An adjustable device for lifting equipment of a construction robot

Abstract

The present invention relates to an adjustable device for construction robot lifting equipment applied to the technical field related to elevators. The lifting height of the lifting equipment plus the range of action of the mechanical arm have been significantly improved compared with the prior art, which can meet the construction height of residential buildings and solve the problem of construction height in special working scenarios such as industrial construction, basements, and commercial buildings. In addition, with the setting of an offset sensing unit and a reverse thrust compensation ring, when the lifting equipment is raised for use, the offset sensing unit can monitor the offset between the highest section and the lowest section. When a large offset is detected, the construction mechanical arm can perform a certain reverse compensation according to the offset situation, thereby maintaining a relatively stable state for multiple lifting sections, reducing the offset, and effectively reducing the degree of skew wear. At the same time, it is convenient for staff to carry out corresponding maintenance and repairs in a timely manner to reduce safety hazards.

Description

Technical Field

[0001] The present invention relates to an adjustable device for lifting equipment, and in particular to an adjustable device for lifting equipment of a construction robot applied in the technical field related to lifts. Background Art

[0002] With the rise of construction robots, such as spraying robots and polishing robots, the lifting and adjustable platform construction device (hereinafter referred to as the lifting device) that can be used to increase the working height of construction robots plays an important role in limiting the working height and construction conditions of construction robots.

[0003] The lifting platform usually used for construction robots consists of a lifting column, a drive device and a transmission device. The specification with the announcement number CN208686029U discloses the patent of the lifting mechanism and lifting and moving device of the spraying robot. Its core structure consists of: multi-stage connecting rods, guide transmission, and electric push rods to provide power. The advantages of this equipment are that it effectively solves the construction height (low) and construction range of the construction robot. The transmission mechanism is relatively accurate and can be well applied to medium-height operations (including the construction end, about no more than 2.5-3m).

[0004] However, the operating height and effective height of the lifting range of the lifting device in the above patent are roughly at a medium level, which is suitable for residential housing, but cannot meet the construction needs of industrial construction, basements, and commercial buildings; the load is too small and the lifting speed is too slow. In addition, in a multi-stage lifting device, the higher it rises, the greater the impact on its stability, and the greater the wear when loaded, resulting in a certain degree of skewness. However, when it is worn, it is difficult to detect it in time, resulting in a larger degree of eccentric wear after the wear accumulates to a certain extent, and the skewness of the upper end of the elevator is also greater, resulting in a greater safety hazard. Summary of the invention

[0005] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that the operating height of the existing elevator is limited, and the wear of the elevator during use is difficult to monitor, which may pose certain safety hazards.

[0006] In order to solve the above problems, the present invention provides an adjustable device for construction robot lifting equipment, including a lifting platform with a control center, the lifting platform including a lifting base located at the bottom and multiple lifting sections connected to the lifting base, guide columns are fixedly installed at both ends of the left and right ends of the lifting sections, a driving unit is also fixedly installed at the upper end of the lifting base, the upper end of the outermost lifting section is fixedly connected to a fixed platform, the upper ends of the remaining multiple lifting sections are fixedly connected to a moving platform, the outer ends of the fixed platform and multiple moving platforms are fixedly covered with protective covers, the upper end of the moving platform is fixedly connected to a Z-shaped plate, short reinforcing ribs are fixedly connected between the upper end of the lower platform of the Z-shaped plate and the vertical section and between the lower end of the platform on the Z-shaped plate and the vertical section, and the flat plate on the Z-shaped plate is fixedly connected to the vertical section. Long reinforcing ribs are also fixedly connected between the lower end of the platform, the vertical section and the lower platform. A wire outlet hole is drilled in the vertical section of the Z-shaped plate near the upper platform. A construction mechanical arm is fixedly installed on the upper end of the lower platform of the Z-shaped plate. The inner lifting section moves through the adjacent moving platform and is inserted in the adjacent lifting section. The fixed platform and the adjacent moving platform, and the outer ends of the moving platform and the adjacent moving platform above are respectively fixedly connected with a group of lower fixed plates and upper fixed plates, and the upper fixed plate is not connected to the uppermost moving platform. The lower fixed plates and upper fixed plates of the same group are correspondingly distributed up and down, and multiple groups of lower fixed plates and upper fixed plates are distributed in sequence from left to right. Drag chains are connected between the lower fixed plates and upper fixed plates of the same group, and the upper end of the drag chain on the far right is fixedly connected to the Z-shaped plate. The driving unit includes a driving motor fixedly mounted on the upper end of the lifting base, a double-headed screw mounted on the bottom of the lifting base through a bearing, and two gears fixedly connected to the outer ends of the output shaft of the driving motor and the outer ends of the double-headed screw, respectively. The two gears are meshed and connected with each other. The double-headed screw movably penetrates the lifting base and the multiple gears and extends to the innermost lifting section. The top height of the double-headed screw is lower than the uppermost moving platform and higher than the remaining multiple moving platforms. Except for the outermost lifting section, the other lifting sections are all provided with a back-thrust compensation ring, which contacts with the inner wall of the corresponding outer lifting section, and the inner wall and outer wall of the back-thrust compensation ring are simultaneously matched with the gap between the two adjacent lifting sections. Offset sensing units are provided at the fixed platform and multiple moving platforms, and the back-thrust compensation ring and the offset sensing units are both connected with the control center signal. The lifting sections are all inverted T-shaped structures. Except for the outermost lifting section, the inner walls of the other lifting sections are fixedly connected with the limit ring, and the upper end of the back-thrust compensation ring is fixedly connected to the limit ring.

[0007] In the above-mentioned adjustable device for the construction robot lifting equipment, the lifting height of the lifting equipment plus the range of action of the mechanical arm, its action height is about 6.5m, which can meet the residential construction height and solve the construction height problem of special operation scenes such as industrial construction, basements, and commercial buildings.

[0008] As a further improvement of the present application, except for the drag chain connected to the Z-shaped plate, the outer ends of the remaining multiple drag chains are all covered with guide covers, and the upper ends of the guide covers are fixedly connected to the corresponding lower fixed plates.

[0009] As a further improvement of the present application, a thread is provided in the middle part of the double-headed screw, and the upper and lower ends of the double-headed screw are smooth structures, and when the lifting platform is in a fully retracted state, the lower end of the innermost lifting section is flush with the lower edge of the threaded section of the double-headed screw, and the upper end of the outermost lifting section is flush with the upper edge of the threaded section of the double-headed screw.

[0010] As a further improvement of the present application, the reverse thrust compensation ring includes an outer positioning ring fixedly connected to the limit ring, a plurality of electric push rods connected to the inner wall through a main electric slide rail, and a plurality of reverse thrust petals respectively mounted on the outer ends of the electric push rods, the plurality of reverse thrust petals are distributed in a ring array, and two adjacent reverse thrust petals do not contact each other.

[0011] As a further improvement of the present application, a flexible pad is fixedly connected to the inside of the reverse thrust flap, the extended end of the electric push rod is fixedly connected to the flexible pad, the inside of the flexible pad is filled with electrorheological fluid, and multiple flexible pads are connected in parallel.

[0012] As a further improvement of the present application, the offset sensing unit includes a laser rangefinder installed at the lower end of the top moving platform, a semicircular hole drilled in the middle of the outer ends of the remaining moving platforms and the fixed platform, an eye test lens fixedly connected to the inner wall of the semicircular hole on the moving platform, and a laser receiver installed on the inner wall of the bottom semicircular hole. The laser rangefinder, laser receiver, eye test lens and multiple semicircular holes are all coaxially arranged.

[0013] As a further improvement of the present application, the trial lens includes, from the inside to the outside, a coaxially arranged light-passing sheet, a light-blocking ring and an outer connecting ring. A ring-shaped auxiliary electric slide is provided at the upper end of the outer connecting ring. A light-searching strip is connected to the auxiliary electric slide. The light-searching strip is perpendicular to the axis of the trial lens, and an angle sensor is integrated on the light-searching strip.

[0014] As a further improvement of the present application, the light-passing sheet is made of a transparent material, the light-blocking ring and the light-detecting strip are both made of a non-transparent material, and the edge of the light-detecting strip is tangent to the edge of the light-passing sheet.

[0015] In summary, the lifting height of this lifting equipment plus the range of action of the mechanical arm, its action height is about 6.5m, which can meet the residential construction height and solve the construction height problem of special operation scenarios such as industrial construction, basements, and commercial buildings. In addition, with the setting of the offset sensing unit and the reverse thrust compensation ring, when the lifting equipment is raised for use, the offset sensing unit can monitor the offset between the highest section and the lowest section. When a large offset is detected, the construction mechanical arm can perform a certain reverse compensation according to the offset situation, so that multiple lifting sections maintain a relatively stable state, reduce the offset, and effectively reduce the degree of lateral wear. At the same time, it is convenient for staff to carry out corresponding maintenance and repairs in a timely manner to reduce safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a three-dimensional diagram of the first embodiment of the present application; Figure 2 A three-dimensional diagram of the lifting platform part of the first embodiment of the present application; Figure 3 This is a three-dimensional diagram of the lifting platform after the tow chain is installed according to the first embodiment of the present application; Figure 4 This is a bottom perspective view of a Z-shaped plate according to a first embodiment of the present application; Figure 5 This is a right side perspective view of the Z-shaped plate of the first embodiment of the present application; Figure 6 This is a front view schematic diagram of the protection of the internal wiring by the guide cover when the first embodiment of the present application is raised; Figure 7 This is a front view schematic diagram of the first embodiment of the present application; Figure 8 This is a front cross-sectional view of the first embodiment of the present application after elevation; Fig. 9 This is a comparison diagram of the interior of the lifting section before and after lifting in the second embodiment of the present application; Fig.10 This is a radial cross-sectional view of a reverse thrust compensation ring according to a second embodiment of the present application; Fig.11 A schematic cross-sectional view of a reverse thrust flap according to a second embodiment of the present application; Fig.12 A schematic diagram of a displacement sensing unit according to a second embodiment of the present application; Fig.13 A top view of a moving platform according to a second embodiment of the present application; Fig.14 A top view of a test lens according to a second embodiment of the present application; Fig.15 This is a top view of the second embodiment of the trial lens of the present application when in use.

[0017] Description of the numbers in the figure: 1 lifting platform, 11 driving motor, 12 lifting section, 13 fixed platform, 131 lower fixed plate, 132 upper fixed plate, 1301 protective cover, 14 moving platform, 15 guide column, 101 lifting base, 102 gear, 103 double-headed screw, 104 limiting ring, 2 drag chain, 201 guide cover, 3 Z-shaped plate, 31 long reinforcing rib, 32 short reinforcing rib, 301 outlet hole, 4 construction mechanical arm, 5 reverse thrust compensation ring, 51 external positioning ring, 52 reverse thrust flap, 53 electric push rod, 54 flexible pad, 61 laser rangefinder, 62 laser receiver, 701 semicircular hole, 7 optometrist, 71 external link, 72 light blocking ring, 73 light passing piece, 74 light detection strip. DETAILED DESCRIPTION

[0018] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0019] The first implementation method: Figure 1-2 The invention shows an adjustable device for a construction robot lifting device, comprising a lifting platform 1 with a control center, the lifting platform 1 comprising a lifting base 101 at the bottom and a plurality of lifting segments 12 connected to the lifting base 101, the inner lifting segments 12 movably penetrate adjacent moving platforms 14 and are inserted into adjacent lifting segments 12, the outermost lifting segment 12 is fixedly connected to the upper end of the lifting base 101, and can play a guiding role, and cooperates with the guiding role of two guide columns 15 to effectively ensure the stability of the entire lifting device and improve the load capacity of the entire device, the left and right ends of the lifting segment 12 are fixedly installed with guide columns 15, the upper end of the lifting base 101 is also fixedly installed with a driving unit, the upper end of the outermost lifting segment 12 is fixedly connected with a fixed platform 13, the upper ends of the remaining plurality of lifting segments 12 are fixedly connected with a moving platform 14, the outer ends of the fixed platform 13 and the plurality of moving platforms 14 are fixedly covered with a protective cover 1301, the upper end of the moving platform 14 is fixedly connected with a Z-shaped plate 3, and the upper end of the lower platform of the Z-shaped plate 3 is fixedly installed with a construction mechanical arm 4.

[0020] The outer ends of the fixed platform 13 and the adjacent moving platform 14, and the moving platform 14 and the moving platform 14 adjacent to the upper side are respectively fixedly connected with a group of lower fixed plates 131 and upper fixed plates 132. The lower fixed plates 131 and upper fixed plates 132 of the same group are correspondingly distributed up and down, and multiple groups of lower fixed plates 131 and upper fixed plates 132 are distributed in sequence from left to right. A drag chain 2 is connected between the lower fixed plates 131 and upper fixed plates 132 of the same group, and the upper fixed plate 132 is not connected to the uppermost moving platform 14. The upper end of the rightmost drag chain 2 is fixedly connected to the Z-shaped plate 3, that is, the rightmost drag chain 2 is guided by the Z-shaped plate 3 and the corresponding lower fixed plate 131. Remove the drag chain 2 connected to the Z-shaped plate 3, as shown in FIG. Figure 3 The outer ends of the remaining drag chains 2 are all covered with guide covers 201, and the upper ends of the guide covers 201 are fixedly connected to the corresponding lower fixing plates 131, and the guide covers 201 can limit and guide the corresponding drag chains 2. The guide cover 201 is sealed on the side facing the lifting platform 1 and opened on the bottom, and the guide cover 201 is composed of four mechanical plates, which is convenient for disassembly. In addition, the guide cover 201 can also be directly folded from sheet metal.

[0021] like Figure 4-5 Short reinforcing ribs 32 are fixedly connected between the upper end of the lower platform of the Z-shaped plate 3 and the vertical section, and between the lower end of the upper platform of the Z-shaped plate 3 and the vertical section. Long reinforcing ribs 31 are also fixedly connected between the lower end of the upper platform of the Z-shaped plate 3, the vertical section and the lower platform. A wire outlet hole 301 is opened in the vertical section of the Z-shaped plate 3 near the upper platform. Part of the wiring can be directly placed in the guide cover 201, and then led out from the wire outlet hole 301 to achieve regular wiring.

[0022] like Figure 6 , where the guide cover 201 also has a significant effect in the routing of high-pressure hydraulic pipes. The lifting device is at position A, and the top begins to rise. When it rises to position B, due to the high pressure of the hydraulic pipe, the guide mechanism will go to position B. Since the L-shape of the lower fixed plate 131 and the upper fixed plate 132 can be deformed to a certain extent, the special design structure of the guide cover 201 (upper sealed, lower open) makes the two present a positive structural deformation, and the upper part of the guide cover 201 will tilt to the upper left, and the lower part will tilt to the lower right. Therefore, during the lifting and lowering process of the high-pressure hydraulic pipe, the Z-shaped plate will not interfere with the multiple guide covers 201, and it is not easy to affect the lifting and shrinking of the lifting device.

[0023] like Figure 7 The driving unit includes a driving motor 11 fixedly mounted on the upper end of the lifting base 101, a double-headed screw 103 mounted on the bottom of the lifting base 101 through a bearing, and two gears 102 fixedly connected to the outer ends of the output shaft of the driving motor 11 and the outer ends of the double-headed screw 103, respectively. The two gears 102 are meshed and connected with each other. The double-headed screw 103 movably penetrates the lifting base 101 and the multiple gears 102 and extends to the innermost lifting section 12. The top height of the double-headed screw 103 is lower than the uppermost moving platform 14 and higher than the remaining multiple moving platforms 14. The middle part of the double-headed screw 103 is provided with a thread, and the upper and lower ends of the double-headed screw 103 are smooth structures. When lifting, at the beginning of the rise, Figure 8, the inner lifting section 12 rises, and when it rises to the extreme position, the lower end of the lifting section 12 can conflict with the corresponding limit ring 104. At this time, the limit ring 104 can be controlled to be energized, and then it can be adsorbed and fixed with the corresponding bottom of the lifting section 12 to improve stability. As the lifting section 12 continues to rise, the lifting section 12 connected to the limit ring 104 also rises accordingly, and gradually reaches the threaded section of the fixed platform 13. At the same time, as the fixed platform 13 rotates, the upper end of the first lifting section 12 gradually exceeds the threaded section and reaches the smooth surface. At this time, as the driving motor 11 continues to work, the second lifting section 12 can repeat the same rise as the first lifting section 12 inside, and drive the subsequent third section...the second to last lifting section 12 to rise, realizing the control of one driving motor 11 to sequentially raise or lower multiple lifting sections 12.

[0024] When the lifting platform 1 is in a fully retracted state, the lower end of the innermost lifting section 12 is flush with the lower edge of the threaded section of the double-headed screw 103, so that when the drive motor 11 is working, it can directly control the innermost lifting section 12 to rise first, which is convenient for controlling multiple lifting sections 12 to rise in sequence from the inside to the outside. The upper end of the outermost lifting section 12 is flush with the upper edge of the threaded section of the double-headed screw 103, so that when the penultimate lifting section 12 rises under the rotation of the fixed platform 13, due to the limitation of the mouth of the outermost lifting section 12, it will not be higher than the threaded section of the fixed platform 13, and then when the drive motor 11 is reversed, the multiple lifting sections 12 can be stably lowered gradually from the outside to the inside.

[0025] It is worth noting that in order to ensure stability, in the present embodiment, the movable lifting section 12 is only provided with three sections, and together with the range of action of the robot arm, its operating height is about 6.5m; in addition, the limit ring 104 is made of electromagnetic material, and the bottom of the lifting section 12 is made of ferromagnetic material, and there is a magnetic attraction between it and the energized limit ring 104.

[0026] In the above-mentioned adjustable device for the construction robot lifting equipment, the lifting height of the lifting equipment plus the range of action of the robotic arm is about 6.5m, which can meet the residential construction height and solve the construction height problem of 0-6.5m in special operation scenarios such as industrial construction, basements, and commercial buildings.

[0027] The second implementation method: Based on the first embodiment, this embodiment adds a back thrust compensation ring 5 and an offset sensing unit, and the rest of the parts are consistent with the first embodiment.

[0028] Figure 9-10It is shown that, except for the outermost lifting section 12, the other multiple lifting sections 12 are all sleeved with a reverse thrust compensation ring 5, the reverse thrust compensation ring 5 is in contact with the inner wall of the corresponding outer lifting section 12, and the inner wall and the outer wall of the reverse thrust compensation ring 5 are simultaneously matched with the clearance of the two adjacent lifting sections 12, and the fixed platform 13 and the multiple moving platforms 14 are provided with an offset sensing unit, the reverse thrust compensation ring 5 and the offset sensing unit are both connected with the control center signal, the lifting sections 12 are all inverted T-shaped structures, except for the outermost lifting section 12, the inner walls of the other multiple lifting sections 12 are all fixedly connected to the limit ring 104, the upper end of the reverse thrust compensation ring 5 is fixedly connected to the limit ring 104, and the reverse thrust compensation ring 5 includes a fixed The outer positioning ring 51 is connected, a plurality of electric push rods 53 are connected to the inner wall of 41 through the main electric slide rail, and a plurality of reverse thrust flaps 52 are respectively mounted on the outer ends of the electric push rods 53. The plurality of reverse thrust flaps 52 are distributed in a ring array, and two adjacent reverse thrust flaps 52 do not contact each other. When tilt occurs, the control center can also control the one or more reverse thrust flaps 52 on both sides of the corresponding reverse thrust flap 52 through the main electric slide rail to gather at least three of them at the reverse thrust flap 52, and then control the plurality of electric push rods 53 to extend, so that the plurality of reverse thrust flaps 52 push the lifting section 12 together in the direction opposite to the tilt, compensate for the position wear, and then restore it to the vertical position, thereby effectively alleviating the eccentric wear and improving the stability at the same time.

[0029] like Fig.11 A flexible pad 54 is also fixedly connected to the back-thrust flap 52, and the extended end of the electric push rod 53 is fixedly connected to the flexible pad 54. The flexible pad 54 is filled with electrorheological fluid, and multiple flexible pads 54 are connected in parallel. Under normal circumstances, the flexible pad 54 is not energized, and the electrorheological fluid therein is in a flowing state, so that the flexible pad 54 is soft to a certain extent. When the lifting section 12 is lifted or lowered, there is a certain radial movement space between the back-thrust flap 52 and the lifting section 12, thereby reducing the wear between the lifting section 12 and the back-thrust compensation ring 5, so that the setting of the back-thrust compensation ring 5 is not easy to affect the lifting section 12. When the offset sensing unit detects that the inner layer of the lifting section 12 has a certain offset, the electrorheological fluid can be controlled to be energized to make it hard and stabilize its state, and then reverse wear compensation is performed.

[0030] like Figure 12-13 The offset sensing unit includes a laser rangefinder 61 installed at the lower end of the uppermost moving platform 14, a semicircular hole 701 drilled in the middle of the outer ends of the remaining moving platforms 14 and the fixed platform 13, an optometrist 7 fixedly connected to the inner wall of the semicircular hole 701 on the moving platform 14, and a laser receiver 62 installed on the inner wall of the lowermost semicircular hole 701. The laser rangefinder 61, the laser receiver 62, the optometrist 7 and the multiple semicircular holes 701 are all coaxially arranged. Fig.14, the test lens 7 includes, from the inside to the outside, a coaxially arranged light-transmitting sheet 73, a light-blocking ring 72 and an outer connecting ring 71. An annular auxiliary electric slide is arranged on the upper end of the outer connecting ring 71. A light-seeking bar 74 is connected to the auxiliary electric slide. The light-seeking bar 74 is perpendicular to the axis of the test lens 7, and an angle sensor is integrated on the light-seeking bar 74. The light-transmitting sheet 73 is made of transparent material, and the light-blocking ring 72 and the light-seeking bar 74 are both made of non-transparent materials. The edge of the light-seeking bar 74 is tangent to the edge of the light-transmitting sheet 73. Fig.14 In the figure, a represents a laser beam. When there is no deviation, the relative positions of the multiple lifting joints 12 are stable. At this time, the laser beam emitted by the laser rangefinder 61 can stably pass through the semicircular hole 701 and the light-passing sheet 73, so that the laser receiver 62 receives the laser signal. When a slight deviation occurs, the laser beam falls on the light blocking ring 72, and the laser receiver 62 cannot receive the laser beam. Then, as shown in FIG. Fig.15 , the control center controls the light-seeking bar 74 to move on the auxiliary electric slide rail of the outer link 71. At this time, the angle sensor records the moving angle of the light-seeking bar 74 relative to the axis of the outer link 71. When the light-seeking bar 74 rotates to the landing point of the laser beam, the laser beam will fall on the light-seeking bar 74. At this time, due to the thickness of the light-seeking bar 74, the distance information obtained by the laser rangefinder 61 will fluctuate. At this time, the control center obtains the angle information of the laser rangefinder 61 data change according to the angle sensor, and can determine the direction of the laser rangefinder 61 offset due to wear. At this time, the corresponding one or more electric push rods 53 are controlled to extend for reverse compensation until the laser receiver 62 receives the data; When the laser receiver 62 does not receive the laser signal and the data of the laser rangefinder 61 does not change as expected when the light detection bar 74 rotates one circle, it means that the laser receiver 62 has been offset and the offset is large. At this time, it is necessary to stop the operation and even carry out maintenance to reduce safety hazards.

[0031] In summary, the lifting height of the lifting equipment plus the range of action of the mechanical arm is about 6.5m, which can meet the height of residential construction and solve the problem of construction height (0-6.5m) in special working scenarios such as industrial construction, basements, and commercial buildings. In addition, with the setting of the offset sensing unit and the reverse thrust compensation ring 5, when the lifting equipment is raised for use, the offset sensing unit can monitor the offset between the highest section and the lowest section. When a large offset is detected, the construction mechanical arm 4 can perform a certain reverse compensation according to the offset, so as to maintain a relatively stable state of multiple lifting sections 12 and reduce the offset, thereby effectively reducing the degree of skew wear. At the same time, it is convenient for staff to carry out corresponding maintenance and repairs in a timely manner to reduce safety hazards.

[0032] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An adjustable device for a construction robot lifting device, characterized in that: The invention comprises a lifting platform (1) with a control center, wherein the lifting platform (1) comprises a lifting base (101) located at the bottom and a plurality of lifting sections (12) connected to the lifting base (101), guide columns (15) being fixedly mounted on both left and right ends of the lifting sections (12), a driving unit being fixedly mounted on the upper end of the lifting base (101), a fixed platform (13) being fixedly mounted on the upper end of the outermost lifting section (12), and a movable platform (14) being fixedly mounted on the upper ends of the remaining plurality of lifting sections (12), and protective covers (1301) being fixedly mounted on the outer ends of the fixed platform (13) and the plurality of movable platforms (14), a Z-shaped plate (3) being fixedly mounted on the upper end of the movable platform (14), short reinforcing ribs (32) being fixedly mounted between the upper end of the lower platform of the Z-shaped plate (3) and the vertical section and between the lower end of the upper platform of the Z-shaped plate (3) and the vertical section, and long reinforcing ribs being fixedly mounted between the lower end of the upper platform of the Z-shaped plate (3), the vertical section and the lower platform. (31), a wire outlet hole (301) is drilled in the vertical section of the Z-shaped plate (3) near the upper platform, a construction mechanical arm (4) is fixedly installed on the upper end of the lower platform of the Z-shaped plate (3), the inner lifting section (12) movably penetrates the adjacent moving platform (14) and is inserted into the adjacent lifting section (12), and the outer ends of the fixed platform (13) and the adjacent moving platform (14), and the moving platform (14) and the upper adjacent moving platform (14) are respectively fixedly connected to a set of lower fixed plates (131) and an upper fixed plate (132), and the uppermost moving platform (14) is not connected to the upper fixed plate (132), the lower fixed plates (131) and the upper fixed plates (132) of the same group are arranged correspondingly up and down, and the multiple groups of lower fixed plates (131) and upper fixed plates (132) are arranged in sequence from left to right, and the lower fixed plates (131) and the upper fixed plates (132) of the same group are connected with a drag chain (2), and the upper end of the rightmost drag chain (2) is fixedly connected to the Z-shaped plate (3); The driving unit comprises a driving motor (11) fixedly mounted on the upper end of the lifting base (101), a double-headed screw (103) mounted on the bottom of the lifting base (101) via a bearing, and two gears (102) respectively fixedly connected to the outer end of the output shaft of the driving motor (11) and the outer end of the double-headed screw (103), the two gears (102) being meshed and connected with each other, the double-headed screw (103) movably passes through the lifting base (101) and the plurality of gears (102) and extends into the innermost lifting section (12), and the top height of the double-headed screw (103) is lower than the uppermost moving platform (14) and higher than the remaining plurality of moving platforms (14); Except for the outermost lifting section (12), the remaining multiple lifting sections (12) are all sleeved with a reverse thrust compensation ring (5), the reverse thrust compensation ring (5) is in contact with the inner wall of the corresponding outer lifting section (12), and the inner wall and the outer wall of the reverse thrust compensation ring (5) are simultaneously gap-matched with two adjacent lifting sections (12), the fixed platform (13) and the multiple moving platforms (14) are provided with a displacement sensing unit, the reverse thrust compensation ring (5) and the displacement sensing unit are both connected to a control center signal, the lifting sections (12) are all inverted T-shaped structures, except for the outermost lifting section (12), the inner walls of the remaining multiple lifting sections (12) are all fixedly connected to a limit ring (104), and the upper end of the reverse thrust compensation ring (5) is fixedly connected to the limit ring (104).

2. The adjustable device for lifting equipment of a construction robot according to claim 1, characterized in that: Excluding the drag chain (2) connected to the Z-shaped plate (3), the outer ends of the remaining drag chains (2) are all covered with guide covers (201), and the upper ends of the guide covers (201) are fixedly connected to the corresponding lower fixing plates (131).

3. The adjustable device for lifting equipment of a construction robot according to claim 1, characterized in that: The middle portion of the double-headed screw (103) is provided with a thread, and the upper and lower ends of the double-headed screw (103) are both smooth structures, and when the lifting platform (1) is in a fully retracted state, the lower end of the innermost lifting section (12) is flush with the lower edge of the threaded section of the double-headed screw (103), and the upper end of the outermost lifting section (12) is flush with the upper edge of the threaded section of the double-headed screw (103).

4. The adjustable device for lifting equipment of a construction robot according to claim 1, characterized in that: The reverse thrust compensation ring (5) comprises an outer positioning ring (51) fixedly connected to a limit ring (104), a plurality of electric push rods (53) connected to the inner wall of (41) via main electric slide rails, and a plurality of reverse thrust petals (52) respectively sleeved on the outer ends of the electric push rods (53), wherein the plurality of reverse thrust petals (52) are distributed in a ring array, and two adjacent reverse thrust petals (52) do not contact each other.

5. The adjustable device for lifting equipment of a construction robot according to claim 4, characterized in that: A flexible pad (54) is also fixedly connected inside the reverse thrust flap (52), an extended end of the electric push rod (53) is fixedly connected to the flexible pad (54), the flexible pad (54) is filled with electrorheological fluid, and a plurality of flexible pads (54) are connected in parallel.

6. The adjustable device for lifting equipment of a construction robot according to claim 1, characterized in that: The displacement sensing unit comprises a laser rangefinder (61) mounted at the lower end of the uppermost moving platform (14), a semicircular hole (701) bored in the middle of the outer ends of the remaining moving platforms (14) and the fixed platform (13), an optometrist (7) fixedly connected to the inner wall of the semicircular hole (701) on the moving platform (14), and a laser receiver (62) mounted on the inner wall of the lowermost semicircular hole (701), wherein the laser rangefinder (61), the laser receiver (62), the optometrist (7), and the plurality of semicircular holes (701) are all coaxially arranged.

7. The adjustable device for lifting equipment of a construction robot according to claim 6, characterized in that: The trial lens (7) comprises, from the inside to the outside, a coaxially arranged light-transmitting sheet (73), a light-blocking ring (72), and an outer connecting ring (71); an annular auxiliary electric slide rail is arranged at the upper end of the outer connecting ring (71); a light-detecting bar (74) is connected to the auxiliary electric slide rail; the light-detecting bar (74) is perpendicular to the axis of the trial lens (7), and an angle sensor is integrated on the light-detecting bar (74).

8. The adjustable device for lifting equipment of a construction robot according to claim 7, characterized in that: The light-transmitting sheet (73) is made of a transparent material, the light-blocking ring (72) and the light-detecting strip (74) are both made of a non-transparent material, and the edge of the light-detecting strip (74) is tangent to the edge of the light-transmitting sheet (73).

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