Tree house type building combined type self-jacking ceiling scattered construction robot and method

Abstract

The invention discloses a tree house type building combined type self-jacking ceiling scattered construction robot and method. The robot comprises a main jacking part serving as a main body, auxiliary jacking parts penetrating through the middle of the main jacking part and installed on the two sides of the main jacking part, and a combined type construction platform installed on the tops of the main jacking part and the auxiliary jacking parts. The combined construction platform comprises a main alloy track frame body which serves as a main body and is installed on a main jacking support and an auxiliary jacking support of an auxiliary jacking supporting mechanism installed on the top plate, and branch alloy track frame bodies installed on the two sides of the main alloy track frame body. Through the mode that one main jacking part is matched with one set of auxiliary jacking parts and the combined type construction platform, the main machine body can separate one set of construction platform from the auxiliary jacking parts and place the other set of construction platform and the auxiliary jacking parts, and the other set of construction platform and the auxiliary jacking parts are placed in other places for synchronous construction; the switching interval of construction equipment is saved, the construction range is widened to a large extent, and the construction efficiency is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and in particular to a tree house type building assembled self-lifting ceiling decentralized construction robot, and also to a tree house type building assembled self-lifting ceiling decentralized construction method. Background Art

[0002] The tree house-style building has a beautiful and unique shape. It is a new type of cultural tourism product and is deeply loved by consumers. Its internal construction and decoration are relatively complex, and the ceiling decoration has many points, large quantities, and is difficult to do well. In existing ceiling construction, workers often use ladders or mobile vehicles to carry out construction. The ceiling often requires vertical openings, ceiling material installation, spray painting decoration, cleaning and other operations. It requires workers to carry ladders and move continuously under the ceiling for construction, which is very labor-intensive and material-intensive. For example, the worker's handheld electric drill has a large number of holes to open, and the arrangement accuracy is difficult to guarantee. Similarly, when workers spray paint the ceiling, it is difficult to control the thickness of the spray painting decoration, which leads to uneven thickness and relatively difficult cleaning operations.

[0003] Therefore, a tree house-type building combined self-lifting ceiling decentralized construction robot and method are needed that can perform cyclic reciprocating construction not far below the ceiling. Summary of the invention

[0004] Based on the deficiencies in the above-mentioned prior art, the technical problem to be solved by the present invention is to provide a tree house-type building combined self-lifting ceiling decentralized construction robot, which can realize the combined decentralized construction at the construction site through the separation and splicing of the main and auxiliary frames, and at the same time cooperate with the combined construction platform that can be spliced. When not spliced, it is N-shaped to save space, and when spliced, it forms a long straight shape for large-scale construction, which greatly saves the area occupied by the machine body. While saving space, it can also perform reciprocating construction on a larger range of ceilings. The designed main lifting part can lift the combined construction platform once, and the auxiliary lifting part can lift the combined construction platform twice after being separated from the main lifting part. Its lifting height range is twice that of the main lifting, which greatly improves the construction range.

[0005] Another object of the present invention is to provide a decentralized construction method for a combined self-lifting ceiling of a tree house-type building, which can be directly applied to existing ceiling construction. By using a main lifting part in combination with a group of auxiliary lifting parts and a combined construction platform, the main body can separate and place a group of construction platforms from the auxiliary lifting parts, and then take another group of construction platforms and auxiliary lifting parts for construction, and place them in other places for synchronous construction, which greatly saves the switching interval of construction equipment and effectively improves construction efficiency.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0007] The tree-house type building combined self-lifting ceiling decentralized construction robot of the present invention comprises a main lifting part as a main body, and a secondary lifting part passing through the middle part and installed on both sides thereof, and also comprises a combined construction platform installed on the top of the main lifting part and the secondary lifting part; the main lifting part comprises a chassis as a main body, and body side panels are installed on the front and rear sides of the chassis, and a frame is installed on the upper part of the body side panels, and a plurality of mounting holes are provided on the frame; a main lifting electric push rod is also vertically upwardly provided on the upper surface of the body side panel near the inner side of the chassis, and the bottom of the main lifting electric push rod is fixed to the body side panel, and its output shaft is fixedly connected to the main lifting support; the secondary lifting part comprises a secondary frame as a main body, and a plurality of secondary frame mounting holes are provided on the top plate and the bottom plate of the secondary frame, and the top plate and the bottom plate of the secondary frame are connected The sub-frame is connected to the main frame by a vertical rod on one side, and the sub-frame vertical rod is provided with several groups of worm gear connection mechanisms for separating and splicing the sub-frame from the main frame; two groups of sub-lifting support mechanisms are provided on the sub-frame mounting holes on the inner side of the top plate of the sub-frame, and two groups of sub-lifting support mechanisms are also provided on the sub-frame mounting holes on the outer side of the bottom plate of the sub-frame; the combined construction platform includes a main alloy track frame as a main body installed on the main jacking support and the sub-jacking support of the sub-jacking support mechanism installed on the top plate, and sub-alloy track frames installed on both sides of the main alloy track frame; the main alloy track frame and the sub-alloy track frame are connected together by a merging mechanism, and the main alloy track frame is provided with several electric trolleys, and the electric trolleys are provided with a construction mechanism mounting seat for installing construction equipment.

[0008] Preferably, two front and rear stabilizing support mechanisms are further provided on the outer side of each machine body side panel, wherein the stabilizing support mechanism is composed of a stabilizing support rotating motor fixed to the side of the machine body side panel as a chassis, and its output shaft is fixedly connected to a stabilizing support mounting seat, and a vertical stabilizing support first electric push rod and a horizontal stabilizing support second electric push rod are fixed in sequence in the stabilizing support mounting seat, the output shaft of the stabilizing support first electric push rod is fixedly connected to a support plate, and the output shaft of the stabilizing support second electric push rod is fixedly connected to a stabilizing plate, and a number of universal wheels are provided on the stabilizing plate.

[0009] Furthermore, the sub-lifting support mechanism is composed of a sub-lifting support first electric push rod installed on the top plate or the bottom plate as a base, and its output shaft passes through the sub-frame mounting hole and is connected to a sub-lifting support mounting seat; a vertical sub-lifting support second electric push rod is provided in the middle of the sub-lifting support mounting seat, and four vertical sub-lifting sliding support mounting seats are provided at the four corners of the sub-lifting support mounting seat, and a universal wheel is provided on the sub-lifting sliding support mounting seat; the output shaft of the sub-lifting support second electric push rod is connected to a sub-lifting fixed support plate, and the sub-lifting fixed support plate is provided with four circular openings, and the four circular openings respectively correspond to the rotation coverage area of ​​the universal wheels at the lower parts of the four sub-lifting sliding support mounting seats, so that the sub-lifting fixed support Before the support plate is retracted to contact the ground, the universal wheel contacts the ground to slide, and when it is fixed, the second electric push rod of the auxiliary jacking support is pushed so that the auxiliary jacking fixed support plate passes through the universal wheel and contacts the ground, thereby increasing the friction force to fix the entire auxiliary frame; in addition to the structure of the auxiliary jacking support mechanism installed on the bottom plate, the auxiliary jacking support mechanism installed on the top plate is also provided with an auxiliary jacking support in the middle part of its auxiliary jacking fixed support plate, and a construction platform fixing electric push rod is provided on one side of the auxiliary jacking support, and its output shaft can be pushed out and pass through the auxiliary jacking support. When a modular construction platform is placed in the auxiliary jacking support, the construction platform fixing electric push rod is pushed out so that its output shaft simultaneously passes through the main alloy track frame of the modular construction platform to fix it.

[0010] Furthermore, a construction platform lifting mechanism is provided in the middle space between the top plate and the bottom plate of the sub-frame. The construction platform lifting mechanism is mainly composed of a screw slide mounting seat installed between the top plate and the bottom plate. A screw slide is provided on the screw slide mounting seat. The slide of the screw slide extends outward for a certain distance, and a vertically upward lifting electric push rod is provided at the bottom. The output shaft of the lifting electric push rod passes through the slide and is connected to a lifting push plate.

[0011] Preferably, the merging mechanism includes a rotating shaft for rotatably connecting the two alloy track frames together, and the sub-alloy track frame can be rotatably sleeved on the main alloy track frame; the merging mechanism also includes an alloy track frame internal layering plate installed inside the track of the sub-alloy track frame, and the main alloy track frame is also provided with the alloy track frame internal layering plate; the merging mechanism also includes a merging electric push rod installed laterally on one side of the sub-alloy track frame, the output shaft of the merging electric push rod is connected to a merging support steel bar mounting plate, one side of the merging support steel bar mounting plate is located outside the sub-alloy track frame, and the other side thereof enters under the internal layering plate of the alloy track frame through the mounting plate slide groove on the sub-alloy track frame and is fixedly connected to a merging support steel bar.

[0012] Furthermore, a pressurized water pump, a cleaning reel, and a water tank are provided in sequence inside the chassis from left to right; the cleaning reel is installed in the chassis through a rotating motor, and is a vertical reel on which a water pipe track is provided, and a winch is provided on the top of the cleaning reel, and a pull rope of the winch is fixedly connected to the pipe head of the water pipe, which can pull the water pipe to rise, fall, and move on the water pipe track.

[0013] Correspondingly, the present invention also provides a decentralized construction method for a tree house type building assembled self-lifting ceiling, the steps of which are:

[0014] S1, machine body driving: when the machine body is driving, the stable support mechanism is started to perform stable auxiliary driving. At this time, the stable support rotation motor is controlled to start, and its output shaft drives the stable support mounting seat to rotate until the stable plate is parallel to the ground. At this time, the second electric push rod of the stable support is pushed out to make the universal wheel on the stable plate contact the ground, thereby assisting driving and making the robot move forward more smoothly;

[0015] S2. Self-lifting of the frame: When the combined construction platform is lifted, the main and auxiliary bodies are usually integrated, which are installed on the main lifting support and the auxiliary lifting support. At this time, the stable support mechanism is started to perform stable auxiliary lifting. At this time, the stable support rotation motor is controlled to start, and its output shaft drives the stable support mounting seat to rotate until the support plate is parallel to the ground. At this time, the first electric push rod of the stable support is pushed out to make the support plate contact with the ground, increase the contact area between the body and the ground, increase the friction force, and thus make the lifting process more stable. At this time, the main lifting support is pushed out by the main lifting electric push rod, and the combination on the main lifting support The combined construction platform is lifted up together and then reaches a higher height, and then the auxiliary lifting support of the auxiliary lifting support mechanism on the top plate is extended to fit with the combined construction platform, and the electric push rod for fixing the construction platform is pushed out through the opening of the main alloy track frame to fix it, and then the main lifting support is retracted, so that the force of the combined construction platform is completely transferred to the auxiliary lifting part, and then the auxiliary lifting part is separated, and then the height of the combined construction platform is adjusted by several groups of auxiliary lifting support mechanisms with the top plate and the bottom plate of the auxiliary lifting part facing each other. Due to its staggered design, the lifting height can reach twice that of the main body;

[0016] S3, separation of the main and auxiliary frames: when the main and auxiliary frames are separated, the left and right auxiliary frames and the main frame in the middle are assembled together through three sets of worm gear connection mechanisms. At this time, the auxiliary frame is not in direct contact with the ground, and it can push the auxiliary jacking support first electric push rod of the auxiliary jacking support mechanism located on the bottom plate, and simultaneously push out the auxiliary jacking support second electric push rod to make the auxiliary jacking fixed support plate contact with the ground. At this time, the gravity force of the auxiliary frame is shared on the ground and is no longer transmitted to the main body through the worm. At this time, the worm gear driving motor drives its worm gear to rotate, driving the worm gear to move horizontally until it slides out of the auxiliary frame and the main body on one side. At this time, the main body is controlled to move horizontally and leave between the two auxiliary frames, and then the worm gear is controlled to move in the opposite direction, re-pass through the auxiliary frame on the other side and mesh with its worm gear, so as to realize the separation and reassembly of the machine body. The left and right auxiliary frames form a new machine body, on which a combined construction platform can be carried;

[0017] S4. After the separation of the main and auxiliary frames is completed, the auxiliary frame supports the main alloy track frame to the specified height. At this time, the sub-alloy track frame rotates downward and rests on the lifting push plate. If the track extension and splicing construction is required, the slide of the screw slide is controlled to move upward, and the lifting electric push rod is synchronously controlled to push out the lifting push plate, so that the sub-alloy track frame is pushed up and rotated, and finally level with the main alloy track frame. At this time, the merging electric push rod is controlled to push out the merging support steel bar mounting plate, driving the merging support steel bar to be pushed out until it extends into the bottom of the layered plate in the alloy track frame of the main alloy track frame to a certain length. At this time, the lifting push plate is retracted and no longer supports the combined construction platform, so that the main and sub-alloy track frames are merged into a whole through the merging support steel bars. The electric trolley can move between them, so that the construction equipment on it can reciprocate for construction, and it can also continue to support, further improving the construction stability;

[0018] S5. Self-cleaning and dust reduction of the machine body: When it is necessary to clean the machine body or reduce dust, the water in the water tank is used for the operation. The external water supply pipe can also be connected to the water tank, and then the water is pumped into the water pipe by a pressurized water pump. The water pipe is coiled on the cleaning reel, and its pipe head is always facing outside the reel. The end of the pipe head is pulled by the winch and rotates and rises on the track of the cleaning reel. According to the actual location that needs to be cleaned, the water pipe head is pulled up by the winch to make it spiral up on the track. On the way up, its pipe head is opened to circulate and clean the machine body. That is, the water pipe head can be controlled by the winch to clean the circular space within a certain height near the cleaning reel, which covers the entire machine body. Atomizing nozzles can also be installed on the water pipe head to enable it to have dust reduction capabilities. For the cleaning of the combined construction platform, the platform can be separated from the main body, and then the platform is lowered to the height of the main body after separation, and then it is placed in the clean space after approaching, and then cleaned.

[0019] From the above, the tree house type building combined self-lifting ceiling decentralized construction robot and method of the present invention have at least the following beneficial effects:

[0020] 1. The stable support mechanism of the present invention can assist the driving of the robot by lowering a number of auxiliary universal wheels, so that the robot can drive stably even when the road is uneven. At the same time, its stable support mechanism realizes rapid switching between stable driving assistance and stable lifting assistance functions through a rotating motor. After the conversion, the contact area between the machine body and the ground can be increased through the support plate, thereby increasing the friction force, making the machine body more stable and safe when lifting.

[0021] 2. The cleaning part of the present invention allows the entire robot to be covered in a cleaning space through a water tank, a pressurized water pump, a cleaning reel, and a winch. The winch is used to pull the water pipe head to spiral up on the cleaning track of the cleaning reel and simultaneously spray water to clean the body. It can also be directly connected to an external water source, making the cleaning of the robot more convenient. At the same time, it can also clean the cylindrical space near the robot to a certain extent. After installing an atomizing nozzle, real-time dust reduction can be carried out.

[0022] 3. The sub-lifting part of the present invention uses several groups of worm gear mechanisms to combine the main body and the left and right side sub-frames into a whole. When moving, the main body moves with the sub-frame, which is efficient and fast. When dispersed construction is required, the sub-lifting fixed support plate can be lowered to contact the ground through the sub-lifting support mechanism set up by the sub-frame, so that the gravity of the sub-frame is borne by the ground, and then it can be disconnected from the main body through the worm gear connection mechanism. After separation, the main body can evacuate by itself, and then the two sub-frames are reassembled through the worm gear mechanism to form a sub-body, which can bear and lift the combined construction platform by itself, so that the main body has free time to transport other construction platforms. This method makes the entire robot detachable and replaceable, and the construction efficiency is greatly improved.

[0023] 4. The main and auxiliary machine body assembly mechanism of the present invention allows the main machine body to be quickly separated from a set of auxiliary lifting parts and combined construction platforms while carrying them. When the main machine body is placed at a predetermined position for cyclic construction, the main machine body can quickly go to other places to pick up other auxiliary lifting parts and combined construction platforms to carry out fast and efficient reciprocating construction. For example, there are two sets of auxiliary machines consisting of auxiliary lifting parts and combined construction platforms. One set of auxiliary machines is stored near the construction site. The main machine body brings the other set of auxiliary machines to the construction site for covering construction. After disassembling and placing this set, the main machine body immediately comes to the location where the other set of auxiliary machines is stored, and is assembled by the worm gear mechanism, and then brought to other locations for construction. After placing this set, the previous set of auxiliary machines has completed the construction of the ceiling of the area, and can be transported again to a new location for construction. In addition, the design of multiple sets of auxiliary machines allows different construction equipment to be carried on the combined construction platform of each set of auxiliary machines, such as hole opening, spray painting decoration, ceiling installation, etc., so that a variety of different construction projects can be carried out simultaneously, and only one main machine body is needed for transportation, which is efficient and saves time and cost.

[0024] 5. The combined construction platform of the present invention can be arranged on the main body as an N-shape to save space. During construction, the screw slide lifting mechanism and the merging mechanism can be used to combine the left and right sections with the middle part into a straight-line whole, thereby greatly improving the construction coverage and further improving the construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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.

[0026] Figure 1 It is a schematic diagram of the overall structure of the tree house type building combined self-lifting ceiling decentralized construction robot of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the main lifting part of the present invention;

[0028] Figure 3 It is a structural schematic diagram of the auxiliary lifting part of the present invention;

[0029] Figure 4 It is a front view of the combined construction platform of the present invention connected with the auxiliary jacking part;

[0030] Figure 5 It is a structural schematic diagram of the combined construction platform of the present invention;

[0031] Figure 6 It is a partial enlarged view of the merging mechanism of the present invention.

[0032] Description of reference numerals:

[0033] 1000-main lifting part;

[0034] 1001-body side panel; 1002-chassis; 1003-frame; 1003a-mounting hole; 1003b-frame crossbar; 1004-roller; 1005-main jacking electric push rod; 1006-main jacking support; 1007-water tank; 1008-pressure water pump; 1009-cleaning reel; 1010-winch; 1011-stable support mechanism; 1011a-stable support rotating motor; 1011b-stable support mounting seat; 1011c-stable support first electric push rod; 1011d-stable support second electric push rod; 1011e-stable plate; 1011f-support plate;

[0035] 2000- auxiliary lifting part;

[0036] 2001-sub-frame; 2001a-sub-frame vertical rod; 2001b-worm gear drive motor; 2001c-worm; 2001d-sub-frame mounting hole; 2002-sub-lifting support mechanism; 2002a-sub-lifting support first electric push rod; 2002b-sub-lifting support mounting seat; 2002c-sub-lifting sliding support mounting seat; 2002d-sub-lifting support second electric push rod; 2002e-sub-lifting fixed support plate; 2003a-screw slide mounting seat; 2003b-screw slide; 2003c-slide; 2003d-lifting electric push rod; 2003e-lifting push plate; 2004a-sub-lifting support; 2004b-construction platform fixed electric push rod;

[0037] 3000-Combined construction platform;

[0038] 3001-main alloy track frame; 3002-sub-alloy track frame; 3003-alloy crossbar; 3004-electric drill; 3005-merging mechanism; 3005a-layered plate inside the alloy track frame; 3005b-merged electric push rod; 3005c-merged support steel bar mounting plate; 3005d-merged support steel bar; 3005e-mounting plate slide; 3005f-rotating shaft; 3006-electric trolley; 3007-construction mechanism mounting seat. DETAILED DESCRIPTION

[0039] In order to facilitate ordinary technicians in the field to understand and implement the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0040] Next, combine Figures 1 to 6The tree house type building combined self-lifting ceiling decentralized construction robot and method provided by the present invention are introduced in detail.

[0041] Depend on Figure 1 As shown, the tree house type building combined self-lifting ceiling decentralized construction robot of the present invention includes a main lifting part 1000 as a main body, and an auxiliary lifting part 2000 passing through the middle part and installed on both sides thereof, and also includes a combined construction platform 3000 installed on the top of the main lifting part 1000 and the auxiliary lifting part 2000.

[0042] Depend on Figure 2 As shown, the main lifting part 1000 includes a chassis 1002 as a main body, and a body side panel 1001 is installed on the front and rear sides of the chassis 1002. A plurality of rollers 1004 are installed at the lower part of the body side panel 1001, and a rack 1003 is installed on the upper part thereof. The rack 1003 is provided with a plurality of mounting holes 1003a, and a rack cross bar 1003b is also connected between the racks 1003 on the body side panel 1001 on the same side; the chassis 1002, the body side panel 1001, the rack cross bar 1003b and the rack 1003 constitute the main body. The upper surface of the machine body side plate 1001 is also provided with a vertically upward main lifting electric push rod 1005 on the inner side near the chassis 1002. The main lifting electric push rod 1005 is relatively long, and its bottom is fixed to the machine body side plate 1001, and one side of its upper part is fixed to the frame cross bar 1003b, and its output shaft is fixedly connected to the main lifting support 1006; the outer side of each machine body side plate 1001 is also provided with two front and rear stable support mechanisms 1011, and the stable support mechanism 1011 is made of a stable support rotating motor 1011a fixed to the side of the machine body side plate 1001. It is a chassis, and its output shaft is fixedly connected to a stable support mounting seat 1011b, in which a vertical stable support first electric push rod 1011c and a horizontal stable support second electric push rod 1011d are fixed in sequence, the output shaft of the stable support first electric push rod 1011c is fixedly connected to a support plate 1011f, and the output shaft of the stable support second electric push rod 1011d is fixedly connected to a stable plate 1011e, and a plurality of universal wheels are provided on the stable plate 1011e.

[0043] The interior of the chassis 1002 is provided with a pressurized water pump 1008, a cleaning reel 1009, and a water tank 1007 from left to right; the cleaning reel 1009 is installed in the chassis 1002 through a rotating motor, which is a vertical reel with a water pipe track similar to a winding mountain road, and a winch 1010 is provided on the top of the cleaning reel 1009. The pull rope of the winch 1010 is fixedly connected to the pipe head of the water pipe, which can pull the water pipe to rise and fall and move on the water pipe track; it should be noted that the electric push rod, the pressurized water pump 1008, and the rotating motor in the text are all common parts, and their prefixes such as first, second, and stable support are all functional descriptions, which are used to distinguish the mechanisms in different positions.

[0044] The purpose of setting up this structure is that when the machine body is traveling, the stable support mechanism 1011 can be started for stable auxiliary travel. At this time, the stable support rotating motor 1011a is controlled to start, and its output shaft drives the stable support mounting seat 1011b to rotate until the stable plate 1011e is parallel to the ground. At this time, the second electric push rod 1011d of the stable support is pushed out to make the universal wheel on the stable plate 1011e contact the ground, thereby assisting travel and making the robot move forward more smoothly. When self-lifting work is required, the stable support can also be started. The supporting mechanism 1011 performs auxiliary stabilization jacking. At this time, the stabilization support rotating motor 1011a is controlled to start, and its output shaft drives the stabilization support mounting seat 1011b to rotate until the support plate 1011f is parallel to the ground. At this time, the stabilization support first electric push rod 1011c is pushed out to make the support plate 1011f contact the ground, thereby increasing the contact area between the machine body and the ground and increasing the friction force, thereby making the jacking process more stable. At this time, the main jacking support 1006 can be pushed out by the main jacking electric push rod 1005. The combined construction platform 3000 is lifted up together and then reaches a higher height; when it is necessary to clean the machine body or reduce dust, the water in the water tank 1007 can be used for the operation, or the external water supply pipe can be connected to the water tank 1007, and then the water is pumped into the water pipe by the pressurized water pump 1008. The water pipe is coiled on the cleaning reel 1009, and its pipe head is always facing outside the reel. The end of the pipe head is pulled by the winch 1010 and can be rotated and raised on the track of the cleaning reel 1009. According to the actual location that needs to be cleaned, the water can be pulled up by the winch 1010 The water pipe head is controlled by the winch 1010 to clean the circular space at a certain height near the cleaning reel 1009, which covers the entire machine body. An atomizing nozzle can also be installed on the water pipe head to enable it to have dust reduction capability. For cleaning of the combined construction platform 3000, the platform can be separated from the main body, and then lowered to the height of the main body after separation, and then brought close to it so that it is in the clean space and then cleaned.

[0045] Compared with the prior art, the stable support mechanism 1011 designed in the present invention can assist the robot in driving by lowering a number of auxiliary universal wheels, so that the robot can drive stably even when the road is uneven. At the same time, its stable support mechanism 1011 realizes the rapid switching of the stable driving assistance and stable lifting assistance functions through the rotating motor. After the conversion, the contact area between the body and the ground can be increased through the support plate 1011f, thereby increasing the friction force, making the body more stable and safe when lifting. The cleaning part of the present invention allows the entire robot to be covered in the cleaning space through the water tank 1007, the pressure water pump 1008, the cleaning reel 1009, and the winch 1010. The winch 1010 is used to pull the water pipe head to spiral and rise on the cleaning track of the cleaning reel 1009 to spray water to clean the body synchronously. It can also directly connect to an external water source, making the cleaning of the robot more convenient. At the same time, it can also clean the cylindrical space near the robot to a certain extent. After installing the atomizing nozzle, it can be used for real-time construction dust reduction.

[0046] Depend on Figure 3As shown, the auxiliary lifting part 2000 includes an auxiliary frame 2001 as a main body, which is composed of a C-shaped alloy frame, and a plurality of auxiliary frame mounting holes 2001d are arranged on the top plate and the bottom plate of the auxiliary frame 2001. The top plate and the bottom plate of the auxiliary frame 2001 are connected by an auxiliary frame vertical rod 2001a on one side. The positions of the two auxiliary frame vertical rods 2001a are close to the frame 1003, and openings corresponding to the mounting holes 1003a of the frame 1003 are arranged on the auxiliary frame vertical rod 2001a. A plurality of groups of worm gear connecting mechanisms are arranged on the auxiliary frame vertical rod 2001a, and each group of worm gear connecting mechanisms consists of a mounting hole 1003a. The worm gear drive motor 2001b mounted on the sub-frame vertical rod 2001a, the worm 2001c passing through the sub-frame vertical rod 2001a corresponding to the mounting hole 1003a, and a worm gear drive motor 2001b on the other side are composed of the worm 2001c passing through the mounting holes 1003a of the two frames 1003 located on the same side of a body side plate 1001, and passing through the mounting hole on the sub-frame vertical rod 2001a of the other sub-frame 2001 to mesh with the worm gear on the worm gear drive motor 2001b nearby. The point is that, according to the actual force conditions, a bearing can be installed at the contact point between the worm and each mounting hole, so that its inner ring contacts the worm. The principle here is to connect the left and right sub-frames 2001 and the main body in the middle in series through a worm 2001c, so that the sub-frame 2001 is fixed at a certain height, and this height can be adjusted according to the height of the hole through which the worm passes. The worm gear driving motor 2001b on both sides drives the worm gear to rotate, and the worm gear drives the meshing worm to rotate. After the worm rotates, it can move left and right between the mounting holes, thereby realizing the worm 2 001c is extended and retracted, and at this time the worm gear drive motors 2001b on both sides are driven to make the worm rotate to the right and move horizontally, and then the left side thereof is disengaged from the worm gear meshing with it on the left side, and then is disengaged from the mounting hole on the left side of the frame 1003. At this time, the sub-frame on the left side has been disengaged, and then the worm gear drive motor on the right side is started to make the worm continue to move right until it is disengaged from the mounting hole on the right side of the frame 1003. At this time, the sub-frame on the right side is also disengaged, and finally the two sub-frames can be disengaged from the main frame to achieve separation, and at the same time, the height can be adjusted by itself and then passed through the mounting hole for splicing.

[0047] The worm of the present invention can pass through the main body and the right sub-frame to the left, so that the left sub-frame is separated from it, or it can pass through to the left and partially pass through, only through the mounting hole of the right sub-frame, and not through the mounting hole of the frame near the left sub-frame, so that the right sub-frame is separated while the left sub-frame is still fixed, so that the flexibility of the body assembly is further improved. Similarly, the worm can also pass through to the right in the same way, and the specific description is opposite to the above. In short, the left sub-frame, the main body, the right sub-frame, and the worm here are four similar assembly parts. The worm gear drive motor allows the worm to be assembled with any sub-frame, or it can be left on the main body. Both the left and right sub-frames do not contact the screw. It can be used to install two sub-frames, that is, the main body is fixed with the worm, and the two sub-frames actively move, insert, and engage the worm, and then assemble.

[0048] The worm of the present invention is relatively long and has continuous threads thereon, and the end is not designed with a fixed end, so it can pass through various mounting holes and disengage at the same time, and the bearings in the mounting holes provide support for the engagement of the worm gear.

[0049] The worm gear connection mechanism of the present invention can also adopt a gear rack mechanism, where the motor drives the gear to rotate, and then the rotation of the gear drives the rack to move horizontally to achieve the connection and disconnection between the sub-frame and the main body. The present invention is not limited to the above mechanism, as long as the connection and disconnection between the sub-frame and the main body can be achieved.

[0050] Two sets of auxiliary lifting support mechanisms 2002 are provided on the auxiliary frame mounting holes 2001d on the inner sides of the top plate of the auxiliary frame 2001, and two sets of auxiliary lifting support mechanisms 2002 are also provided on the auxiliary frame mounting holes 2001d on the outer sides of the bottom plate of the auxiliary frame 2001. The auxiliary lifting support mechanisms on the top plate are vertically upward, and the auxiliary lifting support mechanisms on the bottom plate are vertically downward. The longer electric push rods are installed in the space between the top plate and the bottom plate, which can maximize the lifting height of the combined construction platform 3000 without interfering with each other; the auxiliary lifting support mechanism 2002 consists of a auxiliary lifting support mechanism installed on the top plate Or the auxiliary lifting support first electric push rod 2002a on the bottom plate is used as the base, and its output shaft passes through the auxiliary frame mounting hole 2001d and is connected to a auxiliary lifting support mounting seat 2002b, and a vertical auxiliary lifting support second electric push rod 2002d is provided in the middle of the auxiliary lifting support mounting seat 2002b, and four vertical auxiliary lifting sliding support mounting seats 2002c are provided at the four corners of the auxiliary lifting support mounting seat 2002b, and the auxiliary lifting sliding support mounting seat 2002c is provided with a universal wheel; the output shaft of the auxiliary lifting support second electric push rod 2002d is connected to an auxiliary lifting fixed support plate 2002e is connected, and the auxiliary lifting fixed support plate 2002e is provided with four circular openings, and the four circular openings respectively correspond to the rotation coverage areas of the universal wheels at the bottom of the four auxiliary lifting sliding support mounting seats 2002c, so that the auxiliary lifting fixed support plate 2002e can slide by the universal wheels in contact with the ground before being withdrawn to contact with the ground. When fixing, the auxiliary lifting support second electric push rod 2002d is pushed to make the auxiliary lifting fixed support plate 2002e pass through the universal wheels and contact with the ground, thereby increasing the friction force to fix the entire auxiliary frame 2001; the auxiliary lifting support mechanism installed on the top plate In addition to the structure of the auxiliary jacking support mechanism installed on the base plate, 2002 also has an auxiliary jacking support 2004a in the middle of its auxiliary jacking fixed support plate 2002e, and one side of the auxiliary jacking support 2004a is provided with a construction platform fixing electric push rod 2004b, whose output shaft can be pushed out and pass through the auxiliary jacking support 2004a. When the combined construction platform 3000 is placed in the auxiliary jacking support 2004a, the construction platform fixing electric push rod 2004b can be pushed out so that its output shaft can simultaneously pass through the main alloy track frame 3001 of the combined construction platform 3000, so that it can be fixed.

[0051] A construction platform lifting mechanism is provided in the middle space between the top plate and the bottom plate of the sub-frame 2001. The main body of the construction platform lifting mechanism is composed of a screw slide mounting seat 2003a installed between the top plate and the bottom plate. A screw slide 2003b is provided on the screw slide mounting seat 2003a. The slide 2003c of the screw slide 2003b extends outward for a certain distance, and a vertical upward lifting electric push rod 2003d is provided at the bottom. The output shaft of the lifting electric push rod 2003d passes through the slide 2003c and is connected to a lifting push plate 2003e. The purpose of setting up this structure is that when the main and sub-frames are separated, the left and right sub-frames 2 001 and a main body in the middle are spliced ​​together through three sets of worm gear connection mechanisms. At this time, the sub-frame 2001 is not in direct contact with the ground, and it can push the sub-lifting support first electric push rod 2002a of the sub-lifting support mechanism 2002 located on the bottom plate, and simultaneously push out the sub-lifting support second electric push rod 2002d to make the sub-lifting fixed support plate 2002e contact with the ground. At this time, the gravity force of the sub-frame 2001 is shared on the ground and is no longer transmitted to the main body through the worm 2001c. At this time, the worm gear drive motor 2001b can be used to drive its worm wheel to rotate, driving the worm 2001c to move horizontally until it slides out of the sub-frame on one side and the main body. The main body is controlled to move horizontally and leave between the two sub-frames 2001, and then the worm 2001c is controlled to move in the opposite direction, pass through the sub-frame 2001 on the other side again and mesh with its worm gear, so as to realize the separation and reassembly of the body. The left and right sub-frames 2001 form a new body, on which the combined construction platform 3000 can be carried; when the combined construction platform is lifted, the main and sub-body are usually integrated at this time, which are installed on the main lifting support 1006 and the sub-lifting support 2004a. During the separation process, the main lifting support 1006 can first lift the entire combined construction platform 3000 to a suitable height, and then the sub-lifting support 1004a on the top plate can be extended to lift the whole combined construction platform 3000 to a suitable height. The auxiliary lifting support 2004a of the support mechanism 2002 is fitted with the combined construction platform 3000. The construction platform is fixed by pushing out the electric push rod 2004b through the opening of the main alloy track frame 3001 to fix it, and then retracting the main lifting support 1006, so that the force of the combined construction platform 3000 is completely transferred to the auxiliary lifting part 2000. Next, the auxiliary lifting part 2000 can be separated, and then the height of the combined construction platform 3000 is adjusted by using several groups of auxiliary lifting support mechanisms 2002 with the top plate and the bottom plate of the auxiliary lifting part 2000 facing each other. Due to its staggered design, the lifting height can reach twice that of the main body.

[0052] Compared with the prior art, the sub-lifting part 2000 designed in the present invention combines the main body and the left and right side sub-frames into a whole through several groups of worm gear mechanisms. When moving, the main body moves with the sub-frame 2001, which is efficient and fast. When dispersed construction is required, the sub-lifting fixed support plate 2002e can be lowered to contact the ground through the sub-frame's self-provided sub-lifting support mechanism 2002, so that the gravity of the sub-frame is borne by the ground, and then it can be disconnected from the main body through the worm gear connection mechanism. After disconnection, the main body can evacuate by itself, and then the two sub-frames 2001 are reassembled through the worm gear mechanism to form a sub-body, which can bear and lift the combined construction platform 3000 by itself, so that the main body has free time to transport other construction platforms. This method makes the entire robot detachable and replaceable, and the construction efficiency is greatly improved.

[0053] The main and auxiliary machine body assembly mechanism designed in the present invention allows the main machine body to be quickly separated from a set of auxiliary lifting parts 2000 and the combined construction platform 3000 while carrying them. When the main machine body is placed at a predetermined position for cyclic construction, the main machine body can quickly go to other places to pick up other auxiliary lifting parts 2000 and the combined construction platform 3000 for fast and efficient reciprocating construction. For example, there are two sets of auxiliary machines consisting of auxiliary lifting parts and combined construction platforms. One set of auxiliary machines is stored near the construction site, and the main machine body brings the other set of auxiliary machines to the construction site for covering construction. After the two sets are disassembled and placed, the main machine body can be quickly separated from the auxiliary machines. Afterwards, the main body immediately comes to the location where another group of auxiliary bodies are stored, and is assembled by itself through the worm gear mechanism, and then taken to other locations for construction. After this group is placed, the previous group of auxiliary bodies has completed the construction of the ceiling in this area, and can be transported again to the new location for construction. In addition, the design of multiple groups of auxiliary bodies allows each group of auxiliary bodies to carry different construction equipment on the combined construction platform 3000, such as hole drilling, spray painting decoration, ceiling installation, etc., so that a variety of different construction projects can be carried out simultaneously, and only one main body is needed for transportation, which is efficient and saves time and cost.

[0054] Depend on Figure 4-6As shown, the combined construction platform 3000 includes a main alloy track frame 3001 installed as a main body on the main jacking support 1006 and the auxiliary jacking support 2004a, and a sub-alloy track frame 3002 installed on both sides thereof; an alloy cross bar 3003 is provided between the two alloy track frames of the same group; the main alloy track frame 3001 and the sub-alloy track frame 3002 are connected together by a merging mechanism 3005. The merging mechanism 3005 includes a rotating shaft 3005f for rotatably connecting the two alloy track frames together. The track volume of the sub-alloy track frame 3002 at the joint with the main alloy track frame 3001 is slightly larger, so that it can be rotatably sleeved on the main alloy track frame 3001; the merging mechanism 3005 also includes an alloy track frame internal layered plate 3005a installed inside the track of the sub-alloy track frame 3002. The main alloy track frame 3001 is also provided with the alloy track frame internal layered plate 3005a, the purpose of which is to connect the upper track with the lower punching position, the rotating shaft 3005f, and the merging support steel bar 3005. 005d, the mounting plate slide groove 3005e, etc. are isolated and do not interfere with each other; the merging mechanism 3005 also includes a merging electric push rod 3005b installed horizontally on one side of the split alloy track frame 3002, and the output shaft of the merging electric push rod 3005b is connected to a merging support steel bar mounting plate 3005c, one side of the merging support steel bar mounting plate 3005c is located outside the split alloy track frame 3002, and the other side enters the bottom of the layered plate 3005a in the alloy track frame through the mounting plate slide groove 3005e on the split alloy track frame 3002 and is fixedly connected to a merging support steel bar 3005d.

[0055] The main alloy track frame 3001 is provided with a plurality of electric trolleys 3006, and the electric trolley 3006 is provided with a construction mechanism mounting seat 3007, on which various construction equipment such as an electric drill 3004 can be installed for construction; the purpose of setting up this structure is that after the separation of the main and auxiliary frames is completed, the auxiliary frame 2001 supports the main alloy track frame 3001 to a specified height, at which time the sub-alloy track frame 3002 rotates downward and rests on the lifting push plate 2003e. If the track needs to be extended and spliced, the slide 2003c of the screw slide 2003b can be controlled to move upward, and the lifting electric push rod 2003d can be synchronously controlled to push out the lifting push plate 2003e, so that The scoring alloy track frame 3002 is pushed up and rotated, and finally is level with the main alloy track frame 3001. At this time, the combined electric push rod 3005b is controlled to push out the combined support steel bar mounting plate 3005c, driving the combined support steel bar 3005d to be pushed out until it extends into the bottom of the layered plate 3005a of the alloy track frame of the main alloy track frame 3001 to a certain length. At this time, the lifting push plate 2003e can be retracted to no longer support the combined construction platform 3000, so that the main and divided alloy track frames are combined into a whole through the combined support steel bar 3005d, and the electric trolley 3006 can move between them to allow the construction equipment on it to reciprocate for construction, or it can continue to support it to further improve the construction stability.

[0056] Compared with the prior art, the combined construction platform 3000 designed in the present invention can be arranged as an N-type on the main body to save space. During construction, it can cooperate with the screw slide lifting mechanism and the merging mechanism 3005 to make the left and right sections and the middle part merge into a straight-line whole, thereby greatly improving the construction coverage and thereby improving construction efficiency.

[0057] Based on the tree house type building assembled self-lifting ceiling decentralized construction robot, the tree house type building assembled self-lifting ceiling decentralized construction method of the present invention comprises the following steps:

[0058] S1. Machine body driving: When the machine body is driving, the stable support mechanism 1011 can be started to perform stable auxiliary driving. At this time, the stable support rotating motor 1011a is controlled to start, and its output shaft drives the stable support mounting seat 1011b to rotate until the stable plate 1011e is parallel to the ground. At this time, the second stable support electric push rod 1011d is pushed out to make the universal wheel on the stable plate 1011e contact the ground, thereby assisting driving and making the robot move forward more smoothly.

[0059] S2. Self-lifting of the frame: When the combined construction platform is lifted, the main and auxiliary bodies are usually integrated, which are installed on the main lifting support 1006 and the auxiliary lifting support 2004a. At this time, the stable support mechanism 1011 can be started to perform stable auxiliary lifting. At this time, the stable support rotating motor 1011a is controlled to start, and its output shaft drives the stable support mounting seat 1011b to rotate until the support plate 1011f is parallel to the ground. At this time, the first stable support electric push rod 1011c is pushed out to make the support plate 1011f contact with the ground, thereby increasing the contact area between the body and the ground, increasing the friction force, and thus making the lifting process more stable. At this time, the main lifting support 1006 can be pushed out by the main lifting electric push rod 1005, and the combined The construction platform 3000 is lifted together and then reaches a higher height, and then the auxiliary lifting support 2004a of the auxiliary lifting support mechanism 2002 on the top plate is extended to fit with the combined construction platform 3000, and the construction platform fixing electric push rod 2004b is pushed out through the opening of the main alloy track frame 3001 to fix it, and then the main lifting support 1006 is retracted, so that the force of the combined construction platform 3000 is completely transferred to the auxiliary lifting part 2000, and then the auxiliary lifting part 2000 can be separated. Then, the height of the combined construction platform 3000 is adjusted by a plurality of groups of auxiliary lifting support mechanisms 2002 facing each other on the top plate and the bottom plate of the auxiliary lifting part 2000. Due to its staggered design, the lifting height can reach twice that of the main body;

[0060] S3, separation of the main and auxiliary frames: When the main and auxiliary frames are separated, the left and right auxiliary frames 2001 and the main frame in the middle are assembled together through three sets of worm gear connection mechanisms. At this time, the auxiliary frame 2001 is not in direct contact with the ground. It can push the auxiliary lifting support first electric push rod 2002a of the auxiliary lifting support mechanism 2002 located on the bottom plate, and simultaneously push the auxiliary lifting support second electric push rod 2002d to make the auxiliary lifting fixed support plate 2002e contact with the ground. At this time, the gravity force of the auxiliary frame 2001 is shared on the ground. , no longer transmitted to the main body through the worm 2001c, at this time, the worm gear drive motor 2001b can be used to drive its worm gear to rotate, driving the worm 2001c to move horizontally until it slides out of the sub-frame 2001 on one side and the main body, at this time, the main body is controlled to move horizontally, leaving between the two sub-frames 2001, and then the worm 2001c is controlled to move in the opposite direction, re-passing through the sub-frame 2001 on the other side and meshing with its worm gear, so as to realize the separation and reassembly of the body, and the left and right sub-frames form a new body, on which the combined construction platform 3000 can be carried;

[0061] S4. After the separation of the main and auxiliary frames is completed, the auxiliary frame 2001 supports the main alloy track frame 3001 to the specified height. At this time, the sub-alloy track frame 3002 rotates downward and rests on the lifting push plate 2003e. If it is necessary to extend and splice the track, the slide 2003c of the screw slide 2003b can be controlled to move upward, and the lifting electric push rod 2003d can be synchronously controlled to push out the lifting push plate 2003e, so that the sub-alloy track frame 3002 is pushed up and rotated, and finally it is level with the main alloy track frame 3001. At this time, the merging electric push rod 2003d is controlled to move upward. The push rod 3005b pushes out the combined support steel bar installation plate 3005c, driving the combined support steel bar 3005d to be pushed out until it extends into the bottom of the layered plate 3005a of the alloy track frame of the main alloy track frame 3001 to a certain length. At this time, the lifting push plate 2003e can be retracted and no longer support the combined construction platform, so that the main and sub-alloy track frames are combined into a whole through the combined support steel bar 3005d. The electric trolley 3006 can move between them to allow the construction equipment on it to reciprocate for construction, and can also continue to support, further improving the construction stability;

[0062] S5. Self-cleaning and dust reduction of the machine body: When the machine body cleaning or dust reduction operation is required, the water in the water tank 1007 can be used for the operation, or an external water supply pipe can be connected to the water tank 1007, and then the water is pumped into the water pipe by the pressure water pump 1008. The water pipe is coiled on the cleaning reel 1009, and its pipe head is always facing outside the reel. The end of the pipe head is pulled by the winch 1010 and can be rotated and raised on the track of the cleaning reel 1009. According to the actual location to be cleaned, the water pipe head can be pulled up by the winch 1010 to make it on the track. It spirals up on the road, and opens its pipe head on the way up to carry out cyclic cleaning of the machine body, that is, the water pipe head can be controlled by the winch 1010 to clean the circular space within a certain height near the cleaning reel 1009, which covers the entire machine body. An atomizing nozzle can also be installed on the water pipe head to enable it to have the ability to reduce dust. For cleaning of the combined construction platform 3000, the platform can be separated from the main body, and then the platform can be lowered to the height of the main body after separation, and then it can be placed close to the clean space and then cleaned.

[0063] 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 tree house type building assembled self-lifting ceiling decentralized construction robot, characterized in that: It comprises a main lifting part (1000) as a main body, and auxiliary lifting parts (2000) passing through the middle part and installed on both sides thereof, and also comprises a combined construction platform (3000) installed on the top of the main lifting part (1000) and the auxiliary lifting part (2000); The main lifting part (1000) comprises a chassis (1002) as a main body, the front and rear sides of the chassis (1002) are provided with body side panels (1001), the upper part of the body side panels (1001) is provided with a frame (1003), and the frame (1003) is provided with a plurality of mounting holes (1003a); the upper surface of the body side panels (1001) close to the inner side of the chassis (1002) is also provided with a main lifting electric push rod (1005) vertically upward, the bottom of the main lifting electric push rod (1005) is fixed on the body side panels (1001), and its output shaft is fixedly connected to the main lifting support (1006); The auxiliary lifting part (2000) comprises an auxiliary frame (2001) as a main body, a plurality of auxiliary frame mounting holes (2001d) are arranged on the top plate and the bottom plate of the auxiliary frame (2001), the top plate and the bottom plate of the auxiliary frame (2001) are connected via an auxiliary frame vertical rod (2001a) on one side, and a plurality of groups of worm gear connecting mechanisms for separating and assembling the auxiliary frame from the main body are arranged on the auxiliary frame vertical rod (2001a); two groups of auxiliary lifting support mechanisms (2002) are arranged on the auxiliary frame mounting holes (2001d) on the inner sides of the top plate of the auxiliary frame (2001), and two groups of auxiliary lifting support mechanisms (2002) are also arranged on the auxiliary frame mounting holes (2001d) on the outer sides of the bottom plate of the auxiliary frame (2001); The combined construction platform (3000) comprises a main alloy track frame (3001) as a main body installed on the main jacking support (1006) and the auxiliary jacking support (2004a) of the auxiliary jacking support mechanism (2002) installed on the top plate, and a sub-alloy track frame (3002) installed on both sides of the main alloy track frame (3001); the main alloy track frame (3001) and the sub-alloy track frame (3002) are connected together by a merging mechanism (3005), and the main alloy track frame (3001) is provided with a plurality of electric trolleys (3006), and the electric trolleys (3006) are provided with a construction mechanism mounting seat (3007) for installing construction equipment.

2. The tree house type building assembled self-lifting ceiling decentralized construction robot according to claim 1 is characterized in that: Two front and rear stable support mechanisms (1011) are also provided on the outer side of each machine body side panel (1001); the stable support mechanism (1011) is composed of a stable support rotating motor (1011a) fixed to the side of the machine body side panel (1001) as a chassis, and its output shaft is fixedly connected to a stable support mounting seat (1011b); a vertical stable support first electric push rod (1011c) and a horizontal stable support second electric push rod (1011d) are fixed in sequence in the stable support mounting seat (1011b); the output shaft of the stable support first electric push rod (1011c) is fixedly connected to a support plate (1011f); the output shaft of the stable support second electric push rod (1011d) is fixedly connected to a stable plate (1011e); and a plurality of universal wheels are provided on the stable plate (1011e).

3. The tree house type building assembled self-lifting ceiling decentralized construction robot according to claim 1, characterized in that: The auxiliary lifting support mechanism (2002) is composed of an auxiliary lifting support first electric push rod (2002a) installed on the top plate or the bottom plate as a base, and its output shaft passes through the auxiliary frame mounting hole (2001d) and is connected to an auxiliary lifting support mounting seat (2002b), and a vertical auxiliary lifting support second electric push rod (2002d) is provided in the middle of the auxiliary lifting support mounting seat (2002b), and four vertical auxiliary lifting sliding support mounting seats (2002c) are provided at the four corners of the auxiliary lifting support mounting seat (2002b), and the auxiliary lifting sliding support mounting seat (2002c) is provided with a universal wheel; the auxiliary lifting support second electric push rod (2002d) is provided with a plurality of auxiliary lifting slides (2002c) and a plurality of auxiliary lifting slides (2002c) are provided with a plurality of auxiliary lifting slides (2002c). The output shaft of the rod (2002d) is connected to a secondary lifting fixed support plate (2002e), and the secondary lifting fixed support plate (2002e) is provided with four circular openings, and the four circular openings respectively correspond to the rotation coverage areas of the universal wheels at the bottom of the four secondary lifting sliding support mounting seats (2002c), so that before the secondary lifting fixed support plate (2002e) is withdrawn to contact the ground, the universal wheels contact the ground to slide, and when fixing, the secondary lifting support second electric push rod (2002d) is pushed to make the secondary lifting fixed support plate (2002e) pass through the universal wheels and contact the ground, thereby increasing the friction force to fix the entire secondary frame (2001); In addition to the structure of the auxiliary lifting support mechanism installed on the bottom plate, the auxiliary lifting support mechanism (2002) installed on the top plate is also provided with an auxiliary lifting support (2004a) in the middle of its auxiliary lifting fixed support plate (2002e), and a construction platform fixing electric push rod (2004b) is provided on one side of the auxiliary lifting support (2004a), and its output shaft can be pushed out and passed through the auxiliary lifting support (2004a). When the combined construction platform (3000) is placed in the auxiliary lifting support (2004a), the construction platform fixing electric push rod (2004b) is pushed out so that its output shaft simultaneously passes through the main alloy track frame (3001) of the combined construction platform (3000) to fix it.

4. The tree house type building assembled self-lifting ceiling decentralized construction robot according to claim 1, characterized in that: A construction platform lifting mechanism is provided in the middle space between the top plate and the bottom plate of the sub-frame (2001), and the construction platform lifting mechanism is mainly composed of a screw slide mounting seat (2003a) installed between the top plate and the bottom plate, a screw slide (2003b) is provided on the screw slide mounting seat (2003a), a slide (2003c) of the screw slide (2003b) extends outward for a certain distance, and a vertically upward lifting electric push rod (2003d) is provided at the bottom, and the output shaft of the lifting electric push rod (2003d) passes through the slide (2003c) and is connected to a lifting push plate (2003e).

5. The tree house type building assembled self-lifting ceiling decentralized construction robot according to claim 1, characterized in that: The merging mechanism (3005) comprises a rotating shaft (3005f) for rotatably connecting the two alloy track frames together, and the sub-alloy track frame (3002) can be rotatably sleeved on the main alloy track frame (3001); the merging mechanism (3005) also comprises an alloy track frame internal layering plate (3005a) installed inside the track of the sub-alloy track frame (3002), and the main alloy track frame (3001) is also provided with the alloy track frame internal layering plate (3005a); The merging mechanism (3005) also includes a merging electric push rod (3005b) installed laterally on one side of the split alloy track frame (3002), and the output shaft of the merging electric push rod (3005b) is connected to a merging support steel bar mounting plate (3005c), one side of the merging support steel bar mounting plate (3005c) is located outside the split alloy track frame (3002), and the other side thereof enters below the layered plate (3005a) in the alloy track frame through the mounting plate slide groove (3005e) on the split alloy track frame (3002) and is fixedly connected to a merging support steel bar (3005d).

6. The tree house type building assembled self-lifting ceiling decentralized construction robot according to claim 1, characterized in that: The interior of the chassis (1002) is provided with a pressurized water pump (1008), a cleaning reel (1009), and a water tank (1007) from left to right. The cleaning reel (1009) is installed in the chassis (1002) via a rotating motor. It is a vertical reel with a water pipe track provided thereon. A winch (1010) is provided on the top of the cleaning reel (1009). The pull rope of the winch (1010) is fixedly connected to the pipe head of the water pipe, and can pull the water pipe to rise, fall, and move on the water pipe track.

7. A method for decentralized construction of a tree house-type building assembled self-lifting ceiling using the robot according to any one of claims 1 to 6, characterized in that: The steps are: S1, machine body travel: when the machine body is traveling, the stable support mechanism (1011) is started to carry out stable auxiliary travel, at this time, the stable support rotating motor (1011a) is controlled to start, and its output shaft drives the stable support mounting seat (1011b) to rotate until the stable plate (1011e) is kept parallel to the ground, at this time, the stable support second electric push rod (1011d) is pushed out, so that the universal wheel on the stable plate (1011e) contacts the ground, thereby assisting travel and making the robot move forward more smoothly; S2. Self-lifting of the frame: When the combined construction platform is lifted, the main and auxiliary bodies are usually integrated and installed on the main lifting support (1006) and the auxiliary lifting support (2004a). At this time, the stable support mechanism (1011) is started to perform stable auxiliary lifting. At this time, the stable support rotating motor (1011a) is controlled to start, and its output shaft drives the stable support mounting seat (1011b) to rotate until the support plate (1011f) is kept parallel to the ground. At this time, the first stable support electric push rod (1011c) is pushed out to make the support plate (1011f) contact the ground, thereby increasing the contact area between the body and the ground, increasing the friction force, and thus making the lifting process more stable. At this time, the main lifting support (1006) is pushed out by the main lifting electric push rod (1005), and the combined construction platform on the main lifting support (1006) The platform (3000) is lifted together and then reaches a higher height, and then the auxiliary lifting support (2004a) of the auxiliary lifting support mechanism (2002) on the top plate is extended to fit with the combined construction platform (3000), and the construction platform fixing electric push rod (2004b) is pushed out through the opening of the main alloy track frame (3001) to fix it, and then the main lifting support (1006) is retracted, so that the force of the combined construction platform (3000) is completely transferred to the auxiliary lifting part (2000), and then the auxiliary lifting part (2000) is separated. Subsequently, the height of the combined construction platform (3000) is adjusted by a plurality of groups of auxiliary lifting support mechanisms (2002) facing each other on the top plate and the bottom plate of the auxiliary lifting part (2000). Due to its staggered design, the lifting height can reach twice that of the main body; S3, separation of the main and auxiliary frames: When the main and auxiliary frames are separated, the two auxiliary frames (2001) on the left and right and the main frame in the middle are assembled together through three sets of worm gear connection mechanisms. At this time, the auxiliary frame (2001) is not in direct contact with the ground. It can push the auxiliary lifting support first electric push rod (2002a) of the auxiliary lifting support mechanism (2002) located on the bottom plate, and simultaneously push the auxiliary lifting support second electric push rod (2002d) to make the auxiliary lifting fixed support plate (2002e) contact the ground. At this time, the gravity force of the auxiliary frame (2001) is shared on the ground. , no longer transmitted to the main body through the worm (2001c), at this time, the worm gear driving motor (2001b) drives its worm gear to rotate, driving the worm (2001c) to move horizontally until it slides out of the auxiliary frame (2001) and the main body on one side, at this time, the main body is controlled to move horizontally, leaving between the two auxiliary frames (2001), and then the worm (2001c) is controlled to move in the opposite direction, re-passing through the auxiliary frame (2001) on the other side and meshing with its worm gear, so as to realize the separation and reassembly of the machine body, and the left and right auxiliary frames form a new machine body, on which the combined construction platform (3000) can be mounted; S4. After the separation of the main and auxiliary frames is completed, the auxiliary frame (2001) supports the main alloy track frame (3001) to the specified height. At this time, the sub-alloy track frame (3002) rotates downward and rests on the lifting push plate (2003e). If it is necessary to extend and splice the track, the slide (2003c) of the screw slide (2003b) is controlled to move upward, and the lifting electric push rod (2003d) is synchronously controlled to push out the lifting push plate (2003e), so that the sub-alloy track frame (3002) is pushed up and rotated, and finally it is aligned with the main alloy track frame (3001). ) level, at this time, the combined electric push rod (3005b) is controlled to push out the combined support steel bar installation plate (3005c), driving the combined support steel bar (3005d) to be pushed out until it extends into the bottom of the layered plate (3005a) of the alloy track frame of the main alloy track frame (3001) to a certain length, at this time, the lifting push plate (2003e) is retracted and no longer supports the combined construction platform, so that the main and sub-alloy track frames are combined into a whole through the combined support steel bar (3005d), and the electric trolley (3006) can move between them, so that the construction equipment on it can reciprocate for construction; S5. Self-cleaning and dust reduction of the machine body: When the machine body cleaning or dust reduction operation is required, the water in the water tank (1007) is used for the operation. Alternatively, an external water supply pipe can be connected to the water tank (1007), and water is pumped into the water pipe by a pressure water pump (1008). The water pipe is coiled on the cleaning reel (1009), and its pipe head is always facing outside the reel. The end of the pipe head is pulled by a winch (1010) and rotated and raised on the track of the cleaning reel (1009). According to the actual position to be cleaned, the water pipe head is pulled up by the winch (1010) to make it It spirals upward on the track, and opens its pipe head on the way up to circulate and clean the machine body. That is, the water pipe head can be controlled by the winch (1010) to clean the circular space at a certain height near the cleaning reel (1009), which covers the entire machine body. Atomizing nozzles can also be installed on the water pipe head to enable it to have dust reduction capabilities. For cleaning of the combined construction platform (3000), the platform can be separated from the main body, and then lowered to the height of the main body, and then brought close to it so that it is in the clean space, and then cleaned.

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