Tree house type building combined jacking ceiling dispersion construction robot and method

Abstract

This invention discloses a treehouse-type modular self-lifting ceiling decentralized construction robot and method, including a main lifting section as the main body, and auxiliary lifting sections passing through the middle and installed on both sides of it. It also includes a modular construction platform installed on top of the main and auxiliary lifting sections. The modular construction platform includes a main alloy track frame installed on the main lifting support and the auxiliary lifting support mechanism installed on the ceiling, and sub-alloy track frames installed on both sides of the main alloy track frame. This invention, by using one main lifting section paired with a set of auxiliary lifting sections and a modular construction platform, allows the main body to separate and arrange one set of construction platforms and auxiliary lifting sections, then retrieve another set of construction platforms and auxiliary lifting sections for simultaneous construction in another location. This saves on equipment switching intervals, significantly increases the construction range, and effectively improves construction efficiency.

Description

Technical Field

[0001] This invention relates to the technical field of building engineering, specifically to a treehouse-type modular self-lifting ceiling decentralized construction robot, and also to a treehouse-type modular self-lifting ceiling decentralized construction method. Background Technology

[0002] Treehouse-style architecture boasts a beautiful and unique design, making it a popular new type of cultural tourism product. However, its interior construction and decoration are relatively complex, with numerous ceiling decorations that are difficult to execute well due to their large scale and complexity. Current ceiling construction often involves workers using ladders or mobile vehicles. The work typically includes vertical drilling, ceiling material installation, painting decorations, and cleaning. This requires workers to constantly move around the ceiling with ladders, which is extremely labor-intensive and resource-intensive. For example, it's difficult to ensure precise drilling when using hand drills. Similarly, controlling the thickness of the painted decorations is challenging, leading to uneven coverage and making cleaning difficult as well.

[0003] Therefore, there is a need for a treehouse-type modular self-lifting ceiling decentralized construction robot and method that can perform cyclical construction not far below the ceiling. Summary of the Invention

[0004] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a treehouse-type modular self-lifting ceiling decentralized construction robot. It can realize modular decentralized construction on the construction site through the separation and assembly of the main and auxiliary frames. At the same time, it can be used with a modular construction platform that can be assembled. When not assembled, it is an n-shaped space-saving structure. When assembled, it forms a long straight line for large-area construction, which greatly saves the machine's footprint. While saving space, it can also perform reciprocating construction on a large area of ​​the ceiling. The main lifting part can lift the modular construction platform once, and the auxiliary lifting part can lift the modular construction platform a second time after separating from the main lifting part. Its lifting height range is twice that of the main lifting part, which greatly increases the construction range.

[0005] Another objective of this invention is to provide a decentralized construction method for a treehouse-type modular self-lifting ceiling, which can be directly applied to existing ceiling construction. By using a main lifting unit paired with a set of auxiliary lifting units and a modular construction platform, the main unit can separate and set up one set of construction platforms and auxiliary lifting units, and then retrieve another set of construction platforms and auxiliary lifting units for simultaneous construction in other locations. This significantly reduces the equipment switching interval and effectively improves construction efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The present invention relates to a treehouse-type modular self-lifting ceiling distributed construction robot, comprising a main lifting section as the main body, and auxiliary lifting sections passing through the middle and installed on both sides thereof, and a combined construction platform installed on top of the main lifting section and the auxiliary lifting sections; the main lifting section includes a chassis as the main body, with body side plates installed on the front and rear sides of the chassis, and a frame installed on the upper part of the body side plates, the frame having several mounting holes; a vertically upward main lifting electric push rod is also provided on the upper surface of the body side plates near the inner side of the chassis, the bottom of the main lifting electric push rod being fixed to the body side plate, and its output shaft being fixedly connected to the main lifting support; the auxiliary lifting section includes a sub-frame as the main body, with several sub-frame mounting holes on the top and bottom plates of the sub-frame, the top and bottom plates of the sub-frame being open to... The sub-frame is connected via a vertical rod on one side, and the vertical rod is equipped with several sets of worm gear connection mechanisms for separating and assembling the sub-frame from the main body. Two sets of secondary lifting support mechanisms are provided on the inner two sides of the sub-frame mounting holes on the top plate of the sub-frame, and two sets of secondary lifting support mechanisms are also provided on the outer two sides of the sub-frame mounting holes on the bottom plate of the sub-frame. The combined construction platform includes a main alloy track frame, which is mounted on the main lifting support and the secondary lifting support mechanisms mounted on the top plate, and sub-alloy track frames mounted on both sides of the main alloy track frame. The main alloy track frame and the sub-alloy track frames are connected together by a merging mechanism. Several electric trolleys are provided on the main alloy track frame, and the electric trolleys are equipped with construction mechanism mounting seats for installing construction equipment.

[0008] Preferably, each side panel of the machine body is further provided with two front and rear stabilizing support mechanisms on its outer side. The stabilizing support mechanism is based on a stabilizing support rotary motor fixed to the side of the side panel of the machine body. Its output shaft is fixedly connected to the stabilizing support mounting base. A vertical stabilizing support first electric push rod and a horizontal stabilizing support second electric push rod are fixedly fixed in the stabilizing support mounting base. 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. The stabilizing plate is provided with several universal wheels.

[0009] Furthermore, the secondary lifting support mechanism comprises a first electric push rod for secondary lifting support mounted on the top or bottom plate as its base. Its output shaft passes through a mounting hole in the secondary frame and connects to a secondary lifting support mounting seat. A second electric push rod for secondary lifting support is vertically oriented in the center of the mounting seat. Four vertically oriented sliding support mounting seats for secondary lifting support are located at the four corners of the mounting seat, and each sliding support mounting seat is equipped with casters. The output shaft of the second electric push rod for secondary lifting support is connected to a fixed support plate for secondary lifting support. The fixed support plate for secondary lifting support has four circular openings, each corresponding to the rotational coverage area of ​​one of the four casters at the bottom of the sliding support mounting seats for secondary lifting support, allowing the fixed support for secondary lifting support to rotate. Before the support plate is lowered to contact the ground, it slides against the ground via the casters. When it is fixed, the second electric push rod of the secondary lifting support is pushed so that the secondary lifting fixed support plate passes through the casters and contacts the ground, thereby increasing the friction and fixing the entire sub-frame. In addition to the structure of the secondary lifting support mechanism installed on the bottom plate, the secondary lifting support mechanism installed on the top plate also has a secondary lifting support in the middle of its secondary lifting fixed support plate. A construction platform fixing electric push rod is provided on one side of the secondary lifting support. Its output shaft can be pushed out through the secondary lifting support. When a combined construction platform is placed in the secondary lifting support, by pushing out the construction platform fixing electric push rod, its output shaft simultaneously passes through the main alloy track frame of the combined construction platform and fixes it.

[0010] Furthermore, a construction platform lifting mechanism is provided in the central space between the top plate and the bottom plate of the sub-frame. The construction platform lifting mechanism consists of a screw slide mounting base installed between the top plate and the bottom plate. A screw slide is provided on the screw slide mounting base. The slide of the screw slide extends outward by a certain distance, and a vertically upward lifting electric push rod is provided at its 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 that rotatably connects the two alloy track frames together, and the sub-alloy track frame can be rotatably fitted onto the main alloy track frame; the merging mechanism also includes an inner layered plate of the alloy track frame installed inside the track of the sub-alloy track frame, and the main alloy track frame also has the same inner layered 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 being connected to a merging support steel bar mounting plate, one side of the merging support steel bar mounting plate being located outside the sub-alloy track frame, and the other side entering below the inner layered plate of the alloy track frame through a mounting plate groove on the sub-alloy track frame and being fixedly connected to a merging support steel bar.

[0012] Furthermore, the interior of the casing is equipped with a pressurized water pump, a cleaning reel, and a water tank from left to right. The cleaning reel is installed inside the casing via a rotary motor. It is a vertical reel with a water pipe track on it. A winch is installed on the top of the cleaning reel. The pull rope of the winch is fixedly connected to the end of the water pipe, which can pull the water pipe up and down and move it on the water pipe track.

[0013] Accordingly, the present invention also provides a method for decentralized construction of a modular self-lifting ceiling for treehouse-type buildings, the steps of which are as follows:

[0014] S1. Body movement: When the body is moving, the stabilization support mechanism is activated to assist in stable movement. At this time, the stabilization support rotary motor is started, and its output shaft drives the stabilization support mounting base to rotate until the stabilization plate is parallel to the ground. Then, the second electric push rod of the stabilization support is pushed out, so that the universal wheel on the stabilization plate contacts the ground, thereby assisting in movement and making the robot move forward more smoothly.

[0015] S2. Self-lifting of the frame: When lifting the modular construction platform, the main and auxiliary bodies are usually integrated and mounted on the main and auxiliary lifting supports. The stabilizing support mechanism is then activated for stable auxiliary lifting. The stabilizing support rotary motor is started, and its output shaft drives the stabilizing support mounting base to rotate until the support plate is parallel to the ground. At this point, the first electric push rod of the stabilizing support is extended, bringing the support plate into contact with the ground, increasing the contact area between the machine body and the ground, increasing friction, and thus making the lifting process more stable. Then, the main lifting support is extended via the main lifting electric push rod, and the combined... The construction platform is lifted to a higher height, and then the auxiliary lifting support of the auxiliary lifting support mechanism on the top plate is attached to the combined construction platform. The construction platform is fixed by pushing out the electric push rod that passes through the opening of the main alloy track frame, and then the main lifting support is retracted, so that the force of the combined construction platform is transferred to the auxiliary lifting part. Next, the auxiliary lifting part is separated. Then, the height of the combined construction platform is adjusted by several sets of auxiliary lifting support mechanisms with the top and bottom plates of the auxiliary lifting part facing each other. Due to its staggered design, the lifting height can be up to twice that of the main body.

[0016] S3. Separation of Main and Sub-frames: When separating the main and sub-frames, the two sub-frames on the left and right are connected to the main body in the middle by three sets of worm gear and worm shaft connection mechanisms. At this time, the sub-frames are not in direct contact with the ground. They can push the first electric push rod of the sub-lifting support mechanism located on the base plate, and simultaneously push out the second electric push rod of the sub-lifting support so that the sub-lifting fixed support plate contacts the ground. At this time, the weight of the sub-frames is distributed to the ground and is no longer transmitted to the main body through the worm. At this time, the worm gear drive motor drives its worm gear to rotate, driving the worm to move laterally until it slides out of one side of the sub-frame and the main body. Then, control the main body to move laterally and leave the space between the two sub-frames. Then control the worm to move in the opposite direction, pass through the other side of the sub-frame and mesh with its worm gear, realizing the separation and reassembly of the machine body. The two sub-frames on the left and right form a new machine body, which can be equipped with a modular construction platform.

[0017] S4. After the separation of the main and auxiliary frames is completed, the auxiliary frame supports the main alloy track frame to the designated height. At this time, the sub-alloy track frame rotates downward and rests against the lifting push plate. If the track extension and splicing construction is required, the slide of the control screw slide is moved upward, and the lifting electric push rod is simultaneously controlled to push out the lifting push plate, so that the sub-alloy track frame is pushed up and rotated until it is horizontal with the main alloy track frame. At this time, the merging electric push rod is controlled to push out the merging support steel bar installation plate, which drives the merging support steel bar to be pushed out until it extends into the bottom of the layered plate inside the alloy track frame of the main alloy track frame by 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 bar. The electric trolley can move between them, so that the construction equipment on it can reciprocate, or continue to support, further improving the construction stability.

[0018] S5. Self-cleaning and dust suppression: When cleaning or dust suppression is required, water from the water tank is used. Alternatively, an external water supply pipe can be connected to the water tank, and a pressurized water pump can pump water into the pipe. The pipe is coiled on the cleaning reel, with its end always facing outwards. The end of the pipe is pulled by a winch, rotating and rising on the track of the cleaning reel. Depending on the location to be cleaned, the winch pulls up the pipe end, causing it to spiral upwards on the track. During the ascent, the pipe end is opened to circulate and clean the machine. This means that the winch can control the pipe end to clean a circular space within a certain height near the cleaning reel, covering the entire machine. Atomizing nozzles can also be installed on the pipe end to provide dust suppression capabilities. For cleaning modular construction platforms, the platform can be separated from the main body, and then lowered to the height of the main body, bringing it close to the cleaning space before cleaning.

[0019] Therefore, the treehouse-type modular self-lifting ceiling decentralized construction robot and method of the present invention have at least the following beneficial effects:

[0020] 1. The stabilizing support mechanism of the present invention can assist the robot in driving by lowering several auxiliary universal wheels, so that the robot can drive stably even on uneven roads. At the same time, the stabilizing support mechanism realizes the rapid switching between stable driving assistance and stable lifting assistance functions through a rotary motor. After switching, the contact area between the robot body and the ground can be increased through the support plate, thereby increasing the friction and making the lifting of the robot body more stable and safe.

[0021] 2. The cleaning component of this invention uses a water tank, a pressurized water pump, a cleaning reel, and a winch to ensure that the entire robot is covered in the cleaning space. The winch pulls the water pipe head upwards and spirals on the cleaning track of the cleaning reel, simultaneously spraying water to clean the robot 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 atomizing nozzles, it can perform real-time dust suppression during construction.

[0022] 3. The secondary lifting section of this invention uses several sets of worm gear mechanisms to assemble the main body and the left and right secondary frames into a whole. When moving, the main body carries the secondary frames, which is efficient and fast. When decentralized construction is required, the secondary lifting fixed support plate can be lowered to contact the ground through the secondary lifting support mechanism of the secondary frame, so that the weight of the secondary frame is borne by the ground. Then, the connection with the main body can be separated through the worm gear connection mechanism. After separation, the main body can be removed by itself. Then, the two secondary frames are reassembled through the worm gear mechanism to form a secondary machine body, which can support and lift the combined construction platform by itself, so that the main body has time to transfer other construction platforms. This method makes the whole robot detachable and replaceable, greatly improving construction efficiency.

[0023] 4. The main and auxiliary body assembly mechanism of this invention allows the main body to quickly separate from a set of auxiliary lifting parts and combined construction platforms while transporting them. When placing them in a predetermined location for cyclical construction, the main body can quickly retrieve other auxiliary lifting parts and combined construction platforms from other locations for rapid and efficient reciprocating construction. For example, if there are two sets of auxiliary bodies consisting of auxiliary lifting parts and combined construction platforms, one set of auxiliary bodies is stored near the construction site. The main body brings the other set of auxiliary bodies to the construction site for covering construction. After disassembling and placing this set, the main body immediately goes to the location where the other set of auxiliary bodies is stored, assembles it automatically through a worm gear mechanism, and then takes it to another location for construction. After placing this set, the first set of auxiliary bodies has completed the construction of the ceiling in that area and can be transported again to a new location for construction. Furthermore, the design of multiple sets of auxiliary bodies allows each set of auxiliary bodies' combined construction platform to carry different construction equipment, such as hole drilling, spray painting decoration, and ceiling installation, allowing multiple different construction projects to be carried out simultaneously, requiring only one main body for transportation, which is efficient and saves time and costs.

[0024] 5. The modular construction platform of the present invention can be installed as an n-shaped structure on the main body, saving space. During construction, it can be combined with the screw slide lifting mechanism and the merging mechanism to make the left and right sections and the middle section merge into a straight whole, which greatly improves the construction coverage area and thus improves construction efficiency. Attached Figure Description

[0025] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0026] Figure 1 This is a schematic diagram of the overall structure of the treehouse-type building modular self-lifting ceiling decentralized construction robot of the present invention.

[0027] Figure 2 This is a schematic diagram of the main lifting section of the present invention;

[0028] Figure 3 This is a schematic diagram of the secondary lifting section of the present invention;

[0029] Figure 4 This is a front view of the connecting sub-lifting part of the combined construction platform of the present invention;

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

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

[0032] Explanation of reference numerals in the attached figures:

[0033] 1000 - Main lifting section;

[0034] 1001-Side panel of the machine body; 1002-Chassis; 1003-Frame; 1003a-Mounting hole; 1003b-Frame crossbar; 1004-Roller; 1005-Main lifting electric push rod; 1006-Main lifting support; 1007-Water tank; 1008-Pressure water pump; 1009-Cleaning reel; 1010-Winder; 1011-Stabilizing support mechanism; 1011a-Stabilizing support rotary motor; 1011b-Stabilizing support mounting base; 1011c-Stabilizing support first electric push rod; 1011d-Stabilizing support second electric push rod; 1011e-Stabilizing plate; 1011f-Support plate;

[0035] 2000 - Secondary lifting section;

[0036] 2001-Subsidiary frame; 2001a-Subsidiary frame vertical rod; 2001b-Worm gear drive motor; 2001c-Worm; 2001d-Subsidiary frame mounting hole; 2002-Subsidiary lifting support mechanism; 2002a-Subsidiary lifting support first electric push rod; 2002b-Subsidiary lifting support mounting seat; 2002c-Subsidiary lifting sliding support mounting seat; 2002d-Subsidiary lifting support second electric push rod; 2002e-Subsidiary lifting fixed support plate; 2003a-Screw slide table mounting seat; 2003b-Screw slide table; 2003c-Slide table; 2003d-Lifting electric push rod; 2003e-Lifting push plate; 2004a-Subsidiary lifting support; 2004b-Construction platform fixed electric push rod;

[0037] 3000 - Modular construction platform;

[0038] 3001 - Main alloy track frame; 3002 - Sub-alloy track frame; 3003 - Alloy crossbar; 3004 - Electric drill; 3005 - Merging mechanism; 3005a - Internal layered plate of alloy track frame; 3005b - Merging electric push rod; 3005c - Merging support steel bar mounting plate; 3005d - Merging support steel bar; 3005e - Mounting plate groove; 3005f - Rotating shaft; 3006 - Electric trolley; 3007 - Construction mechanism mounting base. Detailed Implementation

[0039] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0040] Below, in conjunction with Figures 1 to 6This invention provides a detailed description of the treehouse-type modular self-lifting ceiling decentralized construction robot and method.

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

[0042] Depend on Figure 2 As shown, the main lifting section 1000 includes a chassis 1002 as the main body. Side panels 1001 are installed on the front and rear sides of the chassis 1002. Several rollers 1004 are installed on the lower part of the side panels 1001, and a frame 1003 is installed on the upper part. The frame 1003 is provided with several mounting holes 1003a. Frame crossbars 1003b are also connected between the frame crossbars 1003 on the side panels 1001 on the same side. The chassis 1002, side panels 1001, frame crossbars 1003b and frame 1003 constitute the main body. The upper surface of the side panel 1001, near the inner side of the chassis 1002, is also equipped with a vertically upward main lifting electric push rod 1005. This rod is relatively long, with its bottom fixed to the side panel 1001 and its upper side fixed to the frame crossbar 1003b. Its output shaft is fixedly connected to the main lifting support 1006. Each side panel 1001 also has two stabilizing support mechanisms 1011 on its outer side, one at the front and one at the rear. Each stabilizing support mechanism 1011 is powered by a stabilizing support rotary motor 1011a fixed to the side of the side panel 1001. The chassis has its output shaft fixedly connected to a stabilizing support mounting base 1011b. A vertical stabilizing support first electric push rod 1011c and a horizontal stabilizing support second electric push rod 1011d are fixedly fixed in the stabilizing support mounting base 1011b. The output shaft of the stabilizing support first electric push rod 1011c is fixedly connected to a support plate 1011f, and the output shaft of the stabilizing support second electric push rod 1011d is fixedly connected to a stabilizing plate 1011e. The stabilizing plate 1011e is equipped with several universal wheels.

[0043] Inside the housing 1002, from left to right, are arranged a pressurized water pump 1008, a cleaning reel 1009, and a water tank 1007. The cleaning reel 1009 is installed inside the housing 1002 via a rotary motor. It is a vertical reel with a water pipe track similar to that on a mountain road. A winch 1010 is installed on the top of the cleaning reel 1009. The pull rope of the winch 1010 is fixedly connected to the end of the water pipe, which can pull the water pipe up, down, and move it on the water pipe track. It should be noted that the electric push rod, pressurized water pump 1008, and rotary motor mentioned in the text are all general-purpose parts. Their prefixes, such as first, second, and stable support, are functional descriptions used to distinguish the mechanisms in different positions.

[0044] The purpose of this structure is to allow the stabilizing support mechanism 1011 to be activated for stable and assisted movement during robot travel. This involves starting the stabilizing support rotary motor 1011a, whose output shaft drives the stabilizing support mounting base 1011b to rotate until the stabilizing plate 1011e is parallel to the ground. At this point, the second electric push rod 1011d is extended, causing the casters on the stabilizing plate 1011e to contact the ground, thus assisting movement and making the robot's forward motion more stable. Similarly, the stabilizing support mechanism 1011 can be activated for self-lifting operations. The support mechanism 1011 performs stable auxiliary lifting. At this time, the control stable support rotary motor 1011a starts, and its output shaft drives the stable support mounting base 1011b to rotate until the support plate 1011f is parallel to the ground. At this time, the first electric push rod 1011c of the stable support is pushed out, so that the support plate 1011f contacts the ground, increasing the contact area between the machine body and the ground, increasing the friction, and thus making the lifting process more stable. At this time, the main lifting support 1006 can be pushed out through the main lifting electric push rod 1005. The modular construction platform 3000 was lifted along with it, reaching a higher height. When cleaning or dust suppression is required, water can be used in the water tank 1007, or an external water supply pipe can be connected to the water tank 1007, and then water can be pumped into the water pipe by the pressurized water pump 1008. The water pipe is coiled on the cleaning reel 1009, with its end always facing outwards. The end of the pipe is pulled by the winch 1010, allowing it to rotate and rise on the track of the cleaning reel 1009. Depending on the actual location to be cleaned, the water pipe can be pulled up by the winch 1010. The pipe head is used to spiral upwards on the track. During the ascent, the pipe head is opened to circulate and clean the machine body. Specifically, the winch 1010 can control the water pipe head to clean the circular space within 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 reduce dust. For cleaning the modular 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 and placed in the cleaning space before cleaning.

[0045] Compared to existing technologies, the stabilizing support mechanism 1011 designed in this invention can assist the robot's movement by lowering several auxiliary casters, enabling stable movement even on uneven roads. Simultaneously, the stabilizing support mechanism 1011 achieves rapid switching between stable driving assistance and stable lifting assistance functions via a rotary motor. After switching, the support plate 1011f increases the contact area between the robot body and the ground, thereby increasing friction and making the lifting of the robot body more stable and safe. The cleaning section of this invention, through a water tank 1007, a pressurized water pump 1008, a cleaning reel 1009, and a winch 1010, ensures the entire robot is covered in a cleaning space. The winch 1010 pulls the water pipe head, spiraling upwards on the cleaning track of the cleaning reel 1009, simultaneously spraying water to clean the robot body. It can also be directly connected to an external water source, making robot cleaning more convenient. It can also clean cylindrical spaces near the robot to a certain extent, and with the installation of atomizing nozzles, it can perform real-time dust suppression.

[0046] Depend on Figure 3As shown, the auxiliary lifting section 2000 includes a sub-frame 2001 as the main body, which is composed of a C-shaped alloy frame. Its top and bottom plates have several sub-frame mounting holes 2001d. The top and bottom plates of the sub-frame 2001 are connected by two sub-frame vertical rods 2001a on one side. The positions of these two sub-frame vertical rods 2001a are close to the frame 1003, and they have openings corresponding to the mounting holes 1003a of the frame 1003. Several sets of worm gear connection mechanisms are provided on the sub-frame vertical rods 2001a, each set consisting of a mounting hole 2001d. The system consists of a worm gear drive motor 2001b mounted on the vertical rod 2001a of the sub-frame, a worm 2001c passing through the vertical rod 2001a corresponding to the mounting hole 1003a, and another worm gear drive motor 2001b on the other side. The worm 2001c passes through the mounting holes 1003a of two frames 1003 located on the same side of one machine body side plate 1001, and passes through the mounting hole on the vertical rod 2001a of the other sub-frame 2001, engaging with the worm gear on the nearby worm gear drive motor 2001b. It should be noted that... Here, depending on the actual stress conditions, bearings can be installed at the contact points between the worm and each mounting hole, so that their inner rings contact the worm. The principle here is that a worm 2001c connects the two sub-frames 2001 on the left and right sides to the main body in the middle, so that the sub-frames 2001 are fixed at a certain height. This height can be adjusted according to the height of the worm passing through the hole. The worm gear drive 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 laterally left and right between each mounting hole, thereby realizing the movement of the worm 2. 001c extends and retracts. At this time, the worm gear drive motors 2001b on both sides drive the worm to rotate and move laterally to the right. Then, the left side disengages from the worm gear meshing with it on the left side, and then disengages 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. Then, the worm gear drive motor on the right side is started to make the worm continue to move to the right until it disengages from the mounting hole on the right side of the frame 1003. At this time, the sub-frame on the right side has also been disengaged. Finally, the two sub-frames can be separated from the main body, achieving separation. At the same time, they can adjust their height and pass through the mounting hole for assembly.

[0047] The worm gear of this invention can either extend to the left through the main body and the right sub-frame, allowing the left sub-frame to separate from it, or it can extend partially to the left, only passing through the mounting hole of the right sub-frame without passing through the mounting hole of the frame near the left sub-frame, allowing the right sub-frame to separate while the left sub-frame remains fixed. This further improves the flexibility of machine assembly. Similarly, the worm gear can also extend to the right, described in reverse as above. In summary, the left sub-frame, main body, right sub-frame, and worm gear are four similar assembly components. The worm gear drive motor allows the worm gear to be assembled with any sub-frame or remain on the main body. Neither the left nor right sub-frames contact the screw. This can be used to install two sub-frames, where the main body with the worm gear remains stationary, while the two sub-frames actively move, insert, and engage with the worm gear, thus achieving assembly.

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

[0049] The worm gear connection mechanism of the present invention can also adopt a gear and rack mechanism, in which a motor drives the gear to rotate, and the rotation of the gear drives the rack to move laterally to achieve the connection and disconnection of the sub-frame and the main body. The present invention is not limited to the above-mentioned mechanism; any mechanism that can achieve the connection and disconnection of the sub-frame and the main body is acceptable.

[0050] Two sets of secondary lifting support mechanisms 2002 are installed on the inner two sides of the secondary frame mounting holes 2001d on the top plate of the secondary frame 2001, and two sets of secondary lifting support mechanisms 2002 are also installed on the outer two sides of the secondary frame mounting holes 2001d on the bottom plate of the secondary frame 2001. The secondary lifting support mechanisms on the top plate are vertically upward, and the secondary lifting support mechanisms on the bottom plate are vertically downward. Their 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 secondary lifting support mechanism 2002 consists of one installed on the top plate. Alternatively, the first electric push rod 2002a of the secondary lifting support on the base plate serves as the base, and its output shaft passes through the mounting hole 2001d of the secondary frame and connects to a secondary lifting support mounting seat 2002b. A vertically oriented second electric push rod 2002d of the secondary lifting support is located in the middle of the mounting seat 2002b. Four vertically oriented secondary lifting sliding support mounting seats 2002c are located at the four corners of the mounting seat 2002b, and each secondary lifting sliding support mounting seat 2002c is equipped with casters. The output shaft of the second electric push rod 2002d of the secondary lifting support is connected to a secondary lifting fixed support plate. The auxiliary lifting and fixing support plate 2002e has four circular openings, each corresponding to the rotational coverage area of ​​the universal wheels at the bottom of the four auxiliary lifting sliding support mounting seats 2002c. This allows the auxiliary lifting and fixing support plate 2002e to slide against the ground before being lowered. When fixed, the second electric push rod 2002d of the auxiliary lifting support is pushed, causing the auxiliary lifting and fixing support plate 2002e to pass through the universal wheels and contact the ground, thereby increasing friction and fixing the entire sub-frame 2001. The auxiliary lifting support mechanism is mounted on the top plate. In addition to the secondary lifting support mechanism installed on the base plate, the 2002 also has a secondary lifting support 2004a in the middle of its secondary lifting fixed support plate 2002e. A construction platform fixing electric push rod 2004b is provided on one side of the secondary lifting support 2004a. Its output shaft can be pushed out through the secondary lifting support 2004a. When the combined construction platform 3000 is placed in the secondary lifting support 2004a, the output shaft of the construction platform fixing electric push rod 2004b is pushed out, so that it can be fixed by simultaneously passing through the main alloy track frame 3001 of the combined construction platform 3000.

[0051] A construction platform lifting mechanism is installed in the central space between the top and bottom plates of the sub-frame 2001. This lifting mechanism consists of a screw slide mounting base 2003a installed between the top and bottom plates. A screw slide 2003b is mounted on the screw slide mounting base 2003a. The slide 2003c of the screw slide 2003b extends outwards by a certain distance, and a vertically upward lifting electric push rod 2003d is located at its bottom. The output shaft of the lifting electric push rod 2003d passes through the slide 2003c and connects to a lifting push plate 2003e. The purpose of this structure is to allow for separation of the main and sub-frames, at which point the left and right sub-frames 2001... 001 and the main body in the middle are assembled together by three sets of worm gear connection mechanisms. At this time, the sub-frame 2001 is not in direct contact with the ground. It can push the first electric push rod 2002a of the sub-lifting support mechanism 2002 located on the base plate, and simultaneously push out the second electric push rod 2002d of the sub-lifting support, so that the sub-lifting fixed support plate 2002e contacts the ground. At this time, the weight of the sub-frame 2001 is distributed to the ground and is no longer transmitted to the main body through the worm gear 2001c. At this time, the worm gear drive motor 2001b can drive its worm gear to rotate, causing the worm gear 2001c to move laterally until it slides out of the sub-frame and the main body on one side. The main body is then controlled to move laterally, moving away from the space between the two sub-frames 2001. The worm gear 2001c is then controlled to move in the opposite direction, passing back through the other sub-frame 2001 and engaging with its worm wheel, thus separating and reassembling the main body. The two sub-frames 2001 form a new main body, on which the modular construction platform 3000 can be mounted. When lifting the modular construction platform, the main and sub-frames are usually integrated, mounted on the main lifting support 1006 and the sub-lifting support 2004a. During separation, the main lifting support 1006 first lifts the entire modular construction platform 3000 to a suitable height, and then the sub-lifting support 2004a extends from the top plate. The auxiliary lifting support 2004a of the support mechanism 2002 is attached to 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 and then retracting the main lifting support 1006, so that the force of the combined construction platform 3000 is transferred to the auxiliary lifting part 2000. Next, the auxiliary lifting part 2000 can be separated. Then, the height of the combined construction platform 3000 is adjusted by several sets of auxiliary lifting support mechanisms 2002 with the top and bottom plates 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 to existing technologies, the secondary lifting section 2000 of this invention uses several sets of worm gear mechanisms to assemble the main body and the left and right secondary frames into a whole. When moving, the main body carries the secondary frames 2001, which is efficient and fast. When decentralized construction is required, the secondary lifting fixed support plate 2002e can be lowered to contact the ground through the secondary lifting support mechanism 2002 of the secondary frame, so that the weight of the secondary frame is borne by the ground. Then, the connection with the main body can be broken through the worm gear connection mechanism. After breaking away, the main body can be removed by itself. Then, the two secondary frames 2001 are reassembled through the worm gear mechanism to form a secondary body, which can support and lift the combined construction platform 3000 on its own, so that the main body has time to transfer other construction platforms. This method makes the entire robot detachable and replaceable, greatly improving construction efficiency.

[0053] The main and auxiliary body assembly mechanism designed in this invention allows the main body to quickly separate from a set of auxiliary lifting parts 2000 and combined construction platforms 3000 while transporting them. During cyclical construction, it can rapidly retrieve other auxiliary lifting parts 2000 and combined construction platforms 3000 from other locations for swift and efficient reciprocating construction. For example, if there are two sets of auxiliary lifting parts and combined construction platforms forming the auxiliary body, with one set located near the construction site, the main body can bring the other set of auxiliary bodies to the construction site for covering work, disassembling and reassembling this set... Afterwards, the main unit immediately moves to the location where another set of auxiliary units is stored, and automatically assembles itself through a worm gear mechanism. It is then transported to other locations for construction. Once this set is in place, the previous set of auxiliary units has completed the construction of the ceiling in that area and can be transported again to a new location for construction. In addition, the design of multiple sets of auxiliary units allows each set of auxiliary units to carry different construction equipment on the modular construction platform 3000, such as hole drilling, spray painting decoration, ceiling installation, etc., allowing multiple different construction projects to be carried out simultaneously. Only one main unit is needed for transportation, which is efficient and saves time and costs.

[0054] Depend on Figure 4-6As shown, the modular construction platform 3000 includes a main alloy track frame 3001 installed on the main lifting support 1006 and the auxiliary lifting support 2004a, and sub-alloy track frames 3002 installed on both sides of it; an alloy crossbar 3003 is provided between the two alloy track frames in the same group; the main alloy track frame 3001 and the sub-alloy track frames 3002 are connected together by a merging mechanism 3005. The merging mechanism 3005 includes a rotating shaft 3005f that rotatably connects the two alloy track frames together. The track volume of the sub-alloy track frame 3002 at the splicing point with the main alloy track frame 3001 is slightly larger, allowing it to rotatably fit onto 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 also has this alloy track frame internal layered plate 3005a, the purpose of which is to connect the upper track with the lower perforated position, the rotating shaft 3005f, and the merging support steel bar 3. 005d, mounting plate groove 3005e, etc. are separated and do not interfere with each other; the merging mechanism 3005 also includes a merging electric push rod 3005b that is horizontally installed on one side of the alloy track frame 3002. 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 alloy track frame 3002, and the other side enters the lower part of the layered plate 3005a inside the alloy track frame through the mounting plate groove 3005e on the alloy track frame 3002 and is fixedly connected to a merging support steel bar 3005d.

[0055] The main alloy track frame 3001 is equipped with several electric trolleys 3006. Each electric trolley 3006 has a construction mechanism mounting base 3007, which can be used to mount various construction equipment such as electric drills 3004 for construction. The purpose of this structure is that after the main and auxiliary frames are separated, the auxiliary frame 2001 supports the main alloy track frame 3001 to a designated height. At this time, the sub-alloy track frame 3002 rotates downwards and rests against the lifting push plate 2003e. If track extension and splicing construction is required, the slide 2003c of the screw slide 2003b can be controlled to move upwards, and the lifting electric push rod 2003d can be controlled to push out the lifting push plate 2003e simultaneously. The scoring alloy track frame 3002 is pushed up and rotated until it is level with the main alloy track frame 3001. At this time, the control electric push rod 3005b pushes out the merging support steel bar mounting plate 3005c, which drives the merging support steel bar 3005d to be pushed out until it extends a certain length into the bottom of the layered plate 3005a in the alloy track frame of the main alloy track frame 3001. At this time, the lifting push plate 2003e can be retracted and no longer supports the combined construction platform 3000, so that the main and sub-alloy track frames are merged into a whole through the merging support steel bar 3005d. The electric trolley 3006 can move between them, allowing the construction equipment on it to reciprocate, or it can continue to provide support, further improving the construction stability.

[0056] Compared to existing technologies, the modular construction platform 3000 designed in this invention can be installed as an n-shape on the main body, saving space. During construction, it can be combined with the screw slide lifting mechanism and the merging mechanism 3005 to make the left and right sections and the middle section merge into a single unit, greatly increasing the construction coverage area and thus improving construction efficiency.

[0057] Based on the aforementioned treehouse-type modular self-lifting ceiling decentralized construction robot, the treehouse-type modular self-lifting ceiling decentralized construction method of the present invention comprises the following steps:

[0058] S1. Body travel: When the body travels, the stabilizing support mechanism 1011 can be activated for stable and assisted travel. At this time, the stabilizing support rotary motor 1011a is started, and its output shaft drives the stabilizing support mounting base 1011b to rotate until the stabilizing plate 1011e is parallel to the ground. Then, the second electric push rod 1011d of the stabilizing support is pushed out, so that the universal wheel on the stabilizing plate 1011e contacts the ground, thereby assisting the travel and making the robot move forward more smoothly.

[0059] S2. Self-lifting of the frame: When lifting the combined construction platform, 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 stabilizing support mechanism 1011 can be activated for stable auxiliary lifting. The stabilizing support rotary motor 1011a is started, and its output shaft drives the stabilizing support mounting base 1011b to rotate until the support plate 1011f is parallel to the ground. Then, the first electric push rod 1011c of the stabilizing support is extended, making the support plate 1011f contact the ground, increasing the contact area between the machine body and the ground, increasing friction, and thus making the lifting process more stable. At this time, the main lifting support 1006 can be extended through the main lifting electric push rod 1005. The combined... The construction platform 3000 is lifted to a higher height, and then the auxiliary lifting support 2004a of the auxiliary lifting support mechanism 2002 extending from the top plate fits into the combined construction platform 3000. The construction platform fixing electric push rod 2004b is pushed out and fixed through the opening of the main alloy track frame 3001, and then the main lifting support 1006 is retracted, so that the force of the combined construction platform 3000 is transferred to the auxiliary lifting part 2000. Next, the auxiliary lifting part 2000 can be separated. Then, the height of the combined construction platform 3000 is adjusted by several sets of auxiliary lifting support mechanisms 2002 with the top and bottom plates 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.

[0060] S3. Separation of Main and Sub-Frames: When separating the main and sub-frames, the two sub-frames 2001 on the left and right are joined to the main frame in the middle by three sets of worm gear connection mechanisms. At this time, the sub-frames 2001 are not in direct contact with the ground. They can push the first electric push rod 2002a of the sub-lifting support mechanism 2002 located on the base plate, and simultaneously push out the second electric push rod 2002d of the sub-lifting support, so that the sub-lifting fixed support plate 2002e contacts the ground. At this time, the weight of the sub-frames 2001 is distributed to the ground. The transmission is no longer transmitted to the main body through the worm gear 2001c. At this time, the worm gear drive motor 2001b can drive its worm wheel to rotate, causing the worm gear 2001c to move laterally until it slides out of the sub-frame 2001 on one side and the main body. Then, control the main body to move laterally and leave the space between the two sub-frames 2001. Then control the worm gear 2001c to move in the opposite direction, pass through the other sub-frame 2001 again and mesh with its worm wheel, realizing the separation and reassembly of the machine body. The two sub-frames on the left and right form a new machine body, on which the modular construction platform 3000 can be mounted.

[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 designated height. At this time, the sub-alloy track frame 3002 rotates downwards and rests against the lifting push plate 2003e. If track extension and splicing construction is required, the slide 2003c of the screw slide 2003b can be controlled to move upwards, and the lifting electric push rod 2003d can be controlled to push out the lifting push plate 2003e, so that the sub-alloy track frame 3002 is pushed up and rotated, and finally level with the main alloy track frame 3001. At this time, the merging electric... Push rod 3005b pushes out the merging support steel bar mounting plate 3005c, which in turn pushes out the merging support steel bar 3005d until it extends a certain length into the bottom of the layered plate 3005a inside the alloy track frame of the main alloy track frame 3001. At this point, the lifting push plate 2003e can be 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 bar 3005d. The electric trolley 3006 can move between them, allowing the construction equipment on it to reciprocate, or it can continue to provide support, further improving the construction stability.

[0062] S5. Machine Self-Cleaning and Dust Reduction: When machine cleaning or dust reduction is required, water in the water tank 1007 can be used. Alternatively, an external water supply pipe can be connected to the water tank 1007, and water can be pumped into the water pipe by the pressurized water pump 1008. The water pipe is coiled on the cleaning reel 1009, with its end always facing outwards. The end of the pipe is pulled by the winch 1010, allowing it to rotate and rise on the track of the cleaning reel 1009. Depending on the actual location to be cleaned, the winch 1010 can be used to lift the water pipe end and place it on the track. The machine spirals upwards, and during the ascent, its hose head is opened to circulate and clean the machine body. Here, the winch 1010 can control the water hose head to clean the circular space within a certain height near the cleaning reel 1009, which covers the entire machine body. Atomizing nozzles can also be installed on the water hose head to give it dust suppression capabilities. For cleaning the modular 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, placed close to it in the cleaning space, and then cleaned.

[0063] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A treehouse-type modular self-lifting ceiling distributed construction robot, characterized in that, It includes a main lifting section (1000) as the main body, and auxiliary lifting sections (2000) installed on both sides of it, as well as a combined construction platform (3000) installed on top of the main lifting section (1000) and the auxiliary lifting section (2000). The main lifting section (1000) includes a chassis (1002) as the main body. The chassis (1002) has body side plates (1001) installed on its front and rear sides. The body side plates (1001) have a frame (1003) installed on their upper parts. The frame (1003) has several mounting holes (1003a). The upper surface of the body side plates (1001) near the inner side of the chassis (1002) is also provided with a vertically upward main lifting electric push rod (1005). The bottom of the main lifting electric push rod (1005) is fixed to the body side plate (1001), and its output shaft is fixedly connected to the main lifting support (1006). The auxiliary lifting section (2000) includes a sub-frame (2001) as the main body. The top and bottom plates of the sub-frame (2001) are provided with a number of sub-frame mounting holes (2001d). The top and bottom plates of the sub-frame (2001) are connected by a sub-frame vertical rod (2001a) on one side. The sub-frame vertical rod (2001a) is provided with a number of worm gear connection mechanisms for separating and assembling the sub-frame from the main body. Two sets of auxiliary lifting support mechanisms (2002) are provided on the inner two sides of the sub-frame mounting holes (2001d) on the top plate of the sub-frame (2001). Two sets of auxiliary lifting support mechanisms (2002) are also provided on the outer two sides of the sub-frame mounting holes (2001d) on the bottom plate of the sub-frame (2001). The worm gear connection mechanism consists of a worm gear drive motor (2001b) mounted on the sub-frame vertical rod (2001a), a worm (2001c) passing through the sub-frame vertical rod (2001a) corresponding to the mounting hole (1003a), and another worm gear drive motor (2001b) on the other side. The worm (2001c) passes through the mounting holes (1003a) of two frames (1003) located on the same side of one body side plate (1001), and passes through the mounting hole on the sub-frame vertical rod (2001a) of another sub-frame (2001) to mesh with the worm gear on the nearby worm gear drive motor (2001b). The combined construction platform (3000) includes a main alloy track frame (3001) which is 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 sub-alloy track frames (3002) installed on both sides of the main alloy track frame (3001); the main alloy track frame (3001) and the sub-alloy track frames (3002) are connected together by a merging mechanism (3005); the main alloy track frame (3001) is provided with a plurality of electric trolleys (3006); the electric trolleys (3006) are provided with construction mechanism mounting seats (3007) for installing construction equipment.

2. The treehouse-type modular self-lifting ceiling distributed construction robot according to claim 1, characterized in that, Each side plate (1001) of the machine body is also provided with two front and rear stabilizing support mechanisms (1011) on its outer side. The stabilizing support mechanism (1011) is based on a stabilizing support rotary motor (1011a) fixed to the side of the side plate (1001). Its output shaft is fixedly connected to the stabilizing support mounting base (1011b). A vertical stabilizing support first electric push rod (1011c) and a horizontal stabilizing support second electric push rod (1011d) are fixed in sequence in the stabilizing support mounting base (1011b). The output shaft of the stabilizing support first electric push rod (1011c) is fixedly connected to a support plate (1011f). The output shaft of the stabilizing support second electric push rod (1011d) is fixedly connected to a stabilizing plate (1011e). The stabilizing plate (1011e) is provided with several universal wheels.

3. The treehouse-type modular self-lifting ceiling distributed construction robot according to claim 1, characterized in that, The secondary lifting support mechanism (2002) consists of a secondary lifting support first electric push rod (2002a) mounted on the top or bottom plate as its base. Its output shaft passes through a secondary frame mounting hole (2001d) and connects to a secondary lifting support mounting seat (2002b). A vertically oriented secondary lifting support second electric push rod (2002d) is located in the center of the secondary lifting support mounting seat (2002b). Four vertically oriented secondary lifting sliding support mounting seats (2002c) are located at the four corners of the secondary lifting support mounting seat (2002b). The secondary lifting sliding support mounting seats (2002c) are equipped with casters. The secondary lifting support second electric push rod… The output shaft of the rod (2002d) is connected to a secondary lifting fixed support plate (2002e). The secondary lifting fixed support plate (2002e) has four circular openings, which correspond to the rotation coverage area of ​​the universal wheels at the bottom of the four secondary lifting sliding support mounting seats (2002c). This allows the secondary lifting fixed support plate (2002e) to slide against the ground by the universal wheels before being lowered to contact the ground. When it is fixed, the second electric push rod (2002d) of the secondary lifting support is pushed so that the secondary lifting fixed support plate (2002e) passes through the universal wheels and contacts the ground, thereby increasing the friction and fixing the entire sub-frame (2001). In addition to the structure of the secondary lifting support mechanism installed on the base plate, the secondary lifting support mechanism (2002) installed on the top plate also has a secondary lifting support (2004a) in the middle of its secondary lifting fixed support plate (2002e). A construction platform fixing electric push rod (2004b) is provided on one side of the secondary lifting support (2004a). Its output shaft is pushed out through the secondary lifting support (2004a). When the combined construction platform (3000) is placed in the secondary lifting support (2004a), the output shaft of the construction platform fixing electric push rod (2004b) is pushed out, and it is simultaneously pushed through the main alloy track frame (3001) of the combined construction platform (3000) to fix it.

4. The treehouse-type modular self-lifting ceiling distributed 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). The construction platform lifting mechanism consists of a screw slide mounting base (2003a) installed between the top plate and the bottom plate. A screw slide (2003b) is provided on the screw slide mounting base (2003a). The slide (2003c) of the screw slide (2003b) extends outward by a certain distance, and a vertically upward lifting electric push rod (2003d) is provided at its 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).

5. The treehouse-type modular self-lifting ceiling distributed construction robot according to claim 1, characterized in that, The merging mechanism (3005) includes a rotating shaft (3005f) that rotatably connects the two alloy track frames together. The sub-alloy track frame (3002) can be rotatably fitted onto the main alloy track frame (3001). The merging mechanism (3005) also includes an alloy track frame internal layer plate (3005a) installed inside the track of the sub-alloy track frame (3002). The main alloy track frame (3001) is also provided with the same alloy track frame internal layer plate (3005a). The merging mechanism (3005) further includes a merging electric push rod (3005b) that is horizontally installed on one side of the sub-alloy track frame (3002). 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 sub-alloy track frame (3002), and the other side enters the lower part of the inner layer plate (3005a) of the alloy track frame through the mounting plate groove (3005e) on the sub-alloy track frame (3002) and is fixedly connected to a merging support steel bar (3005d).

6. The treehouse-type modular self-lifting ceiling distributed construction robot according to claim 1, characterized in that, The interior of the housing (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 housing (1002) by a rotary motor. It is a vertical reel with a water pipe track on it. 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 end of the water pipe, and it pulls the water pipe up and down and moves it on the water pipe track.

7. A method for decentralized construction of a treehouse-type modular self-lifting ceiling using the robot described in any one of claims 1 to 6, characterized in that, The steps are as follows: S1. Body Movement: When the body is moving, the stabilizing support mechanism (1011) is activated for stable and assisted movement. At this time, the stabilizing support rotary motor (1011a) is started, and its output shaft drives the stabilizing support mounting base (1011b) to rotate until the stabilizing plate (1011e) is parallel to the ground. Then, the second electric push rod of the stabilizing support (1011d) is pushed out, so that the universal wheel on the stabilizing plate (1011e) contacts the ground, thereby assisting the movement and making the robot move forward more smoothly. S2. Self-lifting of the frame: When lifting the combined construction platform, the main and auxiliary frames are usually integrated and installed on the main lifting support (1006) and the auxiliary lifting support (2004a). At this time, the stabilizing support mechanism (1011) is activated for stable auxiliary lifting. The stabilizing support rotary motor (1011a) is started, and its output shaft drives the stabilizing support mounting base (1011b) to rotate until the support plate (1011f) is parallel to the ground. At this time, the first electric push rod of the stabilizing support (1011c) is pushed out, so that the support plate (1011f) contacts the ground, increasing the contact area between the frame and the ground, increasing the friction, and thus making the lifting process more stable. At this time, the main lifting support (1006) is pushed out through the main lifting electric push rod (1005). The combined construction platform on the main lifting support (1006) is then lifted out. The platform (3000) is lifted up to a higher height, and then the auxiliary lifting support (2004a) of the auxiliary lifting support mechanism (2002) extending from the top plate is attached to the combined construction platform (3000). The construction platform fixing electric push rod (2004b) is pushed out and fixed through the opening of the main alloy track frame (3001). Then the main lifting support (1006) is retracted, so that the force of the combined construction platform (3000) is transferred to the auxiliary lifting part (2000). Next, the auxiliary lifting part (2000) is separated. Then, the height of the combined construction platform (3000) is adjusted by several sets of auxiliary lifting support mechanisms (2002) with the top and bottom plates of the auxiliary lifting part (2000) facing each other. Due to its staggered design, the lifting height is twice that of the main body. S3. Separation of Main and Sub-frames: When separating the main and sub-frames, the two sub-frames (2001) on the left and right sides and the main frame in the middle are connected together by three sets of worm gear and worm shaft connection mechanisms. At this time, the sub-frames (2001) are not in direct contact with the ground. They push the first electric push rod (2002a) of the sub-lifting support mechanism (2002) located on the base plate, and simultaneously push out the second electric push rod (2002d) of the sub-lifting support, so that the sub-lifting fixed support plate (2002e) contacts the ground. At this time, the gravity of the sub-frames (2001) is distributed to the ground. The transmission is no longer transmitted to the main body through the worm gear (2001c). Instead, the worm gear drive motor (2001b) drives the worm wheel to rotate, causing the worm gear (2001c) to move laterally until it slides out of the sub-frame (2001) and the main body on one side. At this point, the main body is controlled to move laterally, leaving the space between the two sub-frames (2001). Then, the worm gear (2001c) is controlled to move in the opposite direction, passing through the other sub-frame (2001) and engaging with its worm wheel, thus separating and reassembling the machine body. The two sub-frames on the left and right form a new machine body, on which a modular construction platform (3000) is 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 designated height. At this time, the sub-alloy track frame (3002) rotates downwards and rests on the lifting push plate (2003e). If track extension and splicing construction is required, the slide (2003c) of the control screw slide (2003b) is moved upwards, and the lifting electric push rod (2003d) is simultaneously 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 connected with the main alloy track frame (3001). 1) Horizontal, at this time, the control of the combined electric push rod (3005b) pushes out the combined support steel bar mounting plate (3005c), which drives 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 body (3001) of the main alloy track frame body (3001) by 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) moves between them, so that the construction equipment on it can reciprocate. S5. Self-cleaning and dust suppression: When machine cleaning or dust suppression is required, water in the water tank (1007) is used. An external water supply pipe is connected to the water tank (1007), and a pressurized water pump (1008) draws water into the pipe. The pipe is coiled on the cleaning reel (1009), with its end always facing outwards. The end of the pipe is pulled by a winch (1010), rotating and rising on the track of the cleaning reel (1009). Depending on the location requiring cleaning, the winch (1010) pulls up the pipe end, allowing the water to be cleaned. It spirals upward on the track, and opens its pipe head to circulate and clean the machine body during the ascent. That is, the winch (1010) controls the water pipe head to clean the circular space at a certain height near the cleaning reel (1009), which covers the entire machine body. Atomizing nozzles are also installed on the water pipe head to enable it to suppress dust. For cleaning the combined construction platform (3000), the platform is separated from the main body, and then the platform is lowered to the height of the main body and placed in the cleaning space before cleaning.

Images