drilling units on the frame according to actual conditions, so as to cover and apply the entire rectangular construction space, which can reach from the ceiling to the ground, and has a large application range. The upper and lower directions of the spray drilling units thereon can be installed in any combination, including same-direction, reverse-direction, and opposite-direction installation, which can cope with various working conditions such as continuous cycle construction, large-scale coverage construction, and small-area quick construction. The spray drilling unit 2100 designed in the present invention adjusts the three-dimensional orientation of the construction mechanism through the first servo 2102, the second servo 2105, and the third servo, and then adjusts the distance between the mechanism and the construction area through the first electric push rod 2104 and the second electric push rod 2106, cooperates with the laser rangefinder 2109 for real-time monitoring, and then the electric drill 2110 and the spray gun 2111 on the second rotating seat 2107 are used to construct the wall, which effectively improves the degree of automation of the construction, saves manpower and material resources, reduces human construction errors and ensures the construction quality.

[0056] Rotating top construction part 3000, by Figure 5-6As shown, it is composed of a rotating base 3001 installed on the middle and rear side of the main body 1003 to form a chassis, a hydraulic turntable is arranged below the rotating base 3001, two first cross bars 3002 are arranged on the upper end of the rotating base 3001, and two track longitudinal bars 3003 are arranged on the upper surface of the left and right ends of the first cross bars 3002. A certain length of top construction first track 3003a is arranged on the upper surface of the track longitudinal bar 3003, and an auxiliary support seat 3005 is arranged near the lower part of the four corners of the main body 1003. The lower surface of the auxiliary support seat 3005 is provided with a plurality of downward bull's eye balls, and a setting is provided. The purpose of this seat is that when the rotating base 3001 is controlled to rotate, the first cross bar 3002 drives the track longitudinal bar 3003 to rotate, and the bull's eye ball at the bottom of the auxiliary support seat 3005 below the track longitudinal bar 3003 contacts the upper surface of the main body 1003 and shares the force of the entire frame, making it more stable. The auxiliary support seats 3005 at the four corners are designed so that no matter how the entire frame rotates, there is always a support seat left on the upper surface of the main body and in contact with it to assist in supporting the force; it should be noted that in addition to the rod length of the auxiliary support seats 3005 at the four corners, the track longitudinal bar 3003 also extends a certain rod length to the rear of the body The purpose is to allow the frame to extend horizontally out of the machine body to the maximum extent after rotation, so as to further expand the construction area; a vertical top construction vertical rod 3006 is also provided on the auxiliary support seat 3005, and a second cross bar 3004 is also provided between the two track longitudinal rods 3003 of the auxiliary support seat 3005; the track longitudinal rod 3003, the second cross bar 3004, and the top construction vertical rod 3006 are connected to each other by bolts and nuts; an upper track longitudinal rod identical to the track longitudinal rod 3003 is provided at the top of the top construction vertical rod 3006, and its rod length and track length are matched with the track longitudinal rod 3003 below, and the left and right ends of the upper track longitudinal rod are also provided There is a second cross bar 3004 for stabilization, and an inclined bar 3007 is provided between the top construction vertical bar 3006 and the upper track longitudinal bar for connection and stabilization; a top construction unit 3100 is also provided between the upper and lower top construction first tracks 3003a, and its chassis is composed of a top construction second track mounting seat 3101 mounted on the top construction first track 3003a by an electric trolley, and the top construction second track mounting seat 3101 is connected upward to an identical mounting seat through a screw nut, and the screw nut can manually adjust the height difference between the two mounting seats, thereby fine-tuning the height of the main construction part of the top construction unit 3100;Two top construction second rails 3103 are arranged on the upper surfaces of the left and right top construction second rail mounting seats 3101. A lower mounting seat 3104 is connected to the top construction second rail 3103 at the bottom through an electric trolley. An upper stable seat 3107 is connected to the top construction second rail 3103 at the top through an electric trolley. The lower mounting seat 3104 is a solid rectangular plate. A rectangular opening is arranged in the middle of the upper stable seat 3107, and the size matches the cross-sectional area of ​​the top construction electric push rod mounting sleeve 3105. The top construction electric push rod mounting sleeve 3105 can be inserted into the upper stable seat 3107 at the top and fixed to the lower mounting seat at the bottom. 3104 is used to achieve stability. A vertically upward top construction electric push rod 3106 is provided inside the top construction electric push rod installation sleeve 3105. A rotating motor is connected to its output shaft. The output shaft of the rotating motor is connected to a construction seat. A top construction laser rangefinder 3108 and a top construction electric drill 3109 are provided on the construction seat. A spray gun can also be provided. The entire construction seat can also be directly replaced with a construction mechanism installation seat 2101, and the entire spray drilling unit 2100 is installed thereon. The first steering gear 2102 is replaced with the original rotating motor. The other mechanisms remain unchanged, and the specific spray drilling construction method is the same;The purpose of setting up this structure is that when it is necessary to carry out spray drilling construction on the ceiling or higher space, the robot is first driven to the construction area so that the rotating top construction part 3000 is located within the construction range. The rotation of the hydraulic turntable is adjusted according to the actual situation to drive the entire frame to rotate. The bull's eye ball under the auxiliary support seat 3005 rotates on the upper surface of the main body 1003 to share the force. At the same time, the area extending outward from the frame can be turned to the left or right side or the oblique side of the body. Then, the position of the electric trolley on the top construction first track 3003a and the top construction second track 3103 is adjusted according to the construction position, and the electric push rod in the top construction electric push rod mounting sleeve 3105 is controlled to extend out of the construction seat on it. The distance between the top construction electric drill 3109 and the construction surface is monitored by the top construction laser rangefinder 3108. When the distance is appropriate, the electric drill can be started to drill. When spraying operation is carried out, the spraying thickness can be monitored in real time to monitor the construction quality. Corresponding spraying strategies are adopted for different areas. For example, if there are more grooves, more paint is sprayed. Compared with the prior art, the rotating top construction part 3000 designed in the present invention is directly installed on the middle and rear side of the main body. Usually, the longer side of the construction frame on it is in the same direction as the body, which is better convergent and reduces the floor space. When construction is needed, the frame can be quickly controlled by the hydraulic turntable to unfold, and then rotate to cover an approximately circular construction range, and the left and right sides and oblique sides of the body can also be well covered for construction. The first and second top construction tracks designed on it cooperate with each other, and the upper and lower sets of track units cooperate with each other. The lower mounting seat cooperates with the upper stabilizing seat, so that the top construction electric push rod with the construction equipment can be arbitrarily moved in the top construction electric push rod mounting sleeve, and stably come to the position closest to the construction site for telescopic construction, similar to the construction of a 3D printer near the body. Because the frame is high, it cooperates with its longer electric push rod, so that the rotating top construction part can extend twice the height of the frame for construction, which greatly increases the construction application range of the robot and increases flexibility. ;

[0057] Example 2

[0058] Based on Example 1, this embodiment provides an intelligent multifunctional spray drilling method. Figure 1-6 , the steps are:

[0059] S1. Side construction: When the side of the wall needs to be constructed, the lifting side construction part 2000 can be used to complete the construction. First, the robot is controlled to move to the vicinity of the construction site, and the installation groove 1004 of the lifting side construction part of the main body 1003 is aligned with the construction wall. At this time, the lifting side construction part 2000 is in a fully retracted state ( Figure 3The construction height is determined according to the actual construction situation, and the active pull rope mechanism 2007 is pulled by the winch, and the first-level lifting frame 2002 and the second-level lifting frame 2003 are pulled out of the height difference. At the same time, the second-level lifting frame 2003 and the third-level lifting frame 2004 are synchronously pulled out of the height difference under the action of the driven pull rope mechanism 2008. When the active pull rope mechanism 2007 is pulled to the level where the upper ring of the horizontal bar below the second-level lifting frame 2003 and the lower ring of the lifting horizontal bar 2005 of the first-level lifting frame 2002 are simultaneously pulled out of the height difference, the lifting height difference is determined according to the actual construction situation, and the construction height is determined according to the actual construction situation. When the whole lifting side construction part 2000 is at the highest point, the three-stage lifting frame 2004 is fully unfolded, and the three-stage lifting frame 2004 is raised to the highest point. At this time, if construction is near the top of the wall, the spray drilling unit 2100 on the side construction track 2004a on the upper part of the three-stage lifting frame 2004 can be used for construction. When construction is in the middle of the wall, the relative heights of the first-stage lifting frame 2002, the second-stage lifting frame 2003, and the third-stage lifting frame 2004 can be adjusted to cooperate with the two pairs of spray drilling units on the upper and lower side construction tracks 2004a. When the construction is carried out on the lower part of the wall, the first-level lifting frame 2002, the second-level lifting frame 2003 and the third-level lifting frame 2004 can be retracted, and the spray drilling unit 2100 facing downward on the side construction track 2004a at the lower part of the third-level lifting frame 2004 is used for construction, which extends out of the machine body. It should be noted that the specific orientation of the two groups of spray drilling units 2100 installed on the upper and lower side construction tracks can be changed according to actual conditions. For example, in this example, full coverage construction from the top to the bottom is required, and the upper and lower units are respectively upward and downward to achieve the maximum construction height range. When the embodiment is to carry out synchronous cycle construction and does not require large-scale coverage, the two units can be installed in the same direction or opposite to each other, and even a horizontal bar with a side construction track 2004a can be further added between the two vertical bars of the third-level lifting frame 2004, and the spray drilling unit 2100 is arranged on it, and finally a spray drilling construction matrix is ​​formed to cover the entire rectangular construction area;

[0060] S2. Top surface construction: When spray drilling construction is required on the ceiling or in a higher space (such as inside a tunnel), the robot is first moved to the construction area so that the rotating top construction part 3000 is within the construction range. The hydraulic turntable is adjusted to rotate according to the actual situation to drive the entire frame to rotate. The bull's eye ball under the auxiliary support seat 3005 rotates on the upper surface of the main body 1003 to share the force. At the same time, the area extending outward from the frame can be turned to the left or right side or oblique side of the body. Then, the electric trolley is adjusted according to the construction position to move on the first track 3003a of the top construction. The position on the second track 3103 controls the electric push rod in the top construction electric push rod installation sleeve 3105 to extend out of the construction seat on it, and the distance between the top construction electric drill 3109 and the construction surface is monitored by the top construction laser rangefinder 3108. When the distance is appropriate, the electric drill can be started to drill holes. When spraying, the spraying thickness can be monitored in real time to monitor the construction quality. For different areas, corresponding spraying strategies are adopted. For example, if there are more grooves, more paint is sprayed, etc., the construction seat can also be directly replaced by a spray drilling unit. The specific construction method is similar to the side.

[0061] S3. Spraying and drilling unit operation: The specific spraying and drilling construction method is to control the spraying and drilling unit 2100 to move to the vicinity of the construction area, and then monitor the distance to the wall through the laser rangefinder 2109 on its second rotating seat 2107, and then cooperate with the first servo 2102, the second servo 2105, and the third servo to adjust the three-dimensional orientation of the unit, so that the electric drill 2110 or the spray gun 2111 on it is aimed at the construction area, and then cooperate with the first electric push rod 2104 and the second electric push rod 2106 to make it close to the wall and finally perform drilling or spraying construction.

[0062] It should be understood that the above description of the preferred embodiment is relatively detailed and cannot be regarded as limiting the scope of patent protection of the present invention. Under the enlightenment of the present invention, ordinary technicians in this field can also make substitutions or modifications without departing from the scope of protection of the claims of the present invention, which all fall within the scope of protection of the present invention. The scope of protection requested for the present invention shall be based on the attached claims.

Claims

1. An intelligent multifunctional spray drilling robot, comprising a main body as a main body, characterized in that: Also includes: The lifting side construction part is arranged at the front side of the main body part, including a lifting frame, the lifting frame is provided with at least two tracks, each track is provided with at least one spray drilling unit, the spray drilling units provided on the same track are installed in the same direction, and the spray drilling units provided on the upper and lower tracks are installed in the same direction, in the opposite direction or in opposite directions, so as to realize continuous cycle construction, large-scale coverage construction from the entire side wall to the top surface and the bottom surface, and quick construction in a small area; The rotating top construction part is arranged in the middle part of the main body part, including a rotating frame that can rotate around the main body part and a construction seat / construction mechanism mounting seat arranged on the rotating frame and can move left and right, front and back, up and down. The construction seat is used to install a top construction laser rangefinder and a top construction electric drill / spray gun, and the construction mechanism mounting seat is used to install a spray drilling unit for spray drilling construction covering the entire ceiling or a higher space.

2. The intelligent multifunctional spray drilling robot according to claim 1 is characterized in that: The lifting frame includes a first-stage lifting frame, a second-stage lifting frame and a third-stage lifting frame which are installed on the main body part and connected in sequence from bottom to top. The first-stage lifting frame, the second-stage lifting frame and the third-stage lifting frame are all connected by two vertical alloy rods and a horizontal lifting cross bar. The lifting cross bar is located behind the two vertical alloy rods and is not directly inserted between the two vertical alloy rods. The distance between the two vertical alloy rods of the secondary lifting frame and the tertiary lifting frame is shortened successively, so that the outer wall of the vertical alloy rod of the secondary lifting frame contacts the inner wall of the vertical alloy rod of the primary lifting frame, and the inner wall of the vertical alloy rod of the secondary lifting frame contacts the outer wall of the vertical alloy rod of the tertiary lifting frame; The two vertical alloy rods of the secondary lifting frame and the tertiary lifting frame are provided with a cross bar at the bottom, and the cross bar and the two vertical alloy rods are in the same plane; the outer surfaces of the vertical alloy rods of the primary lifting frame and the secondary lifting frame near the top are each provided with an inward lifting limit pulley, and the lifting limit pulley extends outward and makes the roller surface contact with the surface of the vertical alloy rods of the secondary lifting frame and the tertiary lifting frame on the inner side, so that the secondary lifting frame and the tertiary lifting frame can respectively achieve horizontal limit under the joint action of the lifting cross bar and the lifting limit pulley of the primary lifting frame and the secondary lifting frame.

3. The intelligent multifunctional spray drilling robot according to claim 2 is characterized in that: It also includes a winch mechanism for enabling the lifting frame to achieve vertical lifting, the winch mechanism includes a winch arranged on the main body part, an active rope pulling mechanism arranged between the first-stage lifting frame and the second-stage lifting frame, and a driven rope pulling mechanism arranged between the second-stage lifting frame and the third-stage lifting frame, the active rope pulling mechanism includes a lifting ring provided at the middle part of the lower surface of the lifting cross bar of the first-stage lifting frame, a lifting ring provided at the middle part of the upper surface of the bottom cross bar of the second-stage lifting frame, and a pulling rope connecting them, the pulling rope extends from the winch, passes through the lifting ring at the middle part of the lower surface of the lifting cross bar of the first-stage lifting frame, and is connected and fixed to the lifting ring at the middle part of the upper surface of the bottom cross bar of the second-stage lifting frame through a lifting hook; The driven pull rope mechanism includes openings arranged on both sides of the middle of the lifting crossbar of the first-stage lifting frame, lifting rings arranged on both sides of the middle of the lower surface of the lifting crossbar of the second-stage lifting frame, lifting rings arranged on both sides of the middle of the bottom crossbar of the third-stage lifting frame, and a fixed pull rope connecting them, one end of the pull rope is fixed through the openings arranged on both sides of the middle of the lifting crossbar of the first-stage lifting frame, and the other end passes through the lifting rings arranged on both sides of the middle of the lower surface of the lifting crossbar of the second-stage lifting frame and is connected to the lifting rings arranged on both sides of the middle of the bottom crossbar of the third-stage lifting frame through a hook; When the winch pulls the first-stage lifting frame and the second-stage lifting frame to generate a height difference, the height difference between the second-stage lifting frame and the third-stage lifting frame will also change synchronously, so that the extension distance of the entire lifting frame is doubled, and the third-stage lifting frame can be raised to the highest point and can be retracted to the bottom of the main body part when retracted.

4. The intelligent multifunctional spray drilling robot according to claim 2 or 3, characterized in that: The lifting crossbar at the top of the three-stage lifting frame and the outer surface of the crossbar at the bottom are both provided with side construction tracks, and the side construction tracks are equipped with spray drilling units through electric trolleys; The construction mechanism mounting seat of the spray drilling unit is mounted on the side construction track through an electric trolley, and a first steering gear is provided on the lower surface of the construction mechanism mounting seat. The output shaft of the first steering gear passes through the construction mechanism mounting seat and is connected to a first rotating seat located above, and the first rotating seat is connected with a first electric push rod, a second steering gear, a second electric push rod, a third steering gear, and a second rotating seat in sequence from bottom to top; The first electric push rod, the second electric push rod and the third steering gear are oriented vertically, and the second steering gear is oriented horizontally; two construction component clamping seats are provided on the second rotating seat, and the construction component clamping seats clamp an electric drill and a spray gun.

5. The intelligent multifunctional spray drilling robot according to claim 4 is characterized in that: The second rotating seat is also provided with a plurality of laser rangefinders for monitoring the distance between the entire spray drilling unit and the construction surface, and then adjusting the construction angle and direction.

6. The intelligent multifunctional spray drilling robot according to claim 1, characterized in that: The rotating frame includes a chassis composed of a rotating base installed at the middle and rear side of the main body part, a hydraulic turntable is arranged under the rotating base, two first cross bars are arranged on the rotating base, two track longitudinal bars are arranged on the upper surfaces of the left and right ends of the first cross bars, the track longitudinal bars extend a certain length to the rear of the main body part, and the upper surfaces of the track longitudinal bars are provided with top construction first tracks; The track longitudinal rod is provided with an auxiliary support seat at the lower part of each of the four corners near the main body part, and a plurality of downward bull's eye balls are provided on the lower surface of the auxiliary support seat. The auxiliary support seat is also provided with a vertical top construction vertical rod, and the auxiliary support seat is also provided with a second cross bar between the two track longitudinal rods; the track longitudinal rod, the second cross bar, and the top construction vertical rod are connected to each other; The top of the top construction vertical rod is provided with an upper track longitudinal rod identical to the track longitudinal rod, the rod length and track length of the upper track longitudinal rod are matched with the track longitudinal rod below, the left and right ends of the upper track longitudinal rod are provided with a second cross rod for stability, and an oblique rod is also provided between the top construction vertical rod and the upper track longitudinal rod; A top construction unit is also provided between the upper and lower first top construction tracks.

7. The intelligent multifunctional spray drilling robot according to claim 6, characterized in that: The top construction unit is composed of a top construction second track mounting seat mounted on the top construction first track by an electric trolley to form a chassis, and a mounting seat identical to the top construction second track mounting seat is mounted on the top construction second track mounting seat; two top construction second tracks are arranged on the upper surfaces of the left and right top construction second track mounting seats, a lower mounting seat is connected to the top construction second track located at the bottom by an electric trolley, and an upper stabilizing seat is connected to the top construction second track located at the top by an electric trolley; the lower mounting seat is a solid rectangular plate, and a rectangular opening is arranged in the middle of the upper stabilizing seat, the size of which matches the cross-sectional area of ​​the top construction electric push rod mounting sleeve, the top of the top construction electric push rod mounting sleeve is inserted into the upper stabilizing seat, and the bottom is mounted on the lower mounting seat; A vertically upward top construction electric push rod is arranged inside the top construction electric push rod installation sleeve.

8. The intelligent multifunctional spray drilling robot according to claim 7, characterized in that: A rotating motor is installed on the output shaft of the top construction electric push rod, and a construction seat is installed on the output shaft of the rotating motor. A top construction laser rangefinder and a top construction electric drill / spray gun are provided on the construction seat.

9. The intelligent multifunctional spray drilling robot according to claim 7, characterized in that: A spray drilling unit is installed on the top construction electric push rod through a construction mechanism mounting seat.

10. An intelligent multifunctional spray drilling method, using the intelligent multifunctional spray drilling robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Side construction: When construction on the side of the wall is required, the robot moves to the vicinity of the construction site and aligns the lifting side construction part with the construction wall. At this time, the lifting side construction part is in a fully retracted state. The construction height is determined according to the actual construction situation. The active pull rope mechanism is pulled by the winch, and the first-level lifting frame and the second-level lifting frame are pulled out of the height difference. At the same time, the second-level lifting frame and the third-level lifting frame are synchronously pulled out of the height difference under the action of the driven pull rope mechanism. When the active pull rope mechanism is pulled to the lifting ring on the cross bar below the second-level lifting frame and the lifting ring of the first-level lifting frame When the lifting rings below the horizontal bar are at the same height, the entire lifting side construction part is fully unfolded, and the three-level lifting frame is raised to the highest point. At this time, if the construction is near the top of the wall, the spray drilling unit on the upper part of the three-level lifting frame is used for construction. When the construction is in the middle of the wall, the relative heights of the first-level lifting frame, the second-level lifting frame, and the third-level lifting frame are adjusted to cooperate with the spray drilling unit at the bottom of the three-level lifting frame for construction. When the construction is carried out on the lower part of the wall, the entire first-level lifting frame, the second-level lifting frame, and the third-level lifting frame are retracted, and the spray drilling unit at the bottom of the three-level lifting frame is used for construction; S2. Top surface construction: When spray drilling construction is required on the ceiling or in a higher space, the robot moves to the construction area so that the rotating top construction part is within the construction range. The hydraulic turntable is adjusted to rotate according to the actual situation to drive the entire frame to rotate. The bull's eye ball under the auxiliary support seat rotates on the upper surface of the main body to share the force. At the same time, the area extending outward from the rotating frame can be turned to the left or right side or oblique side of the body. The position of the electric trolley on the first top construction track and the second top construction track is adjusted according to the construction position. The top construction electric push rod in the top construction electric push rod installation sleeve is controlled to extend out of the upper construction seat. The distance between the top construction electric drill and the construction surface is monitored by the top construction laser rangefinder. When the distance is appropriate, the electric drill can be started to drill. When spraying is performed, the spray thickness is monitored in real time to monitor the construction quality. Corresponding spraying strategies are adopted for different areas, including spraying more paint if there are more grooves, or construction is carried out by replacing the spray drilling unit; S3, spray drilling unit operation: After the spray drilling unit is controlled to move to the vicinity of the construction area, the distance to the wall is monitored by a laser rangefinder, and then the three-dimensional orientation of the unit is adjusted in coordination with the first, second and third servos, so that the electric drill or spray gun is aimed at the construction area, and then the first and second electric push rods are coordinated to make it close to the wall for final drilling or spraying construction.

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