Universal arbitrary slot operation robot and operation method thereof

Abstract

The invention discloses a global arbitrary slot operation robot and an operation method thereof, and the robot comprises a chassis system which is used for providing movement of a device; the chain type vertical lifting system is mounted on the chassis system, consists of a fixed guide rail frame, a movable guide rail frame, a closed-loop transmission mechanism and a lifting driving mechanism, and is used for lifting the first grooving system; the first grooving system is mounted on the chain type vertical lifting system, consists of a working platform, a polar coordinate type direction adjusting mechanism and a first grooving functional component, and is used for grooving the wall surface and the ceiling; the second grooving system is mounted on the chassis system, consists of a follow-up direction adjusting mechanism and a second grooving functional component, and is used for grooving the ground; the grooving auxiliary system is composed of a waste recycling mechanism and a dust removing and falling mechanism and used for collecting waste, removing dust and falling dust. According to the invention, a global grooving operation method is formed, that is, the grooving functions of wall surfaces, ceilings and grounds are integrated on one device.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a global arbitrary slot operation robot, and also to an operation method of the global arbitrary slot operation robot. Background Art

[0002] Grooving is a construction technology widely used in the fields of construction and decoration. It involves various operation scenarios such as civil residential water and electricity construction, road construction, municipal pipelines, etc. It is believed that the conventional groove construction technology has many disadvantages:

[0003] 1. Low operating efficiency and long time consumption: The efficiency of manual grooving is mainly limited by the physical strength and energy of the construction workers, especially when grooving complex tasks or large areas of ground, which requires a lot of manpower and material resources. The speed of manual grooving is uneven and greatly affected by personal conditions. Workers need to rest frequently to recover their physical strength, resulting in slow construction progress.

[0004] 2. Low work quality and irregular wire troughs: During the manual troughing process, the construction workers have poor operating stability, and their hands are prone to shaking due to physical exertion, making it difficult to ensure the flatness and straightness of the wire troughs. Manual control of the width, depth and length of the wire troughs lacks precision, resulting in uneven edges and uneven shapes of the wire troughs, which are prone to deviations.

[0005] 3. Poor working environment and high safety risks: Manual grooving requires construction workers to hold heavy tools for a long time, and their arms and shoulders are easily fatigued and sore. At the same time, these tools pose great safety risks.

[0006] 4. A large amount of dust and noise are generated during the grooving process, which is harmful to the health of workers. At the same time, cutting waste is generated, which is difficult to clean and recycle. Summary of the invention

[0007] Based on the deficiencies in the above-mentioned prior art, the technical problem to be solved by the present invention is to provide a global arbitrary slot operation robot, which can complete the function of opening slots of arbitrary shapes on the wall through the cooperation of the chain vertical lifting system and the first slotting system; can complete the function of opening slots of arbitrary shapes on the ceiling through the cooperation of the chassis system and the first slotting system; and can complete the function of opening slots of arbitrary shapes on the ground through the cooperation of the chassis system and the second slotting system.

[0008] The present invention also provides an operating method for a global arbitrary slot operating robot, forming a global slotting operating method, that is, integrating the slotting functions of walls, ceilings, and floors on one device.

[0009] In order to achieve the above-mentioned purpose, the present invention adopts the following technical measures:

[0010] The global arbitrary slot operation robot and the operation method thereof of the present invention include: a chassis system, which is composed of a frame support part, a front wheel steering mechanism, and a rear wheel driving mechanism, and is used to provide movement of the device; a chain vertical lifting system, which is installed on the chassis system and is composed of a fixed guide rail frame, a movable guide rail frame, a closed-loop transmission mechanism, and a lifting drive mechanism, and is used to provide lifting of the first slotting system; the first slotting system, which is installed on the chain vertical lifting system and is composed of a working platform, a polar coordinate orientation adjustment mechanism, and a first slotting functional component, and is used to slot walls and ceilings; the polar coordinate orientation adjustment mechanism is composed of a feed slide motor, a slide, a circumferential adjustment turntable bracket, a circumferential adjustment turntable motor, a circumferential adjustment turntable bracket ... The slide is composed of a disk housing, a circumferential adjustment turntable, a radial adjustment linear module motor, a radial adjustment screw coupling, a radial adjustment linear module base, a radial adjustment screw, a radial adjustment slider, a micro-adjustment turntable motor, a micro-adjustment turntable housing, a micro-adjustment turntable, an articulated bracket, a functional component mounting platform, a fine-tuning slide rail, a fine-tuning slider, an inclination adjustment push rod base, an inclination adjustment push rod motor, an inclination adjustment push rod, a positioning camera, a circumferential adjustment angle sensor, a radial adjustment stroke sensor, a feed distance sensor, and an inclination adjustment angle sensor; the slide is a heavy-duty slide, which is responsible for feeding in the front and rear directions, and the feed slide motor drives the internal screw to rotate, and then drives the slide that cooperates with the screw thread to move forward and backward; the circumferential adjustment turntable is responsible To adjust the angle between the radial adjustment mechanism and the ground, the circumferential adjustment turntable bracket is installed on the slide by screws, and the output shaft of the circumferential adjustment turntable motor drives the circumferential adjustment turntable to rotate through the worm gear; the radial adjustment linear module is responsible for adjusting the distance from the first slotted functional component to the center of rotation of the circumferential adjustment turntable, and the radial adjustment linear module motor is connected to one end of the radial adjustment linear module base by screws, and its output shaft is connected to the radial adjustment screw through a radial adjustment screw coupling, and the radial adjustment slider is threadedly matched with the radial adjustment screw inside it, and at the same time, the two sides of the radial adjustment slider are limited by the radial adjustment linear module base, and when the radial adjustment linear module motor is started, the power is transmitted to the radial adjustment slider through the radial adjustment screw. block, so that the radial adjustment slider moves in the direction of the radial adjustment linear module base; the micro-adjustment dial is responsible for adjusting the operating angle of the first slotting functional component, so that the operating direction of the first slotting blade and the electric pick blade can be tangent to the actuation curve; the micro-adjustment dial motor is installed on the micro-adjustment dial housing, and its output shaft drives the micro-adjustment dial to rotate through the worm gear inside the micro-adjustment dial housing; the articulated bracket is installed on the micro-adjustment dial by screws and welded by square tubes, which provides a hinge point for the functional component installation platform and the inclination adjustment push rod base; the second slotting system is installed on the chassis system and consists of a follow-up azimuth adjustment mechanism and a second slotting functional component, and is used to slot the ground;The slotting auxiliary system is installed on the chassis system and consists of a waste recovery mechanism and a dust removal mechanism, and is used for collecting waste, cleaning and dust reduction. ;

[0011] Preferably, the positioning camera is installed on a column erected on the upper part of the positioning plane frame and is symmetrically arranged on the left and right. It is used to locate the working point, so that the working platform rises to a suitable height, and at the same time can provide real-time feedback on the actual working situation to the operator; the circumferential adjustment angle sensor is installed on the side of the radial adjustment linear module base, and is used to monitor the rotation angle of the circumferential adjustment turntable; the radial adjustment stroke sensor is opposite to the radial adjustment slider and is installed on the radial adjustment linear module base. It is an infrared rangefinder, which is used to monitor the specific position of the radial adjustment slider; the feed distance sensor is installed on the side of the articulated bracket, which is an infrared distance sensor facing forward, which is used to monitor and calculate the distance from the first slotted functional component to the front slotted body, or the feeding depth inside the slotted body; the inclination adjustment angle sensor is installed on the functional component mounting platform, and is used to monitor the inclination angle of the mounting platform.

[0012] Furthermore, the first slotting functional component is composed of a first slotting blade drive motor, a first gear box, a first slotting blade shaft, a first slotting blade, a main dust cover, an upper dust cover, an upper dust cover limit spring, a lower dust cover, a lower dust cover limit spring, an electric pick support frame, an electric pick motor, and an electric pick blade; the first slotting blade drive motor is fastened to the functional component mounting platform by screws, and its output power is transmitted to the first slotting blade shaft after deceleration and torque increase by the first gear box. Both ends of the first slotting blade shaft are threaded, so that the gasket with a thread can press the first slotting blade thereon with threaded cooperation, thereby achieving the effect of fastening the first slotting blade to the first slotting blade shaft; when the first slotting blade drive motor is started When the motor is turned, the first slotting blade rotates at high speed; the main dust cover is fixed to the first gear box and is coaxial with the first slotting blade axis, the upper dust cover and the lower dust cover are arranged in the main dust cover, and their outer surfaces are fitted with the inner surface of the main dust cover, so that they can rotate around the first slotting blade axis within a certain angle range; one end of the upper dust cover limit spring is fixed to the fixed seat on the side of the main dust cover, and the other end of the upper dust cover is fixed to the fixed seat of the upper dust cover; one end of the lower dust cover limit spring is fixed to the fixed seat on the side of the main dust cover, and the other end of the lower dust cover is fixed to the fixed seat of the lower dust cover. In actual slotting operation, when the first slotting blade enters the slotting body, the upper dust cover and the lower dust cover can automatically adjust the opening degree according to the feed depth.

[0013] Furthermore, the follow-up azimuth adjustment mechanism is composed of a push-feed push rod motor, a push-feed push rod housing, a push-feed push rod, a push-linear slide rail support slider, a push-linear slide rail, a push bracket, a lowering feed push rod motor, a lowering feed push rod housing mounting card, a lowering feed push rod, a lowering linear slide rail support slider, a lowering linear slide rail, a lowering bracket, a horizontal turntable housing, a horizontal turntable motor, a horizontal turntable, a rotating bracket, a motor clamp, a push-feed infrared sensor, a lowering infrared sensor, and a horizontal angle sensor; the push-feed push rod housing is welded and fixed to the lower part of the main frame of the chassis system, and ... The feed push rod faces forward, and the push feed push rod motor is used to drive the push feed push rod to feed forward or retract backward. The end of the push feed push rod is connected to the support on the upper crossbeam of the push bracket through a pin hole. The push linear slide support slider is installed at the lower part of the main frame, and the push feed push rod cooperates with the push linear slide support slider. Such a slide slider group is parallel to the push feed push rod, symmetrically arranged on both sides, and are all installed on the upper crossbeam of the push bracket by screws; the descending feed push rod housing mounting card installs the descending feed push rod at the front of the push bracket, and the descending feed push rod motor is used to drive the descending feed push rod To feed downward or retract upward, the end of the descending feed push rod is connected with the transverse screw rod on the descending bracket through a pin hole, the descending linear slide support slider is installed at the front of the pushing bracket, and the descending linear slide cooperates with the descending linear slide support slider. Such a slide slider group is parallel to the descending feed push rod, symmetrically arranged on both sides, and is installed on the back of the descending bracket by screws; the horizontal turntable motor is installed on the horizontal turntable housing, which is used to drive the horizontal turntable to rotate, and the horizontal turntable is installed at the lower part of the descending bracket by screws; the rotating bracket is installed at the lower part of the horizontal turntable housing so that the horizontal turntable motor follows its lower The square parts rotate together to avoid interference due to relative movement; the motor clamp is welded integrally with the rotating bracket, and a plurality of threaded holes are provided on its side, through which bolts can be screwed in to achieve the tightening effect of the second slotting blade drive motor; the pushing infrared sensor is installed at the rear of the pushing bracket, facing the main frame, and is used to monitor the distance from the main frame to determine the position of the pushing feed; the descending infrared sensor is installed at the lower part of the rotating bracket, and determines the position of the descending feed by monitoring the distance from the ground; the horizontal angle sensor is installed on the side of the rotating bracket, and is used to monitor the angle rotated by the second slotting functional component.

[0014] Preferably, the second slotting functional component is composed of a second slotting blade drive motor, a second gear box, an active synchronous pulley, a driven synchronous pulley, a tool holder bearing seat, a second slotting blade shaft, a second slotting blade, and a dust cover; the second slotting blade drive motor is installed in a motor clamp, and the second gear box can transmit the power of the second slotting blade drive motor to the active synchronous pulley, and the active synchronous pulley and the driven synchronous pulley complete synchronous rotation through a synchronous belt to transmit power to the second slotting blade shaft, and the tool holder bearing seat is installed at the lower part of the rotating bracket and is symmetrically arranged to support the rotation of the second slotting blade shaft; the second slotting blade is installed on the second slotting blade shaft and is fastened to the second slotting blade shaft by the pressing force of the gasket, and the dust cover is welded to the rotating bracket.

[0015] Furthermore, the waste recycling mechanism is composed of an upper collection push rod bracket, an upper collection push rod motor, an upper collection push rod, an upper collection transmission belt bracket, an upper collection synchronous wheel drive bearing seat, an upper collection synchronous wheel drive motor, an upper collection synchronous wheel drive reducer, an upper collection active synchronous wheel, an upper collection driven synchronous wheel, an upper collection conveyor belt, a crusher drive motor, a crusher, a discharge port, a lower collection support frame, a lower collection movable slide rail, a lower collection movable slider, a lower collection movable plate, a lower collection recovery spring, a lower collection caster bracket, and a lower collection caster; Among them, the upper collection push rod bracket is installed at the lower rear part of the fixed frame column of the chain vertical lifting system, and the upper collection push rod motor has a hinge point hinged with it. The upper collection push rod motor can drive the upper collection push rod to extend and retract, and one end of the upper collection transmission belt bracket is hinged with the end of the upper collection push rod. The upper collection synchronous wheel drive motor is installed on the crusher through the connecting angle code, and the power is transmitted to its double-output shaft through the upper collection synchronous wheel drive reducer. The double-output shaft is set in the left and right directions and is respectively installed on the left and right upper collection synchronous The upper collecting driving synchronous wheel and the upper collecting driven synchronous wheel are driven by the upper collecting synchronous wheel, and the upper collecting driven synchronous wheel is driven by the upper collecting synchronous wheel. The upper collecting driving synchronous wheel and the upper collecting driven synchronous wheel are driven by the upper collecting conveyor belt. When the upper collecting push rod motor drives the upper collecting push rod to extend, the upper collecting conveyor belt bracket is driven to rotate with the upper collecting synchronous wheel driving bearing seat as the center, so that the upper collecting conveyor belt is lowered. On the contrary, if the upper collecting push rod is retracted, the upper collecting conveyor belt is lowered. When the upper collecting conveyor belt is in the lowered state, the upper collecting synchronous wheel driving motor is started, and the upper collecting synchronous wheel drives the reducer through the transmission of the upper collecting synchronous wheel to make the upper collecting active synchronous wheel rotate, so that the upper collecting conveyor belt can transport the waste generated by the slotting back; the pulverizer is installed on the main frame of the chassis system, directly under the upper collecting active synchronous wheel; the pulverizer driving motor is installed on the side of the main frame, and its output shaft can input power to the pulverizing and cutting wheel of the pulverizer. The lower part of the pulverizer is provided with a discharge port to facilitate the collection of the pulverized waste.

[0016] Preferably, the lower collection support frame is installed at the lower part of the horizontal turntable shell, and a lower collection movable slide rail is vertically installed at the rear thereof, and a lower collection movable slider cooperates with it, and a lower collection movable plate is installed on it; the lower collection movable plate is a sheet metal part, and a plane is formed at the bend, and the upper part of the lower collection restoring spring acts on the bottom of the lower collection support frame to form a downward force on the lower collection movable plate; the lower collection caster bracket is fastened to the lower collection movable plate by screws, and the lower collection caster is installed at the lower part of the lower collection caster bracket.

[0017] Furthermore, the fixed guide rail frame is composed of a fixed frame column, a fixed guide rail, a fixed frame upper beam, a secondary side-pull guide rail slider, a transmission chain driving sprocket, a fixed-stage idler wheel a, and a fixed-stage idler wheel b; the fixed frame column is fixed to the main frame by welding and is symmetrically arranged on the left and right, the fixed guide rail is fixed to the front part of the fixed frame column, the two ends of the fixed frame upper beam are respectively fixed to the upper part of the left and right fixed frame columns, the secondary side-pull guide rail slider is fixed to the outer side of the fixed frame column, is symmetrically arranged on the left and right and its pulley faces outward, the transmission chain driving sprocket is fixed to the transmission chain driving shaft by a top screw, and the fixed-stage idler wheel a and the fixed-stage idler wheel b are fixed by an angle The code is installed on the main frame, and it is necessary to ensure that the transmission chain driving sprocket, the fixed-stage idler wheel a, and the fixed-stage idler wheel b are on the same plane; the movable guide rail frame is composed of a movable frame column, a first movable frame guide rail, a movable frame slider, an upper beam of the movable frame, a lower beam of the movable frame, a second movable frame guide rail, an upper angle code of the movable frame guide rail, a lower angle code of the movable frame guide rail, a three-level side pull guide rail slider, an upper idler wheel of the movable frame, an upper idler wheel of the second movable frame, a lower idler wheel of the movable frame, and a lower idler wheel of the second movable frame; the movable frame column, the upper beam of the movable frame, and the lower beam of the movable frame are connected to form a rectangular structure with angle codes, wherein the left and right movable frame columns are connected to the two fixed The fixed frame columns are arranged with equal width, and movable frame sliders assembled with fixed guide rails are respectively arranged at the lowest bottom of the rear parts of the two movable frame columns, so that the movable guide rail frame main structure can realize vertical translation under the guidance of the movable frame sliders; the second movable frame guide rail is relatively fixed to the movable frame column by the movable frame guide rail upper angle bracket and the movable frame guide rail lower angle bracket, and its pulley is assembled with the secondary side-pull guide rail slider. In the process of the movable guide rail frame rising, since the secondary side-pull guide rail slider is fixed to the fixed guide rail frame, the second movable frame guide rail is fixed to the movable guide rail frame, then the second movable frame guide rail slides relative to the secondary side-pull guide rail slider The three-stage side-pull guide rail slider is fixed to the outer side of the movable frame column, symmetrically arranged on the left and right, and its pulley faces outward, and its function is similar to that of the two-stage side-pull guide rail slider, that is, to provide a limit for the movable guide rail frame of the next stage; the idler wheel on the movable frame fixes its axis to the lower part of the upper beam of the movable frame by an angle code, and the idler wheel on the movable frame can rotate freely around its axis, and the idler wheel below the movable frame fixes its axis to the upper part of the lower beam of the movable frame by an angle code, and the idler wheel below the movable frame can rotate freely around its axis.

[0018] Furthermore, the closed-loop transmission mechanism is composed of a transmission chain, a work platform crossbeam, a pin connecting angle code, a pin, a basket nut, a chain connecting angle code, a work platform slider, a work platform support column, an upper anti-collision monitoring infrared switch, and a lower anti-collision monitoring infrared switch; two pin connecting angle codes are respectively fixed symmetrically on the upper part of the work platform crossbeam, and holes are provided on the pin connecting angle code to pass through and fix the pin. One end of the basket nut is hooked on the pin, and the other end thereof is connected with the chain pin. The chain connecting angle code is fixed at the lower part of the work platform crossbeam, and it is connected with the chain link. The pin shaft is connected and fixed; the transmission chain, the working platform crossbeam and the basket nut together form a closed loop structure. Starting from the upper end of the basket nut, it passes through the idler wheel on the second movable frame, the lower idler wheel on the second movable frame, the upper idler wheel on the movable frame, the lower idler wheel on the movable frame, the transmission chain driving sprocket, the fixed stage idler wheel a, the fixed stage idler wheel b, and finally connected to the chain at the end. An angle code is fixed; the working platform slider is fixed on the working platform support column, and is symmetrically arranged on the left and right, and cooperates with the guide rail of the last level of the movable guide rail frame, so that it can move vertically, and the working platform support The column and the work platform crossbeam are fastened by angle brackets to form a whole, providing a foundation for the installation of the work platform; the lifting drive mechanism is composed of a lifting drive motor, a lifting drive motor output shaft bearing seat, a lifting drive motor output drive sprocket, a drive chain, a transmission chain drive shaft power sprocket, a transmission chain drive shaft, a right bearing seat, and a left bearing seat; the lifting drive motor is installed on the main frame of the chassis system, and its output shaft faces sideways. The lifting drive motor output shaft bearing seat is installed on the main frame and supports the output shaft of the lifting drive motor. The motor output drive sprocket is fixed to the output shaft of the lifting drive motor by means of a jackscrew, the transmission chain drive shaft is installed below the upper beam of the fixed frame through the right bearing seat and the left bearing seat, the transmission chain drive shaft power sprocket is installed at the end of the transmission chain drive shaft and is fastened to the transmission chain drive shaft by means of a jackscrew; when the lifting drive motor is started, the lifting drive motor output drive sprocket transmits power to the transmission chain drive shaft power sprocket through the drive chain, so that the transmission chain drive shaft rotates, thereby driving the transmission chain drive sprocket to provide power for the closed-loop transmission mechanism.

[0019] Correspondingly, the present invention also provides an operation method of a global arbitrary slot operation robot, the steps of which are:

[0020] Wall slotting:

[0021] S11. The worker moves the chassis to the target slotting position by manipulating the steering drive motor and the rear drive motor, and the worker lays the slotting route at the slotting position on the wall using reflective tape;

[0022] S12, start the lifting drive motor, and under the drive of the transmission chain, the working platform connected to the working platform crossbeam rises first, and when it rises to the top of the movable guide frame of the last level and a limit occurs, the movable guide frame of this level is lifted up together, and similarly, when it reaches the top of the movable guide frame of the previous level and a limit occurs, the movable guide frame of the previous level is also lifted up;

[0023] S13. In order to leave space for lowering the upper collecting conveyor belt, the second-stage movable guide rail frame needs to be raised to a certain height, and the lifting drive motor is stopped, and its self-locking function is used to keep the second-stage movable guide rail frame in a stable state; then the upper collecting push rod motor is started to lower the upper collecting conveyor belt to a horizontal state;

[0024] S14, continue to start the lifting drive motor to adjust the height of the first slotting system, and when the positioning camera captures the slotting target position, that is, when the working platform rises to a suitable position, stop the lifting drive motor to keep the working platform at the target height;

[0025] S15, starting the feed slide motor, the worker determines whether the first slotting blade reaches the wall through the reading of the feed distance sensor, and stops the feed slide motor when it is confirmed that the first slotting blade is about to touch the wall, i.e. stops feeding forward;

[0026] S16, first start the circumferential adjustment turntable motor, adjust the radial adjustment linear module to a suitable angle in combination with the angle sensor data of the circumferential adjustment angle sensor, then start the radial adjustment linear module motor, and adjust the radial adjustment slider to the starting point of the slotting route; then start the first slotting blade drive motor to rotate the first slotting blade at high speed, start the feed slide motor to slowly feed the blade forward, position the camera while continuously observing the feed distance sensor, and stop the feed slide motor when the feed depth reflected by the reading reaches a preset standard;

[0027] S17. Before the slotting operation, the upper collecting synchronous wheel driving motor or the vacuum cleaner may be started according to the needs of the on-site construction, so as to complete the waste collection and dust removal functions while the slotting operation is being performed; if the upper collecting synchronous wheel driving motor is started, the pulverizer driving motor shall be started synchronously to process the waste transported to the inside of the pulverizer (5112), and a dump truck or other material storage container shall be arranged below the discharge port to facilitate the collection of the waste output from the pulverizer;

[0028] S18. The positioning camera identifies the slotting route formed by the reflective tape. After background calculation, the control system automatically drives the circumferential adjustment turntable motor and the radial adjustment linear module motor in combination with the data reflected by the circumferential adjustment angle sensor and the radial adjustment stroke sensor, so that the radial adjustment slider moves according to the laid slotting route within a circular area with the circumferential adjustment turntable as the center and the radial adjustment linear module base as the diameter; during the movement of the radial adjustment slider, the system calculates the tangent slope of the position of the first slotting blade in the route, and drives the micro-adjustment turntable motor in combination with the angle data reflected by the inclination adjustment angle sensor so that the first slotting blade always moves along the tangential direction of the route, thereby forming a slot shape with a consistent width and effectively reducing blade wear;

[0029] S19. If the wall material is relatively hard, so that there are still some residues after the first slotting blade cuts, the worker can temporarily stop all motors from working, adjust the fine-tuning slider to adjust the electric pick blade to below the first slotting blade, and then turn its locking handle to fix the position of the electric pick blade relative to the first slotting blade; at this time, the worker can keep other motors working and start the electric pick motor at the same time, which drives the electric pick blade to vibrate at a high frequency, so that the residues after the first slotting blade cuts fall off;

[0030] S110, after the slotting is completed, the worker stops the first slotting blade driving motor, first starts the feed slide motor to make the first slotting blade withdraw from the slot, and then resets the circumferential adjustment turntable motor, the radial adjustment linear module motor, and the micro-adjustment turntable motor to prepare for the next round of slotting operation;

[0031] Ceiling slotting:

[0032] S21, the preparation work before grooving is the same as steps S11 to S13, except that a grooving route is laid on the ceiling with reflective tape;

[0033] S22, start the circumferential adjustment turntable motor, adjust the circumferential adjustment turntable so that the radial adjustment linear module base is perpendicular to the ground and the radial adjustment linear module motor is facing directly downward, then start the radial adjustment linear module motor to move the fine adjustment slider to a position close to the top of the radial adjustment linear module base, and start the inclination adjustment push rod motor to make the first slotting functional component rise to the maximum angle;

[0034] S23, the worker installs the positioning cameras on the left and right sides facing upward, and the positioning cameras identify the slotting route and send a signal to the control system to move the chassis system in a small range until the orthographic projection of the first slotting blade onto the ceiling falls on the starting point of the slotting route;

[0035] S24, start the lifting drive motor, perform binocular positioning through the positioning cameras on the left and right sides, and stop when the first slotting blade is about to touch the ceiling;

[0036] S25, starting the first slotting blade driving motor to rotate the first slotting blade at high speed, then starting the radial adjustment linear module motor, using the remaining stroke of the radial adjustment linear module base to adjust the radial adjustment slider upward, so as to achieve the effect of feeding the first slotting blade to the ceiling, while the positioning cameras on the left and right sides continue to perform binocular positioning, and when it is determined that the feeding depth reaches the preset value, stop the radial adjustment linear module motor, that is, stop feeding;

[0037] S26, the positioning camera identifies the preset route of the ceiling slotting, and adjusts the position and direction of the first slotting blade by controlling the movement of the chassis system to achieve the purpose of slotting the ceiling;

[0038] Ground slotting:

[0039] S31. The worker moves the chassis to the target slotting position by manipulating the steering drive motor and the rear drive motor, and the worker lays the slotting route at the slotting position on the ground using reflective tape;

[0040] S32, the second slotting blade driving motor can be fine-tuned by starting the push feed push rod motor and combining the feed stroke reflected by the push infrared sensor, so that the orthographic projection of the second slotting blade on the ground falls on the starting point of the slotting route; the worker installs the positioning camera on the plane frame facing downward to identify and locate the slotting route paved with the reflective tape;

[0041] S33, starting the second slotting blade driving motor to make the second slotting blade rotate at high speed, then starting the descending feed push rod motor to make the second slotting blade feed downward, and the worker observes the ranging reading of the descending infrared sensor during the feeding process, and stops the descending feed push rod motor when the feeding depth to the ground reaches a preset value, i.e. stops the downward feeding;

[0042] S34, the control system controls the steering drive motor and the rear drive motor in combination with the route image located by the positioning camera to achieve the effect of the second slotting blade moving along the preset path, and at the same time determines the tangent slope of the position of the second slotting blade in the route through background calculation, so as to control the horizontal turntable motor to adjust the angle of the second slotting blade drive motor;

[0043] S35. When actually grooving the ground, the grooving path is set in front of the device so that the lower collecting movable plate can collect the grooving waste during the movement of the chassis system. At the same time, when the water pump is started, the nozzle can pass through the grooving area to achieve the purpose of dust reduction.

[0044] From the above, the global arbitrary slot operation robot and the operation method thereof of the present invention have at least the following beneficial effects:

[0045] 1. Combine the chain vertical lifting system, the first slotting system and the second slotting system to form a full-area slotting operation method, that is, integrate the slotting functions of the wall, ceiling and floor on one device.

[0046] 2. The chain-type vertical lifting system adopts a closed-loop transmission chain and a special "complementary guide" structure, which effectively adapts to the high-load operation requirements of grooving operations.

[0047] 3. Through the cooperation of the chain vertical lifting system and the first slotting system, the function of opening slots of any shape on the wall can be completed; through the cooperation of the chassis system and the first slotting system, the function of opening slots of any shape on the ceiling can be completed; through the cooperation of the chassis system and the second slotting system, the function of opening slots of any shape on the ground can be completed.

[0048] 4. The structure is perfect in functions, and it integrates waste collection and dust removal equipment, which can effectively reduce the construction workload and protect the construction environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings described herein are used to provide 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 improper limitations on the present application.

[0050] Figure 1 It is a schematic diagram of the overall structure of the global arbitrary slot operation robot of the present invention;

[0051] Figure 2 is a schematic structural diagram of a chassis system of the present invention;

[0052] Figure 3 It is a structural schematic diagram of the fixed guide rail frame and the lifting drive mechanism of the present invention;

[0053] Figure 4 It is a structural schematic diagram of the upper part of the movable guide rail frame of the present invention;

[0054] Figure 5 It is a structural schematic diagram of the lower part of the movable guide rail frame of the present invention;

[0055] Figure 6 It is a structural schematic diagram of the closed-loop transmission mechanism of the present invention;

[0056] Figure 7 It is one of the structural schematic diagrams of the first slotting system of the present invention;

[0057] Figure 8 This is the second structural schematic diagram of the first slotting system of the present invention;

[0058] Fig. 9 It is the third structural schematic diagram of the first slotting system of the present invention;

[0059] Fig.10 It is one of the structural schematic diagrams of the second slotting system of the present invention;

[0060] Fig.11 This is the second structural schematic diagram of the second slotting system of the present invention;

[0061] Fig.12 It is one of the structural schematic diagrams of the slotting auxiliary system of the present invention;

[0062] Fig.13 This is the second structural schematic diagram of the slotting auxiliary system of the present invention.

[0063] In the figure:

[0064] 1000-Chassis system;

[0065] 1100-frame support part;

[0066] 1101-main frame, 1102-load-bearing beam, 1103-battery rack;

[0067] 1200-Front wheel steering mechanism;

[0068] 1201-steering drive motor, 1202-steering reducer, 1203-steering crank, 1204-steering link a, 1205-right wheel handle, 1206-left wheel handle, 1207-steering link b, 1208-front frame pivot point, 1209-front frame, 1210-front wheel shaft, 1211-front wheel;

[0069] 1300-rear wheel drive mechanism;

[0070] 1301-rear drive motor, 1302-rear drive reducer, 1303-differential, 1304-rear axle, 1305-U-shaped card, 1306-rear wheel hub, 1307-rear wheel;

[0071] 2000-Chain vertical lifting system;

[0072] 2100-Fixed rail frame;

[0073] 2101-fixed frame column, 2102-fixed guide rail, 2103-fixed frame upper beam, 2104-secondary side pull guide rail slider, 2105-transmission chain driving sprocket, 2106-fixed stage idler wheel a, 2107-fixed stage idler wheel b;

[0074] 2200- movable rail frame;

[0075] 2201-movable frame column, 2202-first movable frame guide rail, 2203-movable frame slider, 2204-movable frame upper beam, 2205-movable frame lower beam, 2206-second movable frame guide rail, 2207-movable frame guide rail upper angle bracket, 2208-movable frame guide rail lower angle bracket, 2209-third-level side-pull guide rail slider, 2210-movable frame upper idler, 2210a-second movable frame upper idler, 2211-movable frame lower idler, 2211a-second movable frame lower idler;

[0076] 2300-closed loop transmission mechanism;

[0077] 2301-transmission chain, 2302-working platform crossbeam, 2303-pin connecting angle code, 2304-pin, 2305-basket nut, 2306-chain connecting angle code, 2307-working platform slider, 2308-working platform support column, 2309-upper anti-collision monitoring infrared switch, 2310-lower anti-collision monitoring infrared switch;

[0078] 2400-lifting drive mechanism;

[0079] 2401-lifting drive motor, 2402-lifting drive motor output shaft bearing seat, 2403-lifting drive motor output drive sprocket, 2404-drive chain, 2405-drive chain drive shaft power sprocket, 2406-drive chain drive shaft, 2407-right bearing seat, 2408-left bearing seat;

[0080] 3000-First slotting system;

[0081] 3100-operating platform;

[0082] 3101- plane frame, 3102- platform diagonal brace;

[0083] 3200-Polar coordinate azimuth adjustment mechanism;

[0084] 3201-feed slide motor, 3202-slide, 3203-circumferential adjustment turntable bracket, 3204-circumferential adjustment turntable motor, 3205-circumferential adjustment turntable housing, 3206-circumferential adjustment turntable, 3207-radial adjustment linear module motor, 3208-radial adjustment screw coupling, 3209-radial adjustment linear module base, 3210-radial adjustment screw, 3211-radial adjustment slider, 3212-micro-adjustment turntable motor, 3213-micro-adjustment Turntable housing, 3214-fine-motion adjustment turntable, 3215-articulated bracket, 3216-functional component installation platform, 3217-fine-adjustment slide rail, 3218-fine-adjustment slider, 3219-tilt adjustment push rod base, 3220-tilt adjustment push rod motor, 3221-tilt adjustment push rod, 3222-positioning camera, 3223-circumferential adjustment angle sensor, 3224-radial adjustment stroke sensor, 3225-feed distance sensor, 3226-tilt adjustment angle sensor;

[0085] 3300-first slotted functional component;

[0086] 3301-first slotting blade drive motor, 3302-first gear box, 3303-first slotting blade shaft, 3304-first slotting blade, 3305-main dust cover, 3306-upper dust cover, 3307-upper dust cover limit spring, 3308-lower dust cover, 3309-lower dust cover limit spring, 3310-electric pick support frame, 3311-electric pick motor, 3312-electric pick blade;

[0087] 4000-second slotting system;

[0088] 4100- follow-up azimuth adjustment mechanism;

[0089] 4101-advancing feed push rod motor, 4102-advancing feed push rod housing, 4103-advancing feed push rod, 4104-advancing linear slide support slider, 4105-advancing linear slide, 4106-advancing bracket, 4107-descending feed push rod motor, 4108-descending feed push rod housing mounting card, 4109-descending feed push rod, 4110-descending linear slide support slider, 4111-descending linear slide, 4112-descending bracket, 4113-horizontal turntable housing, 4114-horizontal turntable motor, 4115-horizontal turntable, 4116-rotating bracket, 4117-motor clamp, 4118-advancing infrared sensor, 4119-descending infrared sensor, 4120-horizontal angle sensor;

[0090] 4200-second slotted functional component;

[0091] 4201-second slotting blade driving motor, 4202-second gear box, 4203-driving synchronous pulley, 4204-driven synchronous pulley, 4205-tool holder bearing seat, 4206-second slotting blade shaft, 4207-second slotting blade, 4208-dust cover;

[0092] 5000-grooving auxiliary system;

[0093] 5100- Waste recycling organizations;

[0094] 5101-upper collection push rod bracket, 5102-upper collection push rod motor, 5103-upper collection push rod, 5104-upper collection transmission belt bracket, 5105-upper collection synchronous wheel drive bearing seat, 5106-upper collection synchronous wheel drive motor, 5107-upper collection synchronous wheel drive reducer, 5108-upper collection active synchronous wheel, 5109-upper collection driven synchronous wheel, 5110-upper collection conveyor belt, 5111-crusher drive motor, 5112-crusher, 5113-discharging port, 5114-lower collection support frame, 5115-lower collection movable slide rail, 5116-lower collection movable slider, 5117-lower collection movable plate, 5118-lower collection recovery spring, 5119-lower collection caster bracket, 5120-lower collection caster;

[0095] 5200-dust removal mechanism;

[0096] 5201- vacuum cleaner, 5202- vacuum pipe, 5203- water tank, 5204- water suction pipe, 5205- water pump, 5206- water pipe, 5207- nozzle. DETAILED DESCRIPTION

[0097] Next, combine Figures 1 to 13 A global arbitrary slot operation robot and an operation method thereof provided by the present invention are introduced in detail.

[0098] like Figure 1 As shown, the global arbitrary slot operation robot of the present invention includes a chassis system 1000, a chain vertical lifting system 2000, a first slotting system 3000, a second slotting system 4000 and a slotting auxiliary system 5000. The chassis system 1000 provides a function of moving the device, the chain vertical lifting system 2000 provides a lifting function of the first slotting system 3000, the first slotting system 3000 provides a function of opening slots on the wall and ceiling, the second slotting system 4000 provides a function of slotting the ground, and the slotting auxiliary system 5000 provides an auxiliary function of collecting waste, cleaning and reducing dust.

[0099] like Figure 2As shown, the chassis system 1000 is composed of a frame support part 1100, a front wheel steering mechanism 1200, and a rear wheel drive mechanism 1300. Among them, the frame support part 1100 is composed of a main frame 1101, a load-bearing beam 1102, and a battery rack 1103; the frame support part 1100 is entirely welded from square tubes, the main frame 1101 carries the functional mechanism of the entire device, and the upper part is covered with a steel plate for support, and the lower part of the main frame 1101 is provided with a load-bearing beam 1102, which is a square structure and plays a major load-bearing role for the entire chassis system, and the battery rack 1103 is welded between the load-bearing beams 1102, and is designed as a trough structure to place the battery.

[0100] The front wheel steering mechanism 1200 is composed of a steering drive motor 1201, a steering reducer 1202, a steering crank 1203, a steering link a1204, a right wheel handle 1205, a left wheel handle 1206, a steering link b1207, a front frame pivot point 1208, a front frame 1209, a front wheel shaft 1210, and a front wheel 1211. The steering drive motor 1201 is installed on the side of the steering reducer 1202 through a predetermined hole, the steering reducer 1202 is welded to the side of the battery rack 1103, the steering crank 1203 is matched with the output shaft of the steering reducer 1202 through a keyway shaft, and the other end thereof is welded and fastened to the connecting head of the steering link a1204, and the other connecting head of the steering link a1204 is welded and fixed to the right wheel handle 1205. One end of the steering link b1207 is welded to the right wheel handle 1205, and the other end thereof is welded to the left wheel handle 1206. It should be noted that the connectors of the right wheel handle 1205 and the left wheel handle 1206 and the rods therebetween are connected by a spherical pair, so the connectors can move freely relative to the rods. The front frame hinge 1208 is welded below the load-bearing beam 1102, and its side view is a "U"-shaped structure, so that the front frame 1209 can be placed in the middle groove and connected by bolts. This assembly method can allow the front frame 1209 to have a certain degree of swing freedom, which can play a role in shock absorption during actual driving. Hinge points are set at both ends of the front frame 1209, and the front wheel shaft 1210 is set at the left and right ends and hinged to the hinge points on its left and right sides respectively. The left and right front wheel shafts 1210 are welded to the left wheel handle 1206 and the right wheel handle 1205 respectively, so that when the handle moves, the front wheel shaft 1210 can be driven to rotate around its hinge point. A steel shaft is welded to the side of the front wheel shaft 1210, and the front wheel 1211 is rotatably fitted on the steel shaft through a bearing so that it can rotate freely around it; when the steering drive motor 1201 is started, its power is transmitted to the steering crank 1203 through the steering reducer 1202, and the steering crank 1203 rotates and then drives the steering connecting rod a1204 to move axially, so that the right wheel handle 1205 moves, and the right wheel handle 1205, the left wheel handle 1206, the steering connecting rod b1207, and the front frame 1209 constitute a parallelogram mechanism. When the right wheel handle 1205 rotates, the left wheel handle 1206 rotates synchronously to remain parallel to the right wheel handle 1205, that is, during the steering process of the chassis, it is ensured that the left and right front wheels 1211 can always remain parallel when rotating.

[0101] The rear-wheel drive mechanism 1300 is composed of a rear-wheel drive motor 1301, a rear-wheel drive reducer 1302, a differential 1303, a rear axle 1304, a U-shaped card 1305, a rear wheel hub 1306, and a rear wheel 1307; the rear-wheel drive motor 1301 is connected to the rear-wheel drive reducer 1302 through a flange, the rear-wheel drive reducer 1302 and the differential 1303 are integrally driven, the differential 1303 is welded to the rear axle 1304, the rear axle 1304 is welded in the groove of the U-shaped card 1305, and the U-shaped card 1305 is welded to the load-bearing beam 1102 to ensure that the rear axle 1304 is fastened to the load-bearing beam 1102, and the power of the differential 1303 is transmitted through The rotating shaft in the rear axle 1304 is transmitted to the rear wheel hub 1306. There is a brake disc in the rear wheel hub 1306. The friction force generated by the tight pressure between the friction plate and the brake disc can be used to achieve the effect of braking the rear wheel by installing a connecting rod and pushing the operating handle of the internal friction plate. This mechanical braking solution is an extensibility solution and its principle is not shown in detail. The present invention adopts an electronic braking system to complete the braking of the chassis by sending instructions to the rear drive motor 1301. The rear wheel 1307 is installed on the rear wheel hub 1306 by screws; when the rear drive motor 1301 is started, the power can be transmitted to the rear wheel 1307, thereby driving the chassis.

[0102] like Figures 3 to 6 As shown, the chain-type vertical lifting system 2000 is installed on the chassis system 1000 and consists of a fixed guide rail frame 2100, a movable guide rail frame 2200, a closed-loop transmission mechanism 2300, and a lifting drive mechanism 2400. The fixed guide rail frame 2100 consists of a fixed frame column 2101, a fixed guide rail 2102, a fixed frame upper beam 2103, a secondary side pull guide rail slider 2104, a transmission chain drive sprocket 2105, a fixed-stage idler wheel a2106, and a fixed-stage idler wheel b2107; the fixed frame column 2101 is fixed to the main frame 1101 by welding and is symmetrically arranged on the left and right, the fixed guide rail 2102 is fixed to the front of the fixed frame column 2101, and the two ends of the fixed frame upper beam 2103 are respectively fixed to On the upper part of the left and right fixed frame columns 2101, the secondary side-pull guide rail slider 2104 is fixed on the outer side of the fixed frame column 2101, symmetrically arranged on the left and right with its pulley facing outward, the transmission chain driving sprocket 2105 is fixed on the transmission chain driving shaft 2406 by a top screw, and the fixed-stage idler a2106 and the fixed-stage idler b2107 are installed on the main frame 1101 by angle codes. It is necessary to ensure that the transmission chain driving sprocket 2105, the fixed-stage idler a2106, and the fixed-stage idler b2107 are on the same plane.

[0103] like Figure 4As shown, the movable guide rail frame 2200 is composed of a movable frame column 2201, a first movable frame guide rail 2202, a movable frame slider 2203, a movable frame upper beam 2204, a movable frame lower beam 2205, a second movable frame guide rail 2206, an upper angle bracket 2207 of the movable frame guide rail, a lower angle bracket 2208 of the movable frame guide rail, a three-level side-pull guide rail slider 2209, an upper idler wheel 2210 of the movable frame, an upper idler wheel 2210a of the second movable frame, a lower idler wheel 2211 of the movable frame, and a lower idler wheel 2211a of the second movable frame; the movable frame column 2201, the movable frame upper beam 2204, and the movable frame lower beam 2205 are connected to form a rectangular structure by angle brackets, wherein the left and right movable frame columns 2201 are arranged with the same width as the two fixed frame columns 2101, and the fixed guide rails 2102 are respectively arranged at the bottom of the rear of the two movable frame columns 2201. The movable frame slider 2203, the main structure of the movable guide rail frame 2200 can realize vertical translation under the guidance of the movable frame slider 2203; the second movable frame guide rail 2206 is relatively fixed to the movable frame column 2201 through the movable frame guide rail upper angle code 2207 and the movable frame guide rail lower angle code 2208, and its pulley is assembled with the secondary side-pull guide rail slider 2104. During the rising process of the movable guide rail frame 2200, since the secondary side-pull guide rail slider 2104 is fixed to the fixed guide rail frame 2100, the second movable frame guide rail 2206 is fixed to the movable guide rail frame 2200, then the second movable frame guide rail 2206 slides relative to the secondary side-pull guide rail slider 2104, and then can continuously limit the guide rail frame 2200 during the process, forming a special structure of "complementary guidance" to prevent the front load from causing it to tilt forward, effectively ensuring its verticality. The third-level side-pull guide rail slider 2209 is fixed to the outer side of the movable frame column 2201, symmetrically arranged on the left and right, and its pulley faces outward. Its function is similar to that of the second-level side-pull guide rail slider 2104, that is, to provide a limit for the movable guide rail frame of the next level; the idler wheel 2210 on the movable frame fixes its axis to the lower part of the upper beam 2204 of the movable frame by an angle code, and the idler wheel 2210 on the movable frame can rotate freely around its axis, and the idler wheel 2211 below the movable frame fixes its axis to the upper part of the lower beam 2205 of the movable frame by an angle code, and the idler wheel 2211 below the movable frame can rotate freely around its axis, and the assembly methods of the second movable frame upper idler wheel 2210a and the second movable frame lower idler wheel 2211a are respectively the same as the movable frame upper idler wheel 2210 and the movable frame lower idler wheel 2211. Here it is only for the convenience of explaining the assembly of the idler sprockets of higher lifting and lowering levels.

[0104] The closed-loop transmission mechanism 2300 is composed of a transmission chain 2301, a work platform crossbeam 2302, a pin connection angle code 2303, a pin 2304, a basket nut 2305, a chain connection angle code 2306, a work platform slider 2307, a work platform support column 2308, an upper anti-collision monitoring infrared switch 2309, and a lower anti-collision monitoring infrared switch 2310. Figure 6 The figure shows a cross-sectional view; two pin connection angle brackets 2303 are respectively fixed to the upper part of the working platform cross beam 2302 symmetrically on the left and right, and the pin connection angle bracket 2303 is provided with a hole to pass through the fixing pin shaft 2304, one end of the basket nut 2305 is hooked on the pin shaft 2304, and the other end thereof is connected with the chain pin shaft, and the chain connection angle bracket 2306 is fixed to the lower part of the working platform cross beam 2302, and is connected and fixed with the pin shaft of the chain link; the transmission chain 2301, the working platform cross beam 2302, and the basket nut 2305 together form a closed loop structure, starting from the upper end of the basket nut 2305, it passes through the idler wheel 22 on the second movable frame in sequence. 10a, the lower idler wheel 2211a of the second movable frame, the upper idler wheel 2210 of the movable frame, the lower idler wheel 2211 of the movable frame, the transmission chain driving sprocket 2105, the fixed stage idler wheel a2106, the fixed stage idler wheel b2107, and finally fixed with the chain connecting angle code 2306 at the end; the working platform slider 2307 is fixed on the working platform support column 2308, which is symmetrically arranged on the left and right, and cooperates with the guide rail of the movable guide rail frame of the last level, so as to be able to move vertically, the working platform support column 2308 and the working platform beam 2302 are fastened by angle codes to form a whole, providing a basis for the installation of the working platform 3100.

[0105] The lifting drive mechanism 2400 is composed of a lifting drive motor 2401, a lifting drive motor output shaft bearing seat 2402, a lifting drive motor output drive sprocket 2403, a drive chain 2404, a transmission chain drive shaft power sprocket 2405, a transmission chain drive shaft 2406, a right bearing seat 2407, and a left bearing seat 2408; the lifting drive motor 2401 is installed on the main frame 1101, and its output shaft faces sideways, the lifting drive motor output shaft bearing seat 2402 is installed on the main frame 1101, and supports the output shaft of the lifting drive motor 2401, and the lifting drive motor output drive sprocket 2403 is fixed to the lifting drive motor by a top screw. On the output shaft of the machine 2401, the transmission chain drive shaft 2406 is installed below the upper beam 2103 of the fixed frame through the right bearing seat 2407 and the left bearing seat 2408, and the transmission chain drive shaft power sprocket 2405 is installed at the end of the transmission chain drive shaft 2406 and is fastened to the transmission chain drive shaft 2406 through a top screw; when the lifting drive motor 2401 is started, the lifting drive motor output drive sprocket 2403 transmits power to the transmission chain drive shaft power sprocket 2405 through the drive chain 2404, so that the transmission chain drive shaft 2406 rotates, thereby driving the transmission chain drive sprocket 2105 to provide power for the closed-loop transmission mechanism 2300.

[0106] like Figures 7 to 9 As shown, the first slotting system 3000 is installed on the chain-type vertical lifting system 2000 and is composed of a work platform 3100, a polar coordinate orientation adjustment mechanism 3200, and a first slotting functional component 3300. The work platform 3100 is composed of a plane frame 3101 and a platform diagonal brace 3102; the plane frame 3100 is a rectangular frame formed by connecting profiles with angle brackets to load the polar coordinate orientation adjustment mechanism 3200 and the first slotting functional component 3300, and the two ends of the platform diagonal brace 3102 are respectively connected to the plane frame 3101 and the work platform support column 2308 through angle brackets to play a role in strengthening the load capacity of the plane frame 3101.

[0107] The polar coordinate azimuth adjustment mechanism 3200 comprises a feed slide motor 3201, a slide 3202, a circumferential adjustment turntable bracket 3203, a circumferential adjustment turntable motor 3204, a circumferential adjustment turntable housing 3205, a circumferential adjustment turntable 3206, a radial adjustment linear module motor 3207, a radial adjustment screw coupling 3208, a radial adjustment linear module base 3209, a radial adjustment screw 3210, a radial adjustment slider 3211, a micro-adjustment turntable motor 3212, a micro-adjustment turntable housing 3213, a micro-adjustment turntable 3214, an articulated bracket 3215, and a functional component installation platform. 3216, fine-tuning rail 3217, fine-tuning slider 3218, tilt adjustment push rod base 3219, tilt adjustment push rod motor 3220, tilt adjustment push rod 3221, positioning camera 3222, circumferential adjustment angle sensor 3223, radial adjustment stroke sensor 3224, feed distance sensor 3225, tilt adjustment angle sensor 3226; slide 3202 is a heavy slide, which is responsible for feeding in the front and rear directions. The feed slide motor 3201 drives the internal screw to rotate, and then drives the slide 3202 matched with the screw thread to move forward and backward; the circumferential adjustment dial 3206 is responsible for adjusting The radial adjustment mechanism is used to adjust the angle between the radial adjustment mechanism and the ground. The circumferential adjustment turntable bracket 3203 is installed on the slide 3202 by screws. The output shaft of the circumferential adjustment turntable motor 3204 drives the circumferential adjustment turntable 3206 to rotate through the worm gear. The radial adjustment linear module is responsible for adjusting the distance from the first slotted functional component 3300 to the rotation center of the circumferential adjustment turntable 3206. The radial adjustment linear module motor 3207 is connected to one end of the radial adjustment linear module base 3209 by screws, and its output shaft is connected to the radial adjustment screw 3210 through the radial adjustment screw coupling 3208. The radial adjustment slider 321 1Inside it, the radial adjustment screw rod 3210 is threadedly matched, and at the same time, the two sides of the radial adjustment slider 3211 are limited by the radial adjustment linear module base 3209. When the radial adjustment linear module motor 3207 is started, the power is transmitted to the radial adjustment slider 3211 through the radial adjustment screw rod 3210, so that the radial adjustment slider 3211 moves in the direction of the radial adjustment linear module base 3209; the fine adjustment dial 3214 is responsible for adjusting the working angle of the first slotting functional component 3300, so that the working direction of the first slotting blade 3304 and the electric pick blade 3312 can be tangent to the action curve. The fine adjustment dial motor 3212 is installed on the fine adjustment dial housing 3213, and its output shaft drives the fine adjustment dial 3214 to rotate through the worm gear in the fine adjustment dial housing 3213. The articulated bracket 3215 is mounted on the micro-adjustment turntable 3214 by screws and welded through square tubes, and provides an articulation point for the functional component mounting platform 3216 and the inclination adjustment push rod base 3219 .The overall structure of the functional component mounting platform 3216 is a rectangular frame welded from square tubes. The fine-tuning slide rails 3217 are installed on the side of the functional component mounting platform 3216 and are symmetrically arranged on the left and right. The fine-tuning sliders 3218 cooperate with the fine-tuning slide rails 3217 on both sides respectively. The fine-tuning sliders 3218 have a locking function. When the locking handles on the sides of the fine-tuning sliders 3218 are rotated, the top screws inside them can support the fine-tuning slide rails 3217 and generate great friction, thereby fastening the fine-tuning sliders 3218 to a certain position of the fine-tuning slide rails 3217; the inclination adjustment push rod 3221 is responsible for adjusting the first slotted functional component The pitch angle of the component 3300, the inclination adjustment push rod base 3219 is hinged to the hinge point below the articulated bracket 3215, the inclination adjustment push rod motor 3220 is installed on the inclination adjustment push rod base 3219, which can transmit power to the inclination adjustment push rod 3221, and the end of the inclination adjustment push rod 3221 is hinged to the hinge point at the front of the functional component mounting platform 3216. When the inclination adjustment push rod 3221 is extended, the inclination angle of the functional component mounting platform 3216 increases accordingly. Conversely, when the inclination adjustment push rod 3221 is retracted, the inclination angle of the functional component mounting platform 3216 decreases.

[0108] The positioning camera 3222 is installed on the column mainly used for positioning the upper part of the plane frame 3101, and is symmetrically arranged on both sides. Its main function is to roughly locate the working point, so that the working platform 3100 rises to a suitable height, and can also provide real-time feedback to the operator on the actual working situation. The circumferential adjustment angle sensor 3223 is installed on the side of the radial adjustment linear module base 3209, which is used to monitor the rotation angle of the circumferential adjustment turntable 3206. The radial adjustment stroke sensor 3224 is directly opposite to the radial adjustment slider 3211 and is installed on the radial adjustment linear module base 3209. It is an infrared rangefinder used to monitor the specific position of the radial adjustment slider 3211. The feeding distance sensor 3225 is installed on the side of the articulated bracket 3215. It is an infrared distance sensor and faces straight ahead. It is used to monitor and calculate the distance from the first slotting functional component 3300 to the front slotting body, or the feeding depth inside the slotting body. The tilt adjustment angle sensor 3226 is installed on the functional component mounting platform 3216 and is used to monitor the tilt angle of the mounting platform 3216 .

[0109] like Figure 8As shown, the first slotting functional component 3300 is composed of a first slotting blade drive motor 3301, a first gear box 3302, a first slotting blade shaft 3303, a first slotting blade 3304, a main dust cover 3305, an upper dust cover 3306, an upper dust cover limit spring 3307, a lower dust cover 3308, a lower dust cover limit spring 3309, an electric pick support frame 3310, an electric pick motor 3311, and an electric pick blade 3312; the first slotting blade drive motor 3301 is fastened to the functional component mounting platform 3216 by screws, and its output power is transmitted to the first slotting blade shaft 3303 after the deceleration and torque increase of the first gear box 3302, and the two ends of the first slotting blade shaft 3303 are threaded, so that the threaded gasket can press the first slotting blade 3304 thereon with threaded cooperation, so as to achieve the effect of fastening the first slotting blade 3304 to the first slotting blade shaft 3303. When the first slotting blade driving motor 3301 is started, the first slotting blade 3304 rotates at high speed; the main dust cover 3305 is fixed to the first gear box 3302 and is coaxial with the first slotting blade shaft 3303, and its main profile is an arc shape, and the upper dust cover 3306 and the lower dust cover 3308 are arranged in the main dust cover 3305, and their outer surfaces are in contact with the inner surface of the main dust cover 3305, so that they can rotate around the first slotting blade shaft 3303 within a certain angle range. One end of the upper dust cover limit spring 3307 is fixed to the fixing seat on the side of the main dust cover 3305, and the other end is fixed to the fixing seat of the upper dust cover 3306. One end of the lower dust cover limit spring 3309 is fixed on the fixed seat on the side of the main dust cover 3305, and the other end thereof is fixed on the fixed seat of the lower dust cover 3308. In actual grooving operation, when the first grooving blade 3304 enters the grooving body (such as a wall), the upper dust cover 3306 and the lower dust cover 3308 can automatically adjust the degree of opening according to the feed depth to ensure that the dust generated by the grooving can be concentrated in the cavity formed by the main dust cover 3305, the upper dust cover 3306, and the lower dust cover 3308 and does not spread outward, so that the vacuum cleaner 5201 can collect the dust through the dust suction pipe 5202. The electric pick support frame 3310 is welded from square tubes, and its two side columns are respectively attached to and mounted on the left and right fine-tuning sliders 3218, so that the electric pick support frame 3310 can be adjusted or fixed by adjusting or locking the fine-tuning sliders 3218. The mounting column at the lower part of the electric pick support frame 3310 fastens the electric pick motor 3311. The electric pick motor 3311 is a series-excited DC motor, which mainly transmits power to the electric pick blade 3312 through an eccentric wheel mechanism, so that when the electric pick motor 3311 is started, the electric pick blade 3312 can vibrate at a high frequency.

[0110] like Figures 10-11As shown, the second slotting system 4000 is composed of a follow-up position adjustment mechanism 4100 and a second slotting functional component 4200. The follow-up position adjustment mechanism 4100 is composed of a push-feed push rod motor 4101, a push-feed push rod housing 4102, a push-feed push rod 4103, a push-linear slide rail support slider 4104, a push-linear slide rail 4105, a push-bracket 4106, a descending feed push rod motor 4107, a descending feed push rod housing mounting card 4108, a descending feed push rod 4109, a descending linear slide rail support slider 4110, a descending linear slide rail 4111, a descending bracket 4112, a horizontal turntable housing 4113, a horizontal turntable motor 4114, and a horizontal turntable 4115. 115, a rotating bracket 4116, a motor clamp 4117, a push infrared sensor 4118, a descending infrared sensor 4119, and a horizontal angle sensor 4120; the push feed push rod housing 4102 is welded and fixed to the lower part of the main frame 1101, the push feed push rod 4103 faces forward, and the push feed push rod motor 4101 is used to drive the push feed push rod 4103 to feed forward or retract backward. The end of the push feed push rod 4103 is connected with the support on the upper crossbeam of the push bracket 4106 through a pin hole, and the push linear slide rail supports the slider 410 4 is installed at the lower part of the main frame 1101, and the push feed push rod 4103 cooperates with the push linear slide rail support slider 4104. Such a slide rail slider group is parallel to the push feed push rod 4103, symmetrically arranged on both sides, and is installed on the upper crossbeam of the push bracket 4106 by screws; the lowering feed push rod housing mounting card 4108 installs the lowering feed push rod 4109 on the front part of the push bracket 4106, and the lowering feed push rod motor 4107 is used to drive the lowering feed push rod 4109 to feed downward or retract upward. The end of the lowering feed push rod 4109 is connected to the lowering bracket 4 The horizontal screw rod on 112 is connected by a pin hole, the descending linear slide support slider 4110 is installed at the front of the pushing bracket 4106, and the descending linear slide 4111 cooperates with the descending linear slide support slider 4110. Such a slide slider group is parallel to the descending feed push rod 4109, symmetrically arranged on both sides, and is installed on the back of the descending bracket 4112 by screws; the horizontal turntable motor 4114 is installed on the horizontal turntable housing 4113, which is used to drive the horizontal turntable 4115 to rotate, and the horizontal turntable 4115 is installed at the bottom of the descending bracket 4112 by screws. The rotating bracket 4116 is installed at the bottom of the horizontal turntable housing 4113. This layout can make the horizontal turntable motor 4114 rotate with its lower part to avoid interference due to relative movement. The motor clamp 4117 is integrally welded with the rotating bracket 4116, and there are several threaded holes on its side, which can achieve the fastening effect of the second slotting blade drive motor 4201 by screwing in bolts.The push infrared sensor 4118 is installed at the rear of the push bracket 4106, facing the main frame 1101, and is used to monitor the distance from the main frame 1101 to determine the position of the push feed. The descending infrared sensor 4119 is installed at the lower part of the rotating bracket 4116, and determines the position of the descending feed by monitoring the distance from the ground. The horizontal angle sensor 4120 is installed at the side of the rotating bracket 4116, and is used to monitor the angle turned by the second slotted functional component 4200.

[0111] The second slotting functional component 4200 is composed of a second slotting blade drive motor 4201, a second gear box 4202, an active synchronous pulley 4203, a driven synchronous pulley 4204, a tool holder bearing seat 4205, a second slotting blade shaft 4206, a second slotting blade 4207, and a dust cover 4208; the second slotting blade drive motor 4201 is installed in a motor clamp 4117, the second gear box 4202 can transmit the power of the second slotting blade drive motor 4201 to the active synchronous pulley 4203, the active synchronous pulley 4203 and the driven synchronous pulley 4204 complete synchronous rotation through a synchronous belt, so as to transmit power to the second slotting blade shaft 4206, and the tool holder bearing seat 4205 is installed at the bottom of a rotating bracket 4116, symmetrically arranged, to support the rotation of the second slotting blade shaft 4206. The second slotting blade 4207 is installed on the second slotting blade shaft 4206 and is fastened to the second slotting blade shaft 4206 by the pressing force of the gasket. The dust cover 4208 is welded to the rotating bracket 4116, and its main body is coaxial with the second slotting blade 4207 and is large enough to accommodate slotting blades of different sizes. It is used to prevent a large amount of dust caused by the centrifugal force of the high-speed rotation of the second slotting blade 4207 during the ground slotting operation.

[0112] like Figures 12-13As shown, the grooving auxiliary system 5000 is composed of a waste recovery mechanism 5100 and a dust cleaning and dust reduction mechanism 5200. The waste recycling mechanism 5100 is composed of an upper collection push rod bracket 5101, an upper collection push rod motor 5102, an upper collection push rod 5103, an upper collection transmission belt bracket 5104, an upper collection synchronous wheel drive bearing seat 5105, an upper collection synchronous wheel drive motor 5106, an upper collection synchronous wheel drive reducer 5107, an upper collection active synchronous wheel 5108, an upper collection driven synchronous wheel 5109, an upper collection conveyor belt 5110, a crusher drive motor 5111, a crusher 5112, a discharge port 5113, a lower collection support frame 5114, a lower collection movable slide rail 5115, a lower collection movable slider 5116, a lower collection movable plate 5117, a lower collection restoring spring 5118, a lower collection caster bracket 5119, and a lower collection caster 5120; wherein the upper collection push rod bracket 5101 is installed on the fixed frame column At the lower rear position of 2101, there is a hinge point on the upper collection push rod motor 5102 which is hinged to it. The upper collection push rod motor 5102 can drive the upper collection push rod 5103 to extend and retract. One end of the upper collection transmission belt bracket 5104 is hinged to the end of the upper collection push rod 5103. The upper collection synchronous wheel drive motor 5106 is installed on the crusher 5112 through the connecting angle code, and the power is transmitted to its double-output shaft through the upper collection synchronous wheel drive reducer 5107. The double-output shaft is arranged in the left and right directions, and cooperates with the upper collection synchronous wheel drive bearing seat 5105 respectively installed on the main frame 1101 on the left and right sides. The upper collection active synchronous wheel 5108 is fastened and installed on the double-output shaft of the upper collection synchronous wheel drive reducer 5107 through a key connection. The upper collection driven synchronous wheel 5109 is installed on the shaft at the end of the upper collection transmission belt bracket 5104 and can rotate freely around the axis. The upper collecting active synchronous wheel 5108 and the upper collecting driven synchronous wheel 5109 are driven by the upper collecting conveyor belt 5110. To avoid interference with the transmission chain 2301, the conveyor belt module needs to be divided into two parts, left and right, and arranged on the left and right sides of the transmission chain 2301. When the upper collecting push rod motor 5102 drives the upper collecting push rod 5103 to extend, it drives the upper collecting conveyor belt bracket 5104 to rotate around the upper collecting synchronous wheel driving bearing seat 5105, so that the upper collecting conveyor belt 5110 is rotated. 0 is lowered, on the contrary, if the upper collecting push rod 5103 is retracted, the upper collecting conveyor belt 5110 will rise again. When the upper collecting conveyor belt 5110 is in the lowered state, the upper collecting synchronous wheel driving motor 5106 can be started, and the upper collecting synchronous wheel driving reducer 5107 is driven to make the upper collecting active synchronous wheel 5108 rotate, so that the upper collecting conveyor belt 5110 can transport the waste generated by the slotting back; the crusher 5112 is installed on the main frame 1101, directly opposite to the lower part of the upper collecting active synchronous wheel 5108.The pulverizer driving motor 5111 is installed on the side of the main frame 1101, and its output shaft can input power to the pulverizing and cutting wheel of the pulverizer 5112. The lower part of the pulverizer 5112 is provided with a discharge port 5113 to facilitate the collection of the pulverized waste. The upper collection part formed by the above structure can drive the upper collection synchronous wheel driving motor 5106 to enable the conveyor belt module to transport the slotted waste residue falling on the upper collection conveyor belt 5110 into the pulverizer 5112, and then the waste can be collected from the discharge port 5113 for recycling.

[0113] like Fig.13 As shown, the lower collecting support frame 5114 is installed at the lower part of the horizontal turntable housing 4113, and a lower collecting movable slide rail 5115 is vertically installed at the rear thereof, and a lower collecting movable slider 5116 cooperates with it, and a lower collecting movable plate 5117 is installed thereon. The lower collecting movable plate 5117 is a sheet metal part, and a plane is formed at the bend. The upper part of the lower collecting restoring spring 5118 acts on the bottom of the lower collecting support frame 5114 to form a downward force on the lower collecting movable plate 5117. The lower collecting caster bracket 5119 is fastened to the lower collecting movable plate 5117 by screws, and the lower collecting caster 5120 is installed at the lower part of the lower collecting caster bracket 5119. The lower collecting caster 5120 is provided to avoid wear caused by the lower collecting movable plate 5117 touching the ground, so its installation position is slightly lower than the lower edge of the lower collecting movable plate 5117. The lower collecting part formed by the above structure can adapt to the different downward feed depths of the follow-up azimuth adjustment mechanism 4100, and concentrate the waste residue generated by the second slotting functional component 4200 slotting the ground.

[0114] The dust removal mechanism 5200 is composed of a dust collector 5201, a dust collection pipe 5202, a water tank 5203, a water extraction pipe 5204, a water pump 5205, a water delivery pipe 5206, and a nozzle 5207. The dust collector 5201 is fixed on the main frame 1101, one end of the dust collection pipe 5202 is connected to the dust collection port of the dust collector 5201, and the other end is connected to the opening of the main dust cover 3305. When the dust collector 5201 is started, the main dust cover 3305 is opened. 05. The groove dust generated in the cavity formed by the upper dust cover 3306 and the lower dust cover 3308 can be removed to prevent the dust from spreading during operation; the water tank 5203 is fixed on the main frame 1101, and its water outlet is connected to the water suction pipe 5204, and then connected to the water pump 5205, which can draw clean water from the water tank 5203 and output water pressure to the water pipe 5206, and finally spray water mist through the nozzle 5207, thereby playing a role in dust reduction.

[0115] In the present invention, the chassis system 1000 provides the function of moving the device, the chain vertical lifting system 2000 provides the function of lifting and lowering the first slotting system 3000, the first slotting system 3000 provides the function of opening slots on walls and ceilings, the second slotting system 4000 provides the function of slotting on the ground, and the slotting auxiliary system 5000 provides the auxiliary functions of collecting waste, cleaning and reducing dust.

[0116] Accordingly, the operating method of the global arbitrary slot operating robot provided by the present invention comprises the following steps:

[0117] Example 1 (wall grooving):

[0118] S11, the worker moves the chassis to the target slotting position by operating the steering drive motor 1201 and the rear drive motor 1301. The worker lays the slotting route at the slotting position on the wall using reflective tape.

[0119] S12, start the lifting drive motor 2401. Under the drive of the transmission chain 2301, the working platform 3100 connected to the working platform beam 2302 rises first. When it rises to the top of the movable guide frame of the last level and a limit occurs, the movable guide frame of this level is lifted up together. Similarly, when it reaches the top of the movable guide frame of the previous level and a limit occurs, the movable guide frame of the previous level is also lifted up.

[0120] S13. In order to leave space for the lowering of the upper collecting conveyor belt 5110, the second-stage movable guide rail frame needs to be raised to a certain height, and the lifting drive motor 2401 is stopped, and its self-locking function is used to keep the second-stage movable guide rail frame in a stable state; then the upper collecting push rod motor 5102 is started to lower the upper collecting conveyor belt 5110 to a horizontal state.

[0121] S14, continue to start the lifting drive motor 2401 to adjust the height of the first slotting system 3000, and when the positioning camera 3222 captures the slotting target position, that is, when the working platform 3100 rises to a suitable position, stop the lifting drive motor 2401 to keep the working platform 3100 at the target height.

[0122] S15, start the feed slide motor 3201, and the worker determines whether the first slotting blade 3304 reaches the wall through the reading of the feed distance sensor 3225. When it is confirmed that the first slotting blade 3304 is about to touch the wall, the feed slide motor 3201 is stopped, that is, the forward feeding is stopped.

[0123] S16, first start the circumferential adjustment turntable motor 3204, and adjust the radial adjustment linear module to a suitable angle in combination with the angle sensing data of the circumferential adjustment angle sensor 3223, and then start the radial adjustment linear module motor 3207 to adjust the radial adjustment slider 3211 to the starting point of the slotting route. Then start the first slotting blade drive motor 3301 to rotate the first slotting blade 3304 at a high speed, and start the feed slide motor 3201 to slowly feed the blade forward, while the positioning camera 3222 continuously observes the feed distance sensor 3225, and when the feed depth reflected by its reading reaches the preset standard, stop the feed slide motor 3201.

[0124] S17. Before the slotting operation, the upper collection synchronous wheel drive motor 5106 or the dust collector 5201 can be started according to the needs of the on-site construction to complete the waste collection and dust removal functions while the slotting operation is being performed. It should be noted that if the upper collection synchronous wheel drive motor 5106 is started, the crusher drive motor 5111 needs to be started synchronously to process the waste transported to the crusher 5112, and a dump truck or other material storage container should be set below the discharge port 5113 to facilitate the collection of the waste output from the crusher 5112.

[0125] S18. The positioning camera 3222 identifies the slotting route formed by the reflective tape. After background calculation, the control system combines the data reflected by the circumferential adjustment angle sensor 3223 and the radial adjustment stroke sensor 3224 to automatically drive the circumferential adjustment turntable motor 3204 and the radial adjustment linear module motor 3207, so that the radial adjustment slider 3211 moves according to the laid slotting route within a circular area with the circumferential adjustment turntable 3206 as the center and the radial adjustment linear module base 3209 as the diameter; during the movement of the radial adjustment slider 3211, the system calculates the tangent slope of the position of the first slotting blade 3304 in the route, and combines it with the angle data reflected by the inclination adjustment angle sensor 3226 to drive the micro-adjustment turntable motor 3212 to make the first slotting blade 3304 always move along the tangential direction of the route, thereby forming a slot shape with consistent width and effectively reducing blade wear.

[0126] S19. If the wall material is hard, so that there are still some residues after the first slotting blade 3304 cuts, the worker can temporarily stop all motors from working, adjust the fine-tuning slider 3218 to adjust the electric pick blade 3312 to below the first slotting blade 3304, and then twist its locking handle to fix the position of the electric pick blade 3312 relative to the first slotting blade 3304. At this time, the worker can keep other motors working and start the electric pick motor 3311 at the same time, which drives the electric pick blade 3312 to vibrate at a high frequency, so that the residues after the first slotting blade 3304 cuts can fall off.

[0127] S110. After the slotting is completed, the worker stops the first slotting blade driving motor 3301, first starts the feed slide motor 3201 to make the first slotting blade 3304 withdraw from the slot, and then resets the circumferential adjustment turntable motor 3204, the radial adjustment linear module motor 3207, and the micro-adjustment turntable motor 3212 to prepare for the next round of slotting operation.

[0128] Example 2 (ceiling slotting):

[0129] S21, the preparation work before grooving is the same as steps S11 to S13 in embodiment 1. The difference is that reflective tape should be used to lay the grooving route on the ceiling.

[0130] S22, start the circumferential adjustment turntable motor 3204, adjust the circumferential adjustment turntable 3206 so that the radial adjustment linear module base 3209 is perpendicular to the ground and the radial adjustment linear module motor 3207 is facing directly downward, then start the radial adjustment linear module motor 3207 to move the fine-tuning slider 3218 to a position close to the top of the radial adjustment linear module base 3209, and start the inclination adjustment push rod motor 3220 to make the first slotted functional component 3300 rise to the maximum angle.

[0131] S23. The worker installs the positioning cameras 3222 on the left and right sides facing upwards. The positioning cameras 3222 identify the grooving route and send a signal to the control system to move the chassis system 1000 in a small range until the orthographic projection of the first grooving blade 3304 onto the ceiling falls on the starting point of the grooving route.

[0132] S24, start the lifting drive motor 2401, perform binocular positioning through the positioning cameras 3222 on the left and right sides, and stop when the first slotting blade 3304 is about to touch the ceiling.

[0133] S25. Start the first slotting blade drive motor 3301 to make the first slotting blade 3304 rotate at high speed, then start the radial adjustment linear module motor 3207, and use the remaining stroke of the radial adjustment linear module base 3209 to adjust the radial adjustment slider 3211 upward to achieve the effect of feeding the first slotting blade 3304 to the ceiling. At the same time, the positioning cameras 3222 on the left and right sides continue to perform binocular positioning. When it is determined that the feeding depth reaches the preset value, stop the radial adjustment linear module motor 3207, that is, stop feeding.

[0134] S26. The positioning camera 3222 identifies the preset route of the ceiling slotting, and adjusts the position and direction of the first slotting blade 3304 by controlling the movement of the chassis system 1000 to achieve the purpose of slotting the ceiling.

[0135] Embodiment 3 (ground grooving):

[0136] S31, the worker moves the chassis to the target slotting position by operating the steering drive motor 1201 and the rear drive motor 1301. The worker lays the slotting route at the slotting position on the ground using reflective tape.

[0137] S32, the second slotting blade driving motor 4201 can be fine-tuned by starting the push feed push rod motor 4101 and combining the feed stroke reflected by the push infrared sensor 4118, so that the orthographic projection of the second slotting blade 4207 on the ground falls on the starting point of the slotting route. The worker installs the positioning camera 3222 on the plane frame 3101 facing downward to identify and locate the slotting route paved with the reflective tape.

[0138] S33, start the second slotting blade driving motor 4201 to make the second slotting blade 4207 rotate at high speed, and then start the descending feeding push rod motor 4107 to make the second slotting blade 4207 feed downward. During the feeding process, the worker observes the ranging reading of the descending infrared sensor 4119, and when the feeding depth to the ground reaches a preset value, stop the descending feeding push rod motor 4107, that is, stop the downward feeding.

[0139] S34. The control system controls the steering drive motor 1201 and the rear drive motor 1301 in combination with the route image located by the positioning camera 3222 to achieve the effect of the second slotting blade 4207 moving along a preset path. At the same time, through background calculation, the tangent slope of the position of the second slotting blade 4207 in the route is determined to control the horizontal turntable motor 4114 to adjust the angle of the second slotting blade drive motor 4201, so as to achieve uniform slot width and reduce blade wear.

[0140] S35. When actually grooving the ground, the grooving path should be set in front of the device as much as possible so that the lower collecting movable plate 5117 can collect the grooving waste during the movement of the chassis system 1000. At the same time, when the water pump 5205 is started, the nozzle 5207 can pass through the grooving area to achieve the purpose of dust reduction.

[0141] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. A global arbitrary slot operation robot, characterized in that: include: A chassis system (1000), which is composed of a frame support portion (1100), a front wheel steering mechanism (1200), and a rear wheel drive mechanism (1300), and is used to provide movement of the device; A chain-type vertical lifting system (2000) is installed on the chassis system (1000) and is composed of a fixed guide rail frame (2100), a movable guide rail frame (2200), a closed-loop transmission mechanism (2300), and a lifting drive mechanism (2400), and is used to provide lifting of the first slotting system (3000); The first slotting system (3000) is installed on the chain-type vertical lifting system (2000) and is composed of a working platform (3100), a polar coordinate orientation adjustment mechanism (3200), and a first slotting functional component (3300), and is used for slotting walls and ceilings; the polar coordinate orientation adjustment mechanism (3200) is composed of a feed slide motor (3201), a slide (3202), a circumferential adjustment turntable bracket (3203), a circumferential adjustment turntable motor (3204), a circumferential adjustment turntable housing (3205), a circumferential adjustment turntable (3206), a radial adjustment linear module motor (3207), a radial adjustment screw coupling (3208), and a radial adjustment linear module base (3209). 209), radial adjustment screw (3210), radial adjustment slider (3211), fine adjustment turntable motor (3212), fine adjustment turntable housing (3213), fine adjustment turntable (3214), hinge bracket (3215), functional component installation platform (3216), fine adjustment slide rail (3217), fine adjustment slider (3218), tilt adjustment push rod base (3219), tilt adjustment push rod motor (3220), tilt adjustment push rod (3221), positioning camera (3222), circumferential adjustment angle sensor (3223), radial adjustment stroke sensor (3224), feed distance sensor (3225), tilt adjustment angle sensor (3226) The slide (3202) is a heavy-duty slide, which is responsible for feeding in the front-to-back direction. The feed slide motor (3201) drives the internal screw to rotate, thereby driving the slide (3202) that cooperates with the screw thread to move forward and backward. The circumferential adjustment dial (3206) is responsible for adjusting the angle between the radial adjustment mechanism and the ground. The circumferential adjustment dial bracket (3203) is installed on the slide (3202) by screws. The output shaft of the circumferential adjustment dial motor (3204) drives the circumferential adjustment dial (3206) to rotate through the worm gear. The radial adjustment linear module is responsible for adjusting the distance from the first slotted functional component (3300) to the center of rotation of the circumferential adjustment dial (3206). The module motor (3207) is connected to one end of the radial adjustment linear module base (3209) by screws, and its output shaft is connected to the radial adjustment screw (3210) by a radial adjustment screw coupling (3208). The radial adjustment slider (3211) is threadedly matched with the radial adjustment screw (3210) inside, and both sides of the radial adjustment slider (3211) are limited by the radial adjustment linear module base (3209). When the radial adjustment linear module motor (3207) is started, power is transmitted to the radial adjustment slider (3211) by the radial adjustment screw (3210), so that the radial adjustment slider (3211) moves in a direction of the radial adjustment linear module base (3209);The micro-motion adjustment dial (3214) is responsible for adjusting the working angle of the first slotting functional component (3300) so that the working directions of the first slotting blade (3304) and the electric pick blade (3312) can be tangent to the action curve; the micro-motion adjustment dial motor (3212) is installed on the micro-motion adjustment dial housing (3213), and its output shaft drives the micro-motion adjustment dial (3214) to rotate through the worm gear inside the micro-motion adjustment dial housing (3213); the articulated bracket (3215) is installed on the micro-motion adjustment dial (3214) by screws and is welded by square tubes, and provides an articulation point for the functional component installation platform (3216) and the inclination adjustment push rod base (3219); A second slotting system (4000) is installed on the chassis system (1000) and is composed of a follow-up azimuth adjustment mechanism (4100) and a second slotting functional component (4200), and is used to slot the ground; The slotting auxiliary system (5000) is installed on the chassis system (1000) and is composed of a waste recovery mechanism (5100) and a dust cleaning and dust reduction mechanism (5200), and is used for collecting waste, cleaning and dust reduction.

2. The global arbitrary slot operation robot according to claim 1, characterized in that: The positioning camera (3222) is installed on the pillars erected on the upper part of the positioning plane frame (3101) and is symmetrically arranged on the left and right. It is used to locate the working point so that the working platform (3100) rises to a suitable height, and can also provide real-time feedback of the actual working situation to the operator; The circumferential adjustment angle sensor (3223) is installed on the side of the radial adjustment linear module base (3209), and is used to monitor the rotation angle of the circumferential adjustment turntable (3206); the radial adjustment stroke sensor (3224) is directly opposite to the radial adjustment slider (3211) and is installed on the radial adjustment linear module base (3209). It is an infrared rangefinder and is used to monitor the specific position of the radial adjustment slider (3211); the feed distance sensor (3225) is installed on the side of the articulated bracket (3215). It is an infrared distance sensor and faces straight ahead. It is used to monitor and calculate the distance from the first slotted functional component (3300) to the front slotted body, or the feeding depth inside the slotted body; the inclination adjustment angle sensor (3226) is installed on the functional component mounting platform (3216), and is used to monitor the inclination angle of the mounting platform (3216).

3. The global arbitrary slot operation robot according to claim 2, characterized in that: The first slotting functional component (3300) is composed of a first slotting blade driving motor (3301), a first gear box (3302), a first slotting blade shaft (3303), a first slotting blade (3304), a main dust cover (3305), an upper dust cover (3306), an upper dust cover limit spring (3307), a lower dust cover (3308), a lower dust cover limit spring (3309), an electric pick support frame (3310), an electric pick motor (3311), and an electric pick blade (3312); The first slotting blade driving motor (3301) is fastened to the functional component mounting platform (3216) by screws, and its output power is transmitted to the first slotting blade shaft (3303) after the first gear box (3302) reduces the torque and increases the torque. Both ends of the first slotting blade shaft (3303) are threaded, so that the gasket with threads can press the first slotting blade (3304) thereon by threaded cooperation, so as to fasten the first slotting blade (3304) to the first slotting blade shaft (3303). Effect: When the first slotting blade driving motor (3301) is started, the first slotting blade (3304) rotates at a high speed; the main dust cover (3305) is fixed to the first gear box (3302) and is coaxial with the first slotting blade shaft (3303), and the upper dust cover (3306) and the lower dust cover (3308) are arranged in the main dust cover (3305), and the outer surface of the dust cover (3305) is in contact with the inner surface of the main dust cover (3305), so that the dust cover (3306) and the lower dust cover (3308) can rotate around the first slotting blade shaft (3303) within a certain angle range; One end of the upper dust cover limit spring (3307) is fixed on the fixed seat on the side of the main dust cover (3305), and the other end is fixed on the fixed seat of the upper dust cover (3306); one end of the lower dust cover limit spring (3309) is fixed on the fixed seat on the side of the main dust cover (3305), and the other end is fixed on the fixed seat of the lower dust cover (3308). In the actual slotting operation, when the first slotting blade (3304) enters the slotting body, the upper dust cover (3306) and the lower dust cover (3308) can automatically adjust the opening degree according to the feeding depth.

4. The global arbitrary slot operation robot according to claim 1, characterized in that: The follow-up azimuth adjustment mechanism (4100) is composed of a push-feed push rod motor (4101), a push-feed push rod housing (4102), a push-feed push rod (4103), a push-linear slide rail support slider (4104), a push-linear slide rail (4105), a push bracket (4106), a descending feed push rod motor (4107), a descending feed push rod housing mounting card (4108), a descending feed push rod (4109), a descending linear slide rail support slider (4110), a descending linear slide rail (4111), a descending bracket (4112), a horizontal turntable housing (4113), a horizontal turntable motor (4114), a horizontal turntable (4115), a rotating bracket (4116), a motor clamp (4117), a push-feed infrared sensor (4118), a descending infrared sensor (4119), and a horizontal angle sensor (4120); The push-feed push rod housing (4102) is welded and fixed to the lower part of the main frame (1101) of the chassis system (1000), the push-feed push rod (4103) faces forward, and the push-feed push rod motor (4101) is used to drive the push-feed push rod (4103) to feed forward or retract backward. The end of the push-feed push rod (4103) is connected to the support on the upper crossbeam of the push bracket (4106) through a pin hole, and the push linear slide rail support slider (4104) is installed at the lower part of the main frame (1101). The push-feed push rod (4103) cooperates with the push linear slide rail support slider (4104). Such a slide rail slider group is parallel to the push-feed push rod (4103), symmetrically arranged on both sides, and is installed on the upper crossbeam of the push bracket (4106) by screws; The descending feed push rod housing mounting card (4108) mounts the descending feed push rod (4109) on the front of the pushing bracket (4106); the descending feed push rod motor (4107) is used to drive the descending feed push rod (4109) to feed downward or retract upward; the end of the descending feed push rod (4109) is connected to the transverse screw rod on the descending bracket (4112) through a pin hole; the descending linear guide rail support slider (4110) is mounted on the front of the pushing bracket (4106); The descending linear slide rail (4111) cooperates with the descending linear slide rail supporting slider (4110), such a slide rail slider group is parallel to the descending feed push rod (4109), symmetrically arranged on both sides, and both are installed on the back of the descending bracket (4112) by screws; the horizontal turntable motor (4114) is installed on the horizontal turntable housing (4113), which is used to drive the horizontal turntable (4115) to rotate, and the horizontal turntable (4115) is installed on the lower part of the descending bracket (4112) by screws; The rotating bracket (4116) is installed at the lower part of the horizontal turntable housing (4113) so that the horizontal turntable motor (4114) rotates along with the lower part thereof to avoid interference due to relative movement; the motor clamp (4117) is integrally welded with the rotating bracket (4116) and has a plurality of threaded holes on its side, through which bolts can be screwed in to achieve a tightening effect on the second slotting blade drive motor (4201); The pushing infrared sensor (4118) is installed at the rear of the pushing bracket (4106) and faces the main frame (1101). It is used to monitor the distance from the main frame (1101) to determine the position of the pushing feed; the descending infrared sensor (4119) is installed at the bottom of the rotating bracket (4116) to determine the position of the descending feed by monitoring the distance from the ground. The horizontal angle sensor (4120) is installed on the side of the rotating bracket (4116) to monitor the angle of rotation of the second slotted functional component (4200).

5. The global arbitrary slot operation robot according to claim 4, characterized in that: The second slotting functional component (4200) is composed of a second slotting blade driving motor (4201), a second gear box (4202), a driving synchronous pulley (4203), a driven synchronous pulley (4204), a tool holder bearing seat (4205), a second slotting blade shaft (4206), a second slotting blade (4207), and a dust cover (4208); The second slotting blade driving motor (4201) is installed in the motor clamp (4117), and the second gear box (4202) can transmit the power of the second slotting blade driving motor (4201) to the active synchronous pulley (4203), and the active synchronous pulley (4203) and the driven synchronous pulley (4204) complete synchronous rotation through the synchronous belt to transmit the power to the second slotting blade shaft (4206), and the tool holder bearing seat (4205) is installed at the lower part of the rotating bracket (4116) and is symmetrically arranged to support the rotation of the second slotting blade shaft (4206); The second slotting blade (4207) is mounted on the second slotting blade shaft (4206) and is fastened to the second slotting blade shaft (4206) by the pressing force of the gasket, and the dust cover (4208) is welded to the rotating bracket (4116).

6. The global arbitrary slot operation robot according to claim 1, characterized in that: The waste material recycling mechanism (5100) is composed of an upper collecting push rod bracket (5101), an upper collecting push rod motor (5102), an upper collecting push rod (5103), an upper collecting transmission belt bracket (5104), an upper collecting synchronous wheel driving bearing seat (5105), an upper collecting synchronous wheel driving motor (5106), an upper collecting synchronous wheel driving reducer (5107), an upper collecting active synchronous wheel (5108), an upper collecting driven synchronous wheel (5109), an upper collecting conveyor belt (5110), a pulverizer driving motor (5111), a pulverizer (5112), a material discharge port (5113), a lower collecting support frame (5114), a lower collecting movable slide rail (5115), a lower collecting movable slider (5116), a lower collecting movable plate (5117), a lower collecting restoring spring (5118), a lower collecting caster bracket (5119), and a lower collecting caster (5120); Wherein, the upper collecting push rod bracket (5101) is installed at the lower rear part of the fixed frame column (2101) of the chain-type vertical lifting system (2000), and the upper collecting push rod motor (5102) has a hinge point hinged thereto, and the upper collecting push rod motor (5102) can drive the upper collecting push rod (5103) to extend and retract, and one end of the upper collecting transmission belt bracket (5104) is hinged to the end of the upper collecting push rod (5103), and the upper collecting synchronous wheel driving motor (5106) is installed on the crusher (5112) through the connecting angle code, and the power is transmitted to its double output shaft through the upper collecting synchronous wheel driving reducer (5107), and the double output shaft is arranged in a left-right direction and cooperates with the upper collecting synchronous wheel driving bearing seat (5105) respectively installed on the main frame (1101) on the left and right sides; The upper collection active synchronous wheel (5108) is fastened and mounted on the double-output shaft of the upper collection synchronous wheel driving reducer (5107) through a key connection, and the upper collection driven synchronous wheel (5109) is mounted on the shaft at the end of the upper collection transmission belt bracket (5104) and can rotate freely around the shaft; the upper collection active synchronous wheel (5108) and the upper collection driven synchronous wheel (5109) are driven by the upper collection conveyor belt (5110). When the upper collection push rod motor (5102) drives the upper collection push rod (5103) to extend, the upper collection transmission belt bracket (5104) is driven to rotate freely around the shaft; 4) The upper collecting synchronous wheel driving bearing seat (5105) is rotated around, so that the upper collecting conveyor belt (5110) is lowered. On the contrary, if the upper collecting push rod (5103) is retracted, the upper collecting conveyor belt (5110) will rise. When the upper collecting conveyor belt (5110) is in the lowered state, the upper collecting synchronous wheel driving motor (5106) is started, and the upper collecting synchronous wheel driving reducer (5107) is driven to rotate the upper collecting active synchronous wheel (5108), so that the upper collecting conveyor belt (5110) can transport the waste generated by slotting back; The pulverizer (5112) is installed on the main frame (1101) of the chassis system (1000), directly opposite to the bottom of the upper collecting active synchronous wheel (5108); the pulverizer drive motor (5111) is installed on the side of the main frame (1101), and its output shaft can input power to the pulverizing and cutting wheel of the pulverizer (5112). A discharge port (5113) is provided at the bottom of the pulverizer (5112) to facilitate the collection of the pulverized waste.

7. The global arbitrary slot operation robot according to claim 6, characterized in that: The lower collection support frame (5114) is installed at the lower part of the horizontal turntable housing (4113), and a lower collection movable slide rail (5115) is vertically installed at the rear thereof, and a lower collection movable slider (5116) cooperates with it, and a lower collection movable plate (5117) is installed thereon; the lower collection movable plate (5117) is a sheet metal part, and a plane is formed at the bend, and the upper part of the lower collection restoring spring (5118) acts on the bottom of the lower collection support frame (5114) to form a downward force on the lower collection movable plate (5117); The lower collecting caster bracket (5119) is fastened to the lower collecting movable plate (5117) by screws, and the lower collecting caster (5120) is installed at the bottom of the lower collecting caster bracket (5119).

8. The global arbitrary slot operation robot according to claim 1, characterized in that: The fixed guide rail frame (2100) is composed of a fixed frame column (2101), a fixed guide rail (2102), a fixed frame upper beam (2103), a secondary side-pull guide rail slider (2104), a transmission chain driving sprocket (2105), a fixed-stage idler wheel a (2106), and a fixed-stage idler wheel b (2107); The fixed frame column (2101) is fixed to the main frame (1101) by welding and is symmetrically arranged on the left and right sides. The fixed guide rail (2102) is fixed to the front part of the fixed frame column (2101). The two ends of the fixed frame upper beam (2103) are respectively fixed to the upper parts of the left and right fixed frame columns (2101). The secondary side pull guide rail slider (2104) is fixed to the outer side of the fixed frame column (2101) and is symmetrically arranged on the left and right sides with its pulley facing outward. The transmission chain drive sprocket (2105) is fixed to the transmission chain drive shaft (2406) by means of a top screw. The fixed stage idler wheel a (2106) and the fixed stage idler wheel b (2107) are installed on the main frame (1101) by means of an angle code. It is necessary to ensure that the transmission chain drive sprocket (2105), the fixed stage idler wheel a (2106) and the fixed stage idler wheel b (2107) are on the same plane. The movable guide rail frame (2200) comprises a movable frame column (2201), a first movable frame guide rail (2202), a movable frame slider (2203), an upper movable frame beam (2204), a lower movable frame beam (2205), a second movable frame guide rail (2206), an upper movable frame guide rail angle bracket (2207), a lower movable frame guide rail angle bracket (2208), a three-stage side-pull guide rail slider (2209), an upper movable frame idler wheel (2210), an upper second movable frame idler wheel (2210a), an upper movable frame idler wheel (2211), and a lower movable frame idler wheel (2212). 211a); the movable frame columns (2201), the movable frame upper beam (2204), and the movable frame lower beam (2205) are connected by angle brackets to form a rectangular structure, wherein the left and right movable frame columns (2201) are arranged with the same width as the two fixed frame columns (2101), and movable frame sliders (2203) assembled with the fixed guide rails (2102) are respectively arranged at the bottom of the rear of the two movable frame columns (2201), so that the main structure of the movable guide rail frame (2200) can achieve translation in the vertical direction under the guidance of the movable frame sliders (2203); The second movable frame guide rail (2206) is fixed relative to the movable frame column (2201) through the movable frame guide rail upper angle bracket (2207) and the movable frame guide rail lower angle bracket (2208), and its pulley is assembled with the secondary side-pull guide rail slider (2104). During the rising process of the movable guide rail frame (2200), since the secondary side-pull guide rail slider (2104) is fixed to the fixed guide rail frame (2100), the second movable frame guide rail (2206) is fixed to the movable guide rail frame (2200), and the second movable frame guide rail (2206) slides relative to the secondary side-pull guide rail slider (2104), thereby continuously limiting the position of the guide rail frame (2200) during the process of the movable guide rail frame (2200); The three-stage side-pull guide rail slider (2209) is fixed to the outer side of the movable frame column (2201), symmetrically arranged on the left and right, and its pulley faces outward. Its function is similar to that of the two-stage side-pull guide rail slider (2104), that is, to provide a limit for the movable guide rail frame of the next stage; the idler wheel (2210) on the movable frame is fixed to the lower part of the upper beam (2204) of the movable frame by an angle code, and the idler wheel (2210) on the movable frame can rotate freely around its axis; the idler wheel (2211) on the movable frame is fixed to the upper part of the lower beam (2205) of the movable frame by an angle code, and the idler wheel (2211) on the movable frame can rotate freely around its axis.

9. The global arbitrary slot operation robot according to claim 8, characterized in that: The closed-loop transmission mechanism (2300) is composed of a transmission chain (2301), a work platform cross beam (2302), a pin connection angle code (2303), a pin (2304), a basket nut (2305), a chain connection angle code (2306), a work platform slider (2307), a work platform support column (2308), an upper anti-collision monitoring infrared switch (2309), and a lower anti-collision monitoring infrared switch (2310); two pin connection angle codes (2303) are respectively fixed to the upper part of the work platform cross beam (2302) in a left-right symmetrical manner, and a hole is provided on the pin connection angle code (2303) to pass through and fix the pin (2304), and one end of the basket nut (2305) is hooked on the pin (2304). The other end thereof is connected with the chain pin shaft, and the chain connection angle code (2306) is fixed on the lower part of the working platform cross beam (2302), and is connected and fixed with the pin shaft of the chain link; the transmission chain (2301), the working platform cross beam (2302), and the basket nut (2305) together form a closed loop structure, starting from the upper end of the basket nut (2305), it passes through the idler wheel (2210a) on the second movable frame, the lower idler wheel (2211a) on the second movable frame, the idler wheel (2210) on the movable frame, the lower idler wheel (2211) on the movable frame, the transmission chain driving sprocket (2105), the fixed stage idler wheel a (2106), and the fixed stage idler wheel b (2107), and finally fixed with the chain connection angle code (2306) at the end; The working platform slider (2307) is fixed on the working platform support column (2308), and is symmetrically arranged on the left and right sides, and cooperates with the guide rail of the movable guide rail frame of the last level, so as to be able to move vertically. The working platform support column (2308) and the working platform crossbeam (2302) are fastened by angle brackets to form a whole, providing a basis for the installation of the working platform (3100); The lifting drive mechanism (2400) is composed of a lifting drive motor (2401), a bearing seat (2402) of an output shaft of the lifting drive motor, an output drive sprocket (2403) of the lifting drive motor, a drive chain (2404), a power sprocket (2405) of a transmission chain drive shaft, a transmission chain drive shaft (2406), a right bearing seat (2407), and a left bearing seat (2408); the lifting drive motor (2401) is mounted on a main frame (1101) of a chassis system (1000), with its output shaft facing sideways; the bearing seat (2402) of the output shaft of the lifting drive motor is mounted on the main frame (1101) and supports the output shaft of the lifting drive motor (2401); the output drive sprocket (2403) of the lifting drive motor is fixed to the main frame (1101) by a top screw The lifting drive motor (2401) is fixed on the output shaft of the lifting drive motor (2401), the transmission chain drive shaft (2406) is installed below the upper beam (2103) of the fixed frame through the right bearing seat (2407) and the left bearing seat (2408), the transmission chain drive shaft power sprocket (2405) is installed at the end of the transmission chain drive shaft (2406), and is fastened to the transmission chain drive shaft (2406) through the top screw; when the lifting drive motor (2401) is started, the lifting drive motor output drive sprocket (2403) transmits power to the transmission chain drive shaft power sprocket (2405) through the drive chain (2404), so that the transmission chain drive shaft (2406) rotates, thereby driving the transmission chain drive sprocket (2105) to provide power for the closed-loop transmission mechanism (2300).

10. An operation method of a global arbitrary slot operation robot according to any one of claims 1 to 9, characterized in that: The steps are: Wall slotting: S11, the worker moves the chassis to the target slotting position by operating the steering drive motor (1201) and the rear drive motor (1301), and the worker lays the slotting route at the slotting position on the wall using reflective tape; S12, start the lifting drive motor (2401), under the drive of the transmission chain (2301), the working platform (3100) connected to the working platform crossbeam (2302) rises first, and when it rises to the top of the movable guide frame of the last level and a limit occurs, the movable guide frame of this level is lifted up together, and similarly, when it reaches the top of the movable guide frame of the previous level and a limit occurs, the movable guide frame of the previous level is also lifted up; S13. In order to leave space for lowering the upper collecting conveyor belt (5110), the second-stage movable guide rail frame needs to be raised to a certain height, and the lifting drive motor (2401) is stopped, and its self-locking function is used to keep the second-stage movable guide rail frame in a stable state; then the upper collecting push rod motor (5102) is started to lower the upper collecting conveyor belt (5110) to a horizontal state; S14, continue to start the lifting drive motor (2401) to adjust the height of the first slotting system (3000), and when the positioning camera (3222) captures the slotting target position, that is, when the working platform (3100) rises to a suitable position, stop the lifting drive motor (2401) to keep the working platform (3100) at the target height; S15, starting the feed slide motor (3201), the worker determines whether the first slotting blade (3304) reaches the wall through the reading of the feed distance sensor (3225), and stops the feed slide motor (3201) when it is confirmed that the first slotting blade (3304) is about to touch the wall, i.e. stops feeding forward; S16, first start the circumferential adjustment turntable motor (3204), adjust the radial adjustment linear module to a suitable angle in combination with the angle sensing data of the circumferential adjustment angle sensor (3223), then start the radial adjustment linear module motor (3207), and adjust the radial adjustment slider (3211) to the starting point of the slotting route; Then, the first slotting blade driving motor (3301) is started to rotate the first slotting blade (3304) at a high speed, and the blade is slowly fed forward by starting the feed slide motor (3201), and the positioning camera (3222) is continuously observed while the feed distance sensor (3225) is continuously observed, and when the feed depth reflected by the reading thereof reaches a preset standard, the feed slide motor (3201) is stopped; S17. Before the slotting operation, the upper collecting synchronous wheel driving motor (5106) or the dust collector (5201) may be started according to the needs of the on-site construction, so as to complete the waste collection and dust removal functions while the slotting operation is being performed; if the upper collecting synchronous wheel driving motor (5106) is started, the crusher driving motor (5111) needs to be started synchronously to process the waste transported to the inside of the crusher (5112), and a dump truck or other material storage container should be arranged below the discharge port (5113) to facilitate the collection of the waste output from the crusher (5112); S18, the positioning camera (3222) identifies the slotting route formed by the reflective tape, and after background calculation, the control system automatically drives the circumferential adjustment turntable motor (3204) and the radial adjustment linear module motor (3207) in combination with the data reflected by the circumferential adjustment angle sensor (3223) and the radial adjustment stroke sensor (3224), so that the radial adjustment slider (3211) moves according to the laid slotting route within a circular area with the circumferential adjustment turntable (3206) as the center and the radial adjustment linear module base (3209) as the diameter; during the movement of the radial adjustment slider (3211), the system calculates the tangent slope of the position of the first slotting blade (3304) in the route, and drives the micro-adjustment turntable motor (3212) in combination with the angle data reflected by the inclination adjustment angle sensor (3226) so that the first slotting blade (3304) always moves in the tangential direction of the route, thereby forming a slot shape with a uniform width and effectively reducing blade wear; S19. If the wall material is relatively hard, so that there are still some residues after the first slotting blade (3304) cuts, the worker can temporarily suspend the operation of all motors, adjust the fine-tuning slider (3218) to adjust the electric pick blade (3312) to below the first slotting blade (3304), and then twist its locking handle to fix the position of the electric pick blade (3312) relative to the first slotting blade (3304). At this time, the worker can keep other motors working and start the electric pick motor (3311) at the same time, which drives the electric pick blade (3312) to vibrate at a high frequency, so that the residues after the first slotting blade (3304) cut fall off; S110, after the slotting is completed, the worker stops the first slotting blade driving motor (3301), first starts the feed slide motor (3201) to make the first slotting blade (3304) withdraw from the slot, and then resets the circumferential adjustment turntable motor (3204), the radial adjustment linear module motor (3207), and the micro-adjustment turntable motor (3212) to prepare for the next round of slotting operation; Ceiling slotting: S21, the preparation work before grooving is the same as steps S11 to S13, except that a grooving route is laid on the ceiling with reflective tape; S22, starting the circumferential adjustment turntable motor (3204), adjusting the circumferential adjustment turntable (3206) so that the radial adjustment linear module base (3209) is perpendicular to the ground and the radial adjustment linear module motor (3207) is facing directly downward, then starting the radial adjustment linear module motor (3207) so that the fine adjustment slider (3218) moves to a position close to the top of the radial adjustment linear module base (3209), and starting the inclination adjustment push rod motor (3220) so that the first slotted functional component (3300) rises to a maximum angle; S23, the worker installs the positioning cameras (3222) on the left and right sides facing upwards, and the positioning cameras (3222) identify the slotting route and send a signal to the control system, so that the chassis system (1000) moves in a small range until the orthographic projection of the first slotting blade (3304) on the ceiling falls on the starting point of the slotting route; S24, start the lifting drive motor (2401), perform binocular positioning through the positioning cameras (3222) on the left and right sides, and stop when the first slotting blade (3304) is about to touch the ceiling; S25, starting the first slotting blade drive motor (3301) to rotate the first slotting blade (3304) at high speed, then starting the radial adjustment linear module motor (3207), using the remaining stroke of the radial adjustment linear module base (3209) to adjust the radial adjustment slider (3211) upward, so as to achieve the effect of feeding the first slotting blade (3304) toward the ceiling, while the positioning cameras (3222) on the left and right sides continue to perform binocular positioning, and when it is determined that the feeding depth reaches a preset value, stop the radial adjustment linear module motor (3207), that is, stop feeding; S26, the positioning camera (3222) identifies the preset route of the ceiling slotting, and adjusts the position and direction of the first slotting blade (3304) by controlling the movement of the chassis system (1000), so as to achieve the purpose of slotting the ceiling; Ground slotting: S31, the worker moves the chassis to the target slotting position by operating the steering drive motor (1201) and the rear drive motor (1301), and the worker lays the slotting route at the slotting position on the ground using reflective tape; S32, by starting the push-feed push rod motor (4101), the second slotting blade driving motor (4201) can be fine-tuned in combination with the feed stroke reflected by the push infrared sensor (4118), so that the orthographic projection of the second slotting blade (4207) on the ground falls at the starting point of the slotting route; The worker installs the positioning camera (3222) on the plane frame (3101) facing downward to identify and locate the grooved route paved by the reflective tape; S33, starting the second slotting blade driving motor (4201) to make the second slotting blade (4207) rotate at a high speed, then starting the descending feeding push rod motor (4107) to make the second slotting blade (4207) feed downward, and the worker observes the distance reading of the descending infrared sensor (4119) during the feeding process, and stops the descending feeding push rod motor (4107) when the feeding depth to the ground reaches a preset value, i.e. stops the downward feeding; S34, the control system controls the steering drive motor (1201) and the rear drive motor (1301) in combination with the route image located by the positioning camera (3222) to achieve the effect of the second slotting blade (4207) moving along a preset path, and at the same time determines the tangent slope of the position of the second slotting blade (4207) in the route through background calculation, so as to control the horizontal turntable motor (4114) to adjust the angle of the second slotting blade drive motor (4201); S35. During the actual grooving operation on the ground, the grooving path is set in front of the device so that the lower collecting movable plate (5117) can collect the grooving waste during the movement of the chassis system (1000). At the same time, when the water pump (5205) is started, the nozzle (5207) can pass through the grooving area to achieve the purpose of dust reduction.

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