Intelligent wall and ceiling drilling robot

Abstract

The utility model discloses an intelligent wall and ceiling drilling robot, which comprises a chassis self-walking mechanism for providing the self-walking function of the robot, a bidirectional screw horizontal sliding mechanism and a main body frame part for controlling the biaxial movement of the actuating equipment thereon, a second linear module part and a first linear module part for accurately adjusting the horizontal position of the work platform structure, an electric rotary turntable and a three-stage lifting sleeve mechanism for controlling the lifting and horizontal rotation of the work platform structure, a vertical rotating mechanism for controlling the vertical rotation of the work platform structure, and a work platform structure comprising a drilling machine frame and a drilling machine part for drilling construction on the wall or ceiling. The intelligent wall and ceiling drilling robot can solve the problems of low efficiency, poor precision and high safety risk of personnel in high-altitude construction in drilling construction, and realize the automatic, high-efficiency and safe construction of the robot on the wall and ceiling.

Description

Technical Field

[0001] This utility model relates to the technical field of building engineering, and in particular to an intelligent wall and ceiling drilling robot. Background Technology

[0002] Currently, drilling operations in construction are typically carried out manually on-site using handheld equipment. This manual method is relatively slow, impacting the overall construction progress, and the quality is easily affected by the operator's skill level and physical strength, making it difficult to guarantee project quality. Furthermore, drilling into walls and ceilings poses certain safety risks; improper operation can lead to accidents, and prolonged physical labor can easily cause worker fatigue and occupational diseases. The advantages of using intelligent construction robots are: firstly, robots can complete tasks quickly, significantly improving construction progress; secondly, robots possess high operational precision, ensuring consistent drilling quality in walls and ceilings; and thirdly, it reduces manual operation, lowering safety risks for workers. Additionally, intelligent robots can operate in complex environments or high-risk areas, increasing construction flexibility, and can monitor the construction process in real time, providing data feedback for easier management and adjustments. Utility Model Content

[0003] In order to overcome the shortcomings of the existing technology, the technical problem to be solved by this utility model is to provide an intelligent wall and ceiling drilling robot to solve the problems of low efficiency, poor accuracy and high safety risks of personnel working at height in drilling construction, so as to realize the automated, efficient and safe construction of walls and ceilings by robots.

[0004] To achieve the above objectives, this utility model provides an intelligent wall and ceiling drilling robot, comprising: a self-propelled chassis mechanism for providing the robot's self-propelled function; a bidirectional screw horizontal sliding mechanism and a main frame portion, mounted on the self-propelled chassis mechanism, for controlling the actuators thereon to perform dual-axis movement, including a second linear module portion and a first linear module portion for precisely adjusting the horizontal position of the working platform structure; an electric rotary turntable and a three-stage lifting sleeve mechanism, mounted on the bidirectional screw horizontal sliding mechanism and the main frame portion, for controlling the lifting and horizontal rotation of the working platform structure; a vertical rotation mechanism, mounted on the electric rotary turntable and the three-stage lifting sleeve mechanism, for controlling the vertical rotation of the working platform structure; and a working platform structure, mounted on the vertical rotation mechanism, including a drilling rig frame and a drilling rig portion for drilling into walls or ceilings.

[0005] Preferably, the self-propelled chassis mechanism includes a front axle steering structure for driving the robot to turn and a rear axle forward steering structure for providing forward power to the robot. The front axle steering structure is equipped with an AGV magnetic navigation sensor.

[0006] Preferably, the electric rotary turntable and the three-stage lifting sleeve mechanism include a three-stage lifting sleeve part as a lifting structure and an electric rotary turntable part for horizontal rotation of the three-stage lifting sleeve; the three-stage lifting sleeve part is installed on the electric rotary turntable and includes a third-stage lifting sleeve, a second-stage lifting sleeve and a first-stage lifting sleeve nested from the inside to the outside.

[0007] Furthermore, the first-stage lifting sleeve and the second-stage lifting sleeve are both equipped with pulleys at their inner top ends, and the second-stage lifting sleeve has a round hole and a pulley at its inner bottom end. Each pulley is equipped with a driven rope mechanism. The third-stage lifting sleeve connects the first-stage lifting sleeve, the second-stage lifting sleeve, and the third-stage lifting sleeve through an active rope mechanism and a driven rope mechanism.

[0008] Furthermore, the vertical rotation mechanism includes an L-shaped connecting block for connecting the work platform structure and the electric indexing plate and connecting block portion, an electric push rod and connecting block portion for assisting the L-shaped connecting block in lifting and lowering during rotation, and an electric indexing plate and connecting block portion for assisting the L-shaped connecting block in rotating.

[0009] Furthermore, the electric push rod and connecting block portion is composed of, from bottom to top, an electric push rod and a third-stage lifting sleeve connecting block, an electric push rod body, and an electric push rod end connecting block connected together. The lower part of the electric push rod body and the electric push rod and the third-stage lifting sleeve connecting block form a rotating joint. The rotating joint is formed by grinding and removing the connection part between the bottom of the electric push rod body and the electric push rod and the third-stage lifting sleeve connecting block, forming a spherical connecting structure. A circular hole is reserved on the side where the electric push rod and the third-stage lifting sleeve connecting block connect to the electric push rod body. The internal space of this hole is slightly larger than the volume of the spherical connecting structure, but the area of ​​the circular hole on the side of this space is smaller than the area of ​​the spherical connecting structure to prevent the connecting structure from slipping out.

[0010] Furthermore, the drilling rig frame and drilling rig components are mounted on an electric telescopic rod structure, which includes a laser sensor mounted on an L-shaped connecting block for detecting the verticality of the work platform structure and its distance from the ceiling.

[0011] Compared with existing technologies, the advantages of this intelligent wall and ceiling drilling robot are as follows:

[0012] 1. The drilling robot designed in this invention has the functions of self-walking, self-control, and self-drilling. After the worker lays the predetermined track, the robot chassis can autonomously move into the corresponding construction area according to the track. Simultaneously, the camera on the robot body can observe the surrounding environment and adjust the robot's movement accordingly. If obstacles or workers appear ahead, the robot will stop or detour. After entering the corresponding construction area, the camera detects the specific construction point. Upon reaching the designated position, the drilling rig is controlled to perform drilling operations. After drilling in that area is completed, the above steps can be repeated to enter the next construction area and complete the drilling operation. The worker's current work involves laying track lines for the robot, marking the construction area, and checking the drilling effect. This robot can greatly reduce the worker's workload, freeing them from large-scale repetitive manual labor.

[0013] 2. The drilling robot designed in this invention has its center of gravity concentrated in the center. When waiting for construction, it can be stretched to the height of three primary lifting sleeves by the master and slave rope mechanism on the three-stage lifting sleeve in conjunction with the winch. The final three-stage lifting sleeve can be raised to a maximum height of five meters, covering the ceiling construction height requirements of most buildings. At the same time, it can be compressed into the height of one primary lifting sleeve in vertical space, ensuring good accessibility for the drilling robot in various construction areas. It can quickly switch heights in different construction areas and can reach areas from the ceiling to the primary lifting sleeve, with a wide range of applications.

[0014] 3. The drilling robot designed in this invention utilizes a camera and laser sensor mechanism. By detecting the surrounding environment and the position of each mechanism in real time, it ensures that the robot will not harm workers working nearby during operation; that is, it stops working when it detects a worker in the direction of travel. Simultaneously, it achieves precise control of the working platform by the robot. Laser sensors detect the position of the slide table of the bidirectional lead screw horizontal sliding mechanism, the distance and verticality of the drilling platform from the wall or ceiling, while the camera detects the position of the drilling rig. By analyzing the data from the three laser sensors and identifying the position of the drilling rig in the camera, the position of the working platform is determined, ensuring drilling accuracy. Attached Figure Description

[0015] To more clearly illustrate the technical solution of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a side view of the intelligent wall and ceiling drilling robot of this utility model;

[0017] Figure 2 This is a front view of the intelligent wall and ceiling drilling robot of this utility model;

[0018] Figure 3 This is a schematic diagram of the internal components of the main frame of this utility model;

[0019] Figure 4 This is a side view of the upper structure of the robot of this utility model;

[0020] Figure 5 This is a front view of the upper structure of the robot of this utility model;

[0021] Figure 6 This is a partially enlarged structural schematic diagram of the electric rotary turntable part of this utility model;

[0022] Figure 7 This is a schematic diagram of the connection between the three-stage lifting sleeve, the electric indexing plate, and the connecting block of this utility model.

[0023] Figure 8 This is a structural diagram of the working platform structure of this utility model;

[0024] Figure 9 This is a structural schematic diagram of the bidirectional lead screw horizontal sliding mechanism and the main frame of this utility model.

[0025] Figure 10 This is a schematic diagram of the working platform structure of this utility model after rotation;

[0026] Figure 11 This is a top view of the bottom connecting plate of the three-stage lifting sleeve of this utility model.

[0027] In the picture:

[0028] 100-Chassis Self-propelled Mechanism:

[0029] 110 - Chassis front axle steering structure; 120 - Chassis rear axle forward steering structure;

[0030] 200-Bidirectional screw horizontal sliding mechanism and main frame:

[0031] 210 - Second linear module section; 211 - Second linear module motor; 212 - Second linear module motor lead screw connector; 213 - Second linear module slide rail; 214 - Second linear module slide table;

[0032] 220 - First linear module section; 221 - First linear module motor; 222 - First linear module motor lead screw connector; 223 - First linear module slide rail; 224 - First linear module slide table;

[0033] 230 - Main frame section; 241 - First camera; 242 - Second camera; 243 - Third camera; 244 - Fourth camera; 250 - Two-way lead screw connecting plate;

[0034] 300-Electric rotary table and three-stage lifting sleeve mechanism:

[0035] 310 - Electric rotary turntable part; 311 - Electric rotary turntable motor; 312 - Electric rotary turntable;

[0036] 320 - Three-stage lifting sleeve; 321 - Bottom connecting plate of three-stage lifting sleeve; 321a - First bottom connecting angle code of three-stage lifting sleeve; 321b - Second bottom connecting angle code of three-stage lifting sleeve; 321c - Third bottom connecting angle code of three-stage lifting sleeve; 321d - Fourth bottom connecting angle code of three-stage lifting sleeve; 322 - First-stage lifting sleeve; 323 - Second-stage lifting sleeve; 324 - Third-stage lifting sleeve;

[0037] 330 - Hoist motor; 331 - Active rope pulling mechanism;

[0038] 400-Vertical Rotation Mechanism:

[0039] 410 - Electric indexing plate and connecting block; 411 - Third-stage lifting sleeve and electric indexing plate connecting block; 412 - Electric indexing plate motor; 413 - Electric indexing plate turntable; 420 - L-shaped connecting block;

[0040] 430 - Electric push rod and connecting block; 431 - Electric push rod and third-stage lifting sleeve connecting block; 432 - Electric push rod end connecting block; 433 - Electric push rod body; 434 - Electric push rod motor;

[0041] 500-Work Platform Structure:

[0042] 510 - Electric telescopic pole structure; 511 - Electric telescopic pole bottom connecting block; 512 - Electric telescopic pole motor; 513 - Electric telescopic pole body; 514 - Electric telescopic pole top connecting block;

[0043] 520 - Drilling rig frame and drilling rig section; 521 - First lower profile; 522 - Second lower profile; 523 - First middle profile; 524 - Second middle profile; 525 - First upper profile; 526 - Second upper profile; 527 - Drilling rig section. Detailed Implementation

[0044] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0045] See below. Figures 1-11 This invention provides a detailed description of the intelligent wall and ceiling drilling robot.

[0046] Depend on Figure 1-2 As shown, the intelligent wall and ceiling drilling robot of this utility model consists of a self-propelled chassis mechanism 100 for autonomous robot movement, a bidirectional lead screw horizontal sliding mechanism and main frame 200 for controlling the dual-axis movement of the actuators on it, an electric rotary table and a three-stage lifting sleeve mechanism 300 for controlling the lifting and horizontal rotation of the work platform structure 500, a vertical rotation mechanism 400 for controlling the vertical rotation of the work platform structure 500, and a work platform structure 500 for drilling operations, connected sequentially from bottom to top.

[0047] like Figure 3 As shown, the self-propelled chassis structure 100 includes a front axle steering structure 110 for driving the robot's steering and a rear axle forward steering structure 120 for providing forward power to the robot. The front axle steering structure 110 and the rear axle forward steering structure 120 are directly welded to the bottom of the bidirectional lead screw connecting plate 250. An AGV magnetic navigation sensor is installed in the front axle steering structure 110, which helps the robot identify ground track signals. The identified ground track signals are processed by the control board and output as steering signals for the front axle steering structure 110 and forward signals for the rear axle forward steering structure 120, jointly realizing the self-propelled function of the intelligent wall and ceiling drilling robot.

[0048] Depend on Figure 3 , Figure 9As shown, the bidirectional lead screw horizontal sliding mechanism and main frame part 200 include a main frame part 230 as the main frame of the robot, a bidirectional lead screw connecting plate part 250 as the chassis of the main frame part 230, a second linear module part 210 and a first linear module part 220 for precisely adjusting the horizontal position of the work platform structure 500, and a camera part for environmental monitoring; the first linear module part 220 includes a first linear module motor 221 and a first linear module slide rail 223 that are horizontally mounted on the bidirectional lead screw connecting plate 250 by bolts and nuts, a first linear module motor lead screw connector 222 mounted on the lead screw of the first linear module motor 221, and a first linear module slide table 224 mounted on the first linear module slide rail 223 by a slider, and the first linear module slide table The bottom of 224 is connected to the first linear module motor lead screw connector 222 via a lead screw; the second linear module part 210 includes a second linear module motor 211 and a second linear module slide rail 213 longitudinally mounted on the first linear module slide 224 via bolts and nuts, and a second linear module motor lead screw connector 212 mounted on the lead screw of the second linear module motor 211. A second linear module slide 214 is mounted on the second linear module slide rail 213 via a slider, and the bottom of the second linear module slide 214 is connected to the second linear module motor lead screw connector 212 via a lead screw; the camera part includes four cameras: a first camera 241, a second camera 242, a third camera 243, and a fourth camera 244, mounted on the top four corners of the main frame part 230 via bolts and nuts.

[0049] The purpose of this structure is that, when the robot is drilling, the first linear module motor 221 drives the lower lead screw of the first linear module slide 224 to rotate via the first linear module motor lead screw connector 222. This rotation of the lower lead screw of the first linear module slide 224 causes the first linear module slide 224 to move back and forth, which is the X-axis position adjustment. Simultaneously, the second linear module motor 211 drives the lower lead screw of the second linear module slide 214 to rotate via the second linear module motor lead screw connector 212. This rotation of the lower lead screw of the second linear module slide 214 causes the second linear module slide 214 to move left and right, which is the Y-axis position adjustment. The control board coordinates the operation of the second linear module motor 211 and the first linear module motor 221, enabling the work platform structure 500 to move freely in a horizontal position within the main frame part 230. Before drilling, the first camera 241, the second camera 242, the third camera 243, and the fourth camera 244 observe the situation around the robot, upload the data to the server through the 5G network card, identify the work location and surrounding environment through a preset program, and finally transmit the processed signal back to the robot to control the robot's movement and move the second linear module slide 214 below the construction site to provide working conditions for the drilling part 527 at the top of the robot.

[0050] Depend on Figure 4 , Figure 5 , Figure 6 , Figure 10 , Figure 11As shown, the electric rotary turntable and three-stage lifting sleeve mechanism 300 includes an electric rotary turntable section 310 for providing horizontal rotation capability to the three-stage lifting sleeve 320 thereon, a three-stage lifting sleeve section 320 as a lifting structure, and a winch motor 330 for controlling the lifting of the three-stage lifting sleeve section 320 via an active pull rope mechanism 331; the electric rotary turntable section 310 includes an electric rotary turntable 312 mounted on the second linear module slide 214 by bolts and nuts, and an electric rotary turntable motor 311 integrated with the electric rotary turntable 312; the top of the electric rotary turntable 312 is connected to the three-stage lifting sleeve 320 by bolts and nuts; the three-stage lifting sleeve section 320 includes a three-stage lifting sleeve bottom connecting plate 321 mounted on an electric rotary turntable 312 by bolts and nuts. A first-stage lifting sleeve 322 is fixed to the center of the three-stage lifting sleeve bottom connecting plate 321 via a first connecting angle bracket 321a, a second connecting angle bracket 321b, a third connecting angle bracket 321c, and a fourth connecting angle bracket 321d. A second-stage lifting sleeve 323 is fitted inside the first-stage lifting sleeve 322, and a third-stage lifting sleeve 324 is fitted inside the second-stage lifting sleeve 323. The three-stage lifting sleeve 324 is connected via the first connecting angle bracket 321a, the third connecting angle bracket 321b, the third connecting angle bracket 321c, and the fourth connecting angle bracket 321d. The second connecting angle bracket 321b at the bottom of the lifting sleeve, the third connecting angle bracket 321c at the bottom of the third-stage lifting sleeve, and the fourth connecting angle bracket 321d at the bottom of the third-stage lifting sleeve ensure that the third-stage lifting sleeve section 320 remains vertical. The top of the interior of both the first-stage lifting sleeve 322 and the second-stage lifting sleeve 323 is equipped with pulleys. The bottom of the interior of the second-stage lifting sleeve 323 is also provided with a round hole and a pulley. Each of these pulleys is equipped with a driven rope pulling mechanism. The inner wall of the first-stage lifting sleeve 322 contacts the outer wall of the second-stage lifting sleeve 323, and the inner wall of the second-stage lifting sleeve 323 contacts the outer wall of the third-stage lifting sleeve 324. The entire third-stage lifting sleeve 320 is connected by an active rope pulling mechanism. The active pull rope mechanism 331 connects the first-stage lifting sleeve 322, the second-stage lifting sleeve 323, and the third-stage lifting sleeve 324 with the driven pull rope mechanism. The front end of the pull rope of the active pull rope mechanism 331 is fixed to the bottom of the third-stage lifting sleeve 324. The pull rope of the active pull rope mechanism 331 passes from the bottom of the third-stage lifting sleeve 324 through the driven pull rope mechanism on the pulley at the top of the second-stage lifting sleeve 323, then through the driven pull rope mechanism on the pulley at the bottom of the second-stage lifting sleeve 323, then through the driven pull rope mechanism on the pulley at the top of the first-stage lifting sleeve 322, and finally exits from the top of the first-stage lifting sleeve 322. Then the end of the pull rope is fixed to the winch motor 330.

[0051] The purpose of this structure is that when the bottom bidirectional screw horizontal sliding mechanism and the main frame part 200 move to the construction area to drill holes in the wall, the electric rotary turntable motor 311 drives the electric rotary turntable 312 to rotate, causing the three-stage lifting sleeve 320 above it to rotate. When the winch motor 330 tightens the active rope pulling mechanism 331, the third-stage lifting sleeve 324, the second-stage lifting sleeve 323, and the first-stage lifting sleeve 322 can be raised sequentially. When the third-stage lifting sleeve 324 rises to its limit, the active rope pulling mechanism 331 can pull the second-stage lifting sleeve 323 to rise until the first-stage lifting sleeve 322 also rises to its highest point and then stops tightening. This is the raising of the three-stage lifting sleeve 320. Conversely, when the winch motor 330 loosens the active rope pulling mechanism 331, the three-stage lifting sleeve 320 can be lowered. The lifting of the three-stage lifting sleeve 320 enables the lifting of the entire working platform structure 500, ensuring that the drilling rig 527 is adjusted to a suitable height so that it can reach the construction ceiling for construction work. Furthermore, the retraction of the three-stage lifting sleeve 320 when the robot is moving allows the robot to pass through freely through the building to complete the construction work.

[0052] Depend on Figure 4 , Figure 5 , Figure 7 , Figure 10As shown, the vertical rotation mechanism 400 includes an L-shaped connecting block 420 for connecting the work platform structure 500 and the electric indexing plate and connecting block portion 410, an electric push rod and connecting block portion 430 for assisting the L-shaped connecting block 420 in lifting and lowering during rotation, and an electric indexing plate and connecting block portion 410 for assisting the L-shaped connecting block 420 in rotating; the electric indexing plate and connecting block portion 410 includes a third-stage lifting sleeve welded to the third-stage lifting sleeve 324 and an electric indexing plate connecting block 411, and a connection to the electric indexing plate turntable 413 via a housing. The electric indexing plate motor 412 is assembled together; the other side of the third-stage lifting sleeve and the electric indexing plate connecting block 411 is fixed to the rear side of the electric indexing plate turntable 413 by bolts and nuts; the front side of the electric indexing plate turntable 413 is connected to the side of the L-shaped connecting block 420 by bolts and nuts; the top of the L-shaped connecting block 420 is fixed to the working platform structure 500 by bolts and nuts; the top side of the L-shaped connecting block 420 is connected to the electric push rod end connecting block 432 by welding; the electric push rod and connecting block part 430 are arranged from bottom to top as follows: It is composed of an electric push rod and a third-stage lifting sleeve connecting block 431, an electric push rod body 433, and an electric push rod end connecting block 432. The electric push rod end connecting block 432 is welded and fixed to the end of the output shaft of the electric push rod body 433. The electric push rod body 433 and the electric push rod motor 434 are assembled and connected through a housing. The lower part of the electric push rod body 433 and the electric push rod and third-stage lifting sleeve connecting block 431 form a rotating joint. The rotating joint means that the bottom of the electric push rod body 433 and the electric push rod and third-stage lifting sleeve connecting block 431 are connected. The connecting part of the lifting sleeve connecting block 431 is ground and cut off to form a spherical connecting structure. A circular hole is reserved on the side of the electric push rod where it connects to the third-stage lifting sleeve connecting block 431 and the electric push rod body 433. The internal space of the hole is slightly larger than the volume of the spherical connecting structure, but the area of ​​the circular hole on the side of the space is smaller than the area of ​​the spherical connecting structure to prevent the connecting structure from slipping out. This allows the lower part of the electric push rod body 433 to cooperate with the rotating pair between the electric push rod and the third-stage lifting sleeve connecting block 431.

[0053] The purpose of this structure is that the side hole of the electric push rod and the third-stage lifting sleeve connecting block 431 allows the electric push rod 433 to have a follow-up function when the vertical rotation mechanism 400 rotates through the electric indexing plate and connecting block part 410. When the vertical rotation mechanism 400 rotates to a horizontal position, the side hole provides support for the electric push rod 433. When the robot needs to drill holes in the wall, after the bidirectional lead screw horizontal sliding mechanism and main frame part 200, electric rotary turntable part 310 and third-stage lifting sleeve 320 reach the preset position, the electric indexing plate and connecting block part 410 starts to work, which rotates the work platform structure 500 to be perpendicular to the wall. During this process, the electric push rod motor 434 runs, causing the electric push rod 433 to slowly extend, further providing support for the work platform structure 500, without interfering with the rotation of the electric indexing plate and connecting block part 410.

[0054] Depend on Figure 4 , Figure 7 , Figure 8 As shown, the work platform structure 500 includes an electric telescopic rod structure 510 for extending the drill frame and drill part 520 to reach a designated wall surface, and a drill frame and drill part 520 for drilling into the wall or ceiling. The electric telescopic rod structure 510 includes an electric telescopic rod bottom connecting block 511, an electric telescopic rod body 513, and an electric telescopic rod top connecting block 514 connected sequentially from bottom to top. The electric telescopic rod structure 510 also includes a laser sensor mounted on the L-shaped connecting block 420. The electric telescopic rod body 513 and the electric telescopic rod motor 512 are connected together through a housing. The electric telescopic rod top connecting block 514 is connected to the upper drill frame and drill part 520 by bolts and nuts. The drill frame and drill part 520 includes a drill frame at the bottom and a drill part 527 at the top. The drill frame is composed of a first lower profile 521, a second lower profile 522, a first middle profile 523, and a second lower profile 524. The first upper profile 525 and the second upper profile 526 are welded together; the first lower profile 521 and the second lower profile 522 are fixed to the top connecting block 514 of the electric telescopic pole by bolts and nuts; the first middle profile 523 and the second middle profile 524 are welded together with the first lower profile 521 and the second lower profile 522 in a rectangular shape; the first upper profile 525 and the second middle profile 524 are connected by a vertical... The second upper profile 526 and the first middle profile 523 are welded together vertically. The upper part of the drilling rig part 527 is connected to the first upper profile 525 and the second upper profile 526 through two hose clamps. The middle button of the drilling rig part 527 is tightened with a hose clamp to press the button and is connected to the first middle profile 523 and the second middle profile 524. The tail is connected to the first middle profile 523 and the second middle profile 524 through a hose clamp.

[0055] The purpose of this structure is that after the vertical rotation mechanism 400 sends the work platform structure 500 to the designated position, the electric telescopic rod 513 is extended by the electric telescopic rod motor 512 to send the drilling rig frame and drilling part 520 to the designated area. Then, the drilling part 527 is powered on. During this process, the electric telescopic rod motor 512 controls the electric telescopic rod 513 to extend so that the drilling part 527 drills into the wall. After the work is completed, the above-mentioned device controls the drilling part 527 to drill out of the wall and carry out the next marking point work.

[0056] Below, refer to Figures 1 to 11 Based on the above description of structural features, the working principle of the intelligent wall and ceiling drilling robot of this utility model will be explained in detail:

[0057] 1. When construction is required on the side of the wall, the robot controls the front axle steering structure 110 and the rear axle forward structure 120 of the chassis to move to the vicinity of the construction site. At this time, the three-stage lifting sleeve section 320 is fully retracted. The robot determines the construction height by detecting the reserved marks on the wall through the camera. The winch motor 330 pulls the active rope mechanism 331, causing the three-stage lifting sleeve section 320 to extend to the appropriate height. After the third-stage lifting sleeve 324 rises to the designated position, the vertical rotation mechanism 400 above the three-stage lifting sleeve 320 is controlled to rotate the working platform structure 500 above the vertical rotation mechanism 400 to the horizontal. During this process, the electric push rod motor 434 in the vertical rotation mechanism 400 causes the electric push rod 433 to gradually move. The gradually elongated structure provides oblique support for the work platform structure 500. After the work platform structure 500 is turned horizontal, the electric telescopic rod structure 510 in the work platform structure 500 pushes out the drilling rig frame and drilling part 520. After the camera observes that the drilling part 527 has reached the designated position, the power of the drilling part 527 is turned on. At the same time, the electric telescopic rod structure 510 in the work platform structure 500 controls the drilling part 527 to drill into the wall. After drilling is completed, the electric telescopic rod 510 controls the drilling part 527 to move out of the wall, completing the drilling operation on the upper part of the wall. When working in the middle of the wall, the relative heights of the first-stage lifting sleeve 322, the second-stage lifting sleeve 323, and the third-stage lifting sleeve 324 are adjusted to cooperate with the drilling work platform for operation.

[0058] 2. When drilling is required in a ceiling or high space, the robot controls the front axle steering structure 110 and the rear axle forward structure 120 of the chassis to move to the construction area. At this time, the three-stage lifting sleeve 320 is fully retracted. The camera detects the pre-reserved marks on the ceiling, and the robot determines the construction height. The winch motor 330 pulls the active rope mechanism 331, causing the three-stage lifting sleeve 320 to extend to the appropriate height. When the third-stage lifting sleeve 324 rises to the designated position, the laser sensor on the work platform structure 500 detects the verticality of the work platform structure 500. By fine-tuning the electric indexing plate and connecting block 410, the drilling rig 527 is vertically aligned with the wall or ceiling. After adjustment, the electric telescopic rod structure 510 in the work platform structure 500 is then adjusted. The drilling rig frame and drilling section 520 are pushed out. The laser sensor detects the distance between the work platform structure 500 and the ceiling, and detects whether the drilling section 527 has reached the designated position. After confirming that the drilling section 527 has reached the designated position, the power of the drilling section 527 is turned on. At the same time, the electric telescopic rod structure 510 in the aforementioned work platform structure 500 controls the drilling section 527 to drill into the wall. After the drilling is completed, the electric telescopic rod structure 510 moves the drilling section 527 out of the ceiling, completing the ceiling drilling operation. When construction is required on the remaining part of the ceiling, the robot is moved to the designated area by coarsely adjusting the chassis front axle steering structure 110 and chassis rear axle forward structure 120. Then, the bidirectional lead screw horizontal sliding mechanism 200 and the main frame section 230 are finely adjusted to cooperate with the work platform structure 500 to carry out the operation.

[0059] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in this utility model should be included within the scope of this utility model.

Claims

1. An intelligent wall and ceiling drilling robot, characterized in that, include: The chassis self-propelled mechanism (100) is used to provide the robot with self-propelled functionality; The bidirectional screw horizontal sliding mechanism and main frame part (200) are installed on the chassis self-propelled mechanism (100) for controlling the actuating equipment on it to perform dual-axis movement, including a second linear module part (210) and a first linear module part (220) for precisely adjusting the actuating horizontal position of the work platform structure (500). An electric rotary turntable and a three-stage lifting sleeve mechanism (300) are installed on the bidirectional screw horizontal sliding mechanism and the main frame part (200) to control the lifting and horizontal rotation of the work platform structure (500); A vertical rotation mechanism (400) is installed on the electric rotary table and the three-stage lifting sleeve mechanism (300) to control the vertical rotation of the work platform structure (500); The work platform structure (500) is mounted on the vertical rotation mechanism (400) and includes a drilling frame and a drilling part (520) for drilling into walls or ceilings.

2. The intelligent wall and ceiling drilling robot according to claim 1, characterized in that, The self-propelled chassis mechanism (100) includes a front axle steering structure (110) for driving the robot to turn and a rear axle forward steering structure (120) for providing forward power to the robot. An AGV magnetic navigation sensor is installed in the front axle steering structure (110).

3. The intelligent wall and ceiling drilling robot according to claim 1, characterized in that, The electric rotary table and the three-stage lifting sleeve mechanism (300) include a three-stage lifting sleeve (320) as a lifting structure and an electric rotary table part (310) for horizontal rotation of the three-stage lifting sleeve (320). The three-stage lifting sleeve (320) is installed on the electric rotary table (312) and includes a third-stage lifting sleeve (324), a second-stage lifting sleeve (323), and a first-stage lifting sleeve (322) nested from the inside to the outside.

4. The intelligent wall and ceiling drilling robot according to claim 3, characterized in that, The first-stage lifting sleeve (322) and the second-stage lifting sleeve (323) are equipped with pulleys at their top ends. The second-stage lifting sleeve (323) has a round hole and a pulley at its bottom end. Each pulley is equipped with a driven rope mechanism. The third-stage lifting sleeve (320) connects the first-stage lifting sleeve (322), the second-stage lifting sleeve (323), and the third-stage lifting sleeve (324) through the active rope mechanism (331) and the driven rope mechanism.

5. The intelligent wall and ceiling drilling robot according to claim 4, characterized in that, The vertical rotation mechanism (400) includes an L-shaped connecting block (420) for connecting the work platform structure (500) and the electric indexing plate and connecting block part (410), an electric push rod and connecting block part (430) for assisting the L-shaped connecting block (420) in lifting and lowering when rotating, and an electric indexing plate and connecting block part (410) for assisting the L-shaped connecting block (420) in rotating.

6. The intelligent wall and ceiling drilling robot according to claim 5, characterized in that, The electric push rod and connecting block (430) is composed of an electric push rod, a third-stage lifting sleeve connecting block (431), an electric push rod body (433), and an electric push rod end connecting block (432) connected from bottom to top. The lower part of the electric push rod body (433) and the electric push rod and the third-stage lifting sleeve connecting block (431) form a rotating pair. The rotating pair is formed by grinding and cutting off the connection part between the bottom of the electric push rod body (433) and the electric push rod and the third-stage lifting sleeve connecting block (431) to form a spherical connection structure. A circular hole is reserved on the side of the electric push rod and the third-stage lifting sleeve connecting block (431) that connects to the electric push rod body (433). The internal space of the hole is slightly larger than the volume of the spherical connection structure, but the area of ​​the circular hole on the side of the space is smaller than the area of ​​the spherical connection structure to prevent the connection structure from slipping out.

7. The intelligent wall and ceiling drilling robot according to claim 6, characterized in that, The drilling rig frame and drilling rig part (520) are mounted on the electric telescopic rod structure (510), which includes a laser sensor mounted on the L-shaped connecting block (420) for detecting the verticality of the working platform structure (500) and its distance from the ceiling.

Images