Intelligent detection and automatic repair equipment for cracks on building wall surfaces

Abstract

An intelligent detection and automatic repair device for cracks on the surface of a building wall comprises an extraction component, a small arm swing component, a clamping and adjusting component, a large arm telescopic component, a downward pressure output component, a camera, a rangefinder, a control system, and a travel mechanism. The overflow pump of the extraction component extracts the slurry from the extraction tank and discharges it through a connecting pipe. A discharge pipe is installed at the end of the connecting pipe. The clamping and adjusting component is used to fix the discharge pipe and ensure that the end of the discharge pipe corresponds to the wall surface. The control end of the processor controls the movement of the small arm swing component, the large arm telescopic component, and the downward pressure output component, and controls the start and stop of the overflow pump. In the present invention, the processor controls the movement of each component based on image acquisition and distance detection information, ultimately achieving automatic movement of the discharge pipe to the location of the wall crack. The processor controls the movement speed and spraying volume of the entire device according to each point of the wall crack, thereby realizing an intelligent automatic repair function.

Description

Technical Field

[0001] The invention relates to a repair plastering tool, in particular to intelligent detection and automatic repair equipment for cracks on the surface of building walls. Background Art

[0002] Similar devices in the prior art generally do not have an intelligent automatic repair function. Although an automatic operation scheme is designed, it only achieves simple repair through reciprocating movement and is not suitable for repairing irregularly shaped cracks. For example, a practical new model with publication number 218375522 provides a building wall crack repair device, which belongs to the field of construction and includes an injection gun and a support frame. The support frame includes a base, a bracket, a vertical screw, a driving member and a lifting plate. A transverse screw is rotatably installed on the top of the lifting plate. One end of the transverse screw is installed with a first motor for driving the transverse screw to rotate. The transverse screw is threadedly connected to a support seat. The top of the support seat is fixedly connected to a fixing member. The injection gun is fixedly installed in the fixing member. A liquid storage tank and an injection pump are fixedly installed on the top of the base. The inlet end of the injection pump is fixedly connected to the liquid storage tank, and a connecting pipe is connected between the outlet end of the injection pump and the injection gun. Through the setting of the support frame, the injection gun of the support frame can be supported, and there is no need to manually operate the injection gun to inject liquid, and it is convenient to repair cracks in different positions. Another example is the invention patent with publication number CN112282314A. The invention discloses a wall spraying machine that can automatically spray walls and repair holes, including a movable slide rail, an air-filled cylinder is fixedly provided on the upper end surface of the movable slide rail, an air-filled air pipe is fixedly provided on the upper end surface of the air-filled cylinder, a lifting telescopic rod is fixedly provided on the upper end surface of the movable slide rail, a spraying telescopic rod is fixedly provided on the upper end surface of the lifting telescopic rod, and an adjustment box is fixedly provided on the right end surface of the spraying telescopic rod. After using the present invention, the wall can be automatically sprayed without manual labor during spraying, and the wall can be polished at the same time as spraying, and the paint mist generated during spraying can be collected and re-applied on the wall through a polishing plate during polishing. The wall can also be inspected during polishing, and when holes are found, the collected paint mist is automatically used to fill them. This solution does not have an automatic repair function and requires manual operation.

[0003] Because wall cracks have irregular characteristics such as direction, width, length, and depth, repairs rely primarily on manual labor, which is labor-intensive and inefficient. Repair quality is inversely proportional to construction speed, and this often fails to improve overall performance. To address this, we propose an intelligent device for detecting and automatically repairing cracks on building wall surfaces. Summary of the Invention

[0004] In view of the fact that existing wall crack repair equipment generally requires manual operation to perform repair work, the present invention provides an intelligent detection and automatic repair equipment for building wall surface cracks to solve the above-mentioned problem that it is impossible to realize automated wall crack repair.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent detection and automatic repair device for cracks on the surface of a building wall, comprising an extraction component, a small arm swing component, a clamping adjustment component, a large arm telescopic component, a downward pressure output component, a camera, a rangefinder, a control system and a walking mechanism, wherein the downward pressure output component is vertically fixed above the middle part of the walking mechanism, the upper part of the downward pressure output component is fixed with the large arm telescopic component, the end of the large arm telescopic component is installed with the small arm swing component, the end of the small arm swing component is installed with the clamping adjustment component, the extraction component includes an extraction tank, an overflow Pump and connecting pipe, the overflow pump extracts the slurry in the extraction tank and discharges it through the connecting pipe. A discharge pipe is installed at the end of the connecting pipe. The clamping adjustment component is used to fix the discharge pipe and ensure that the port of the discharge pipe corresponds to the wall. A camera is installed above and / or at the front end of the boom telescopic component, and a rangefinder is installed at the front end of the boom telescopic component. The data cables of the camera and the rangefinder are respectively connected to the signal input end of the processor. The control end of the processor respectively controls the actions of the forearm swing component, the boom telescopic component and the downward pressure output component, and controls the start and stop of the overflow pump.

[0006] Furthermore, the downward pressure output assembly includes a downward pressure locking block, the lower end face of the downward pressure locking block is transmission-connected to the downward pressure middle connecting bearing, the lower end face of the downward pressure middle connecting bearing is placed with a lower end locking end cover, the lower end face of the lower end locking end cover is connected to the downward pressure cylinder barrel, and a locking mechanism is provided between the lower end locking end cover and the downward pressure cylinder barrel to ensure that the two cannot rotate in the working state, and the middle of the downward pressure middle connecting bearing is transmission-connected to the downward pressure cylinder rod.

[0007] Furthermore, the boom telescopic assembly includes a sliding guide rail, a linear bearing is connected to the middle part of the sliding guide rail, a locking nut is threadedly connected to the rear end face of the sliding guide rail, a boom swing cylinder is placed on the end face of the sliding guide rail, the boom swing cylinder is connected to the boom output cylinder rod, the lower end face of the downward pressure cylinder barrel is connected to the downward pressure output fixing plate, the end face of the downward pressure output fixing plate is connected to the end face fixed support plate, and the end face of the end face fixed support plate is connected to the support plate reinforcement rib.

[0008] Furthermore, the forearm swing assembly includes a forearm fixing plate, the upper end face of the forearm fixing plate is connected to the forearm fixing link plate, a forearm connecting cylinder is placed inside the forearm fixing link plate, the end face of the forearm connecting cylinder is connected to the forearm rotating shaft, and the end face of the forearm rotating shaft is connected to the forearm extension block.

[0009] Furthermore, the clamping adjustment assembly includes a clamp fixing plate, the lower end face of the clamp fixing plate is connected to the clamp locking plate, the lower end face of the clamp locking plate is transmission-connected to the clamp connecting shaft, the lower end face of the clamp connecting shaft is connected to the clamp movable shaft, a connection is provided below the clamp connecting shaft, positioning holes are evenly distributed on the flange, the clamp connecting shaft and the clamp movable shaft can rotate after being fitted together, a positioning hole is provided on the end face of the clamp movable shaft, any positioning hole of the flange is locked with the positioning hole of the movable shaft by a positioning pin, so that the two can operate after the set angle is fixed, and the lower end face of the clamp movable shaft is transmission-connected to the limited flow clamping jaw.

[0010] Furthermore, a walking mechanism is provided at the bottom of the downward pressure output component, and double parallel tracks are laid at a certain distance from the wall. The walking wheels of the walking mechanism are matched and fitted in the double parallel tracks and can walk along the tracks, ensuring that the equipment can move horizontally in a direction parallel to the wall.

[0011] Furthermore, a roller brush mechanism is installed on one side of the front part of the boom telescopic assembly.

[0012] Furthermore, a material receiving mechanism is installed below the clamping and adjusting assembly.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] In the present invention, the processor controls the actions of various components such as the extraction component, the forearm swing component, the clamping adjustment component, the upper arm telescopic component and the downward pressure output component according to the image acquisition and distance detection information, and finally realizes the automatic movement of the discharge pipe to the position of the wall crack, and controls the movement speed and spraying amount of the entire equipment according to the various points of the wall crack, thereby realizing the intelligent automatic repair function.

[0015] The present invention presses down the pressing cylinder rod through the pressing output assembly, so that the internal air is compressed to push out the pressing cylinder rod, and after being pushed out, the air is transmitted to the pressing lower end locking end cover through the pressing cylinder tube. The pressing middle part is connected to the bearing to ensure the concentricity of the transmission force, so as to displace the pressing locking block and drive the upper arm to swing, which is simpler, easier to understand, highly integrated, and also has automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention;

[0017] Figure 2 Schematic diagram of the structure of the clamping and adjusting assembly in the present invention;

[0018] Figure 3 This is a schematic structural diagram of the boom telescopic assembly of the present invention;

[0019] Figure 4 Schematic diagram of the structure of the downward pressure output component in the present invention;

[0020] Figure 5 for Figure 1 Schematic diagram of the front structure;

[0021] Figure 6 for Figure 5 The enlarged structural diagram of the middle C part;

[0022] Figure 7 It is a structural diagram of a pressurized discharge mechanism;

[0023] Figure 8 This is a block diagram of the system of the present invention;

[0024] Figure 9 Flowchart for the implementation of the present invention.

[0025] Figure: 1. Extraction assembly; 11. Extraction tank; 12. Observation window; 13. Feed port; 14. Overflow pump; 15. Connecting pipe; 16. End face fixed support plate; 17. Support plate reinforcement rib; 18. Down-pressure output fixed plate; 19. Travel mechanism; 2. Forearm swing assembly; 21. Forearm fixed plate; 22. Forearm fixed link plate; 23. Forearm connecting cylinder; 24. Forearm rotating shaft; 25. Forearm extension block; 26. Camera; 27. Rangefinder; 28. Control box; 3. Clamping adjustment assembly; 31. Fixture fixing plate; 32. Fixture lock Clamping plate; 33. Clamp connecting shaft; 34. Clamp movable shaft; 35. Current-limiting clamping jaws; 36. Positioning pin; 37. Discharge pipe; 38. Clamping seat; 4. Upper arm telescopic assembly; 41. Sliding guide rail; 42. Linear bearing; 43. Locking nut; 44. Upper arm swing cylinder; 45. Upper arm output cylinder rod; 5. Downward pressure output assembly; 51. Downward pressure locking block; 52. Downward pressure middle connecting bearing; 53. Lower end locking end cover; 54. Downward pressure cylinder barrel; 55. Downward pressure cylinder rod; 8. Roller brush mechanism; 9. Steering motor; 91. Motor seat; 10. Track. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Example 1: A Figure 1 The intelligent detection and automatic repair equipment for building wall surface cracks shown is mainly designed to address the problem that existing wall crack repair equipment generally does not have intelligent repair functions. The equipment is designed to realize automatic repair operations, and mainly includes an extraction component 1, a small arm swing component 2, a clamping adjustment component 3, a large arm telescopic component 4, a downward pressure output component 5, a camera, a rangefinder, a control system and a walking mechanism.

[0028] Specifically, Figure 1 Combine Figure 4 and Figure 5It can be seen that the downward pressure output assembly 5 includes a downward pressure locking block 51, the lower end surface of the downward pressure locking block 51 is connected to the downward pressure middle connecting bearing 52, the lower end surface of the downward pressure middle connecting bearing 52 is placed with a lower end locking end cover 53, the lower end surface of the lower end locking end cover 53 is connected to the downward pressure cylinder barrel 54, and a locking mechanism is set between the lower end locking end cover 53 and the downward pressure cylinder barrel 54 to ensure that the two cannot rotate under the working state. The middle part of the downward pressure middle connecting bearing 52 is connected to the downward pressure cylinder rod 55. Specifically, the downward pressure output assembly 5 presses the downward pressure cylinder rod 55 downward, so that the internal air is compressed to push the downward pressure cylinder rod 55 out. After being pushed out, it is transmitted to the lower end locking end cover 53 through the downward pressure cylinder barrel 54. The downward pressure middle connecting bearing 52 ensures that the transmission force is concentric, and the downward pressure locking block 51 is displaced, driving the upper arm to swing, which is simpler, easier to understand, highly integrated, and also has automation.

[0029] Figure 1 Combine Figure 2 and Figure 5 It can be seen that the boom telescopic assembly 4 includes a sliding guide rail 41, the middle part of the sliding guide rail 41 is connected to a linear bearing 42 in a transmission manner, the rear end face of the sliding guide rail 41 is threadedly connected to a locking nut 43, the end face of the sliding guide rail 41 is placed with a boom swing cylinder 44, and the boom swing cylinder 44 is connected to the boom output cylinder rod 45 in a transmission manner. The lower end face of the downward pressure cylinder barrel 54 is connected to the downward pressure output fixing plate 18, the end face of the downward pressure output fixing plate 18 is connected to the end face fixed support plate 16, and the end face of the end face fixed support plate 16 is connected to the support plate reinforcement rib 17. Specifically, the top of the downward pressure locking block 51 is fixed to the bottom of the linear bearing seat, and the boom telescopic assembly 4 is used to provide power to the small arm swing assembly 2, so that the air pressure is transmitted to the boom swing cylinder 44 through the sliding guide rail 41 to guide the boom output cylinder rod 45, and is controlled by the linear bearing 42, so that the operation of the mechanism is more precise, the error prevention rate is reduced, and personal safety is improved.

[0030] Figure 1 Combine Figure 5 As shown, the forearm swing assembly 2 includes a forearm fixing plate 21, the upper end surface of the forearm fixing plate 21 is connected to a forearm fixing link plate 22, a forearm connecting cylinder 23 is placed inside the forearm fixing link plate 22, the end surface of the forearm connecting cylinder 23 is connected to a forearm rotating shaft 24, and the end surface of the forearm rotating shaft 24 is connected to a forearm extending block 25. Specifically, the front end of the boom output cylinder rod 45 is fixedly connected to the middle part of the forearm fixing plate 21, and the forearm connecting cylinder 23 is subjected to a cyclic reciprocating motion through the forearm swing assembly 2, so that the forearm rotating shaft 24 swings back and forth, and the forearm extending block 25 contracts the clamping adjustment assembly 3, so that the internal extrusion and sputtering are more, saving labor.

[0031] Figure 1 Combine Figure 3It can be seen that the clamping adjustment assembly 3 includes a clamp fixing plate 31, the lower end face of the clamp fixing plate 31 is connected to the clamp locking plate 32, the lower end face of the clamp locking plate 32 is transmission-connected to the clamp connecting shaft 33, the lower end face of the clamp connecting shaft 33 is connected to the clamp movable shaft 34, and a connection is made below the clamp connecting shaft 33. Positioning holes are evenly distributed on the flange, and the clamp connecting shaft and the clamp movable shaft 34 can rotate after being fitted together. Positioning holes are provided on the end face of the clamp movable shaft 34, and any positioning hole of the flange is locked with the positioning hole of the movable shaft by a positioning pin 36, so that the two can operate after the set angle is fixed, and the lower end face of the clamp movable shaft 34 is transmission-connected to the limited flow clamping jaw 35. Specifically, the front end of the forearm extension block 25 is fixed to the clamp fixing plate 31, and the discharge amount of the connecting pipe 15 is controlled by the clamping adjustment component 3, and it is fixed by the clamp fixing plate 31. After fixation, the clamp connecting shaft 33 is used to drive the clamp movable shaft 34 to move up and down, and the current limiting clamping claw 35 is moved up and down to clamp and release the connecting pipe 15, so that the pressure is increased, the injection distance is increased, labor is saved, and efficiency is improved.

[0032] The downward pressure output assembly 5 is upright and fixed above the middle part of the walking mechanism 19, and the upper part of the downward pressure output assembly 5 is fixed with the boom telescopic assembly 4, the end of the boom telescopic assembly 4 is installed with the small arm swing assembly 2, and the end of the small arm swing assembly 2 is installed with the clamping adjustment assembly 3.

[0033] The extraction assembly 1 includes an extraction tank body 11, an observation window 12 is provided on the end face of the extraction tank body 11, an inlet 13 is connected to the upper end face of the extraction tank body 11, an overflow pump 14 is connected to the end face of the overflow pump 14, and a connecting pipe 15 is connected to the end face of the overflow pump 14. Specifically, the surface cracks are repaired by extracting cement from the interior of the tank body 11. The cement enters through the upper inlet 13. After entering, it can be determined through the observation window 12 whether there is cement inside the cavity, which can be replenished in time. The excess cement is quickly extracted through the end face overflow pump 14 and pumped out through the connecting pipe 15, thereby simplifying the operation and improving efficiency.

[0034] The overflow pump 14 extracts the slurry in the extraction tank 11 and discharges it through the connecting pipe 15. A discharge pipe 37 is installed at the end of the connecting pipe 15. The clamping and adjusting assembly 3 is used to fix the discharge pipe 37 and ensure that the port of the discharge pipe 37 corresponds to the wall. A camera is installed above and / or at the front end of the boom telescopic assembly 4, and a rangefinder is installed at the front end of the boom telescopic assembly 4. The data cables of the camera and the rangefinder are respectively connected to the signal input end of the processor. The control end of the processor respectively controls the actions of the forearm swing assembly 2, the boom telescopic assembly 4 and the downward pressure output assembly 5, and controls the start and stop of the overflow pump 14.

[0035] like Figure 1In the figure, a walking mechanism 19 is provided at the bottom of the downward pressure output component 5, a roller brush mechanism 8 is also installed on one side of the front part of the boom telescopic component 4, and a material receiving mechanism is also installed below the clamping adjustment component 3.

[0036] like Figure 5 As shown, double parallel tracks 10 are laid at a certain distance from the wall, and the running wheels of the running mechanism are matched and fitted in the double parallel tracks, and can run along the tracks, ensuring that the equipment can translate in a direction parallel to the wall.

[0037] The working principle of the present invention is as follows: surface cracks are repaired by extracting cement from the interior of the tank body 11. Cement enters through the upper feed port 13. After entering, the observation window 12 can be used to determine whether there is cement inside the cavity, so that it can be replenished in time. The end overflow pump 14 is used to quickly extract excess cement, and it is pumped out through the connecting pipe 15, thereby simplifying operation and improving efficiency. The camera captures the image of the wall crack and transmits it to the processor for image analysis and processing. The processor controls the adjustment of the extraction component 1, the clamping adjustment component 3, the upper arm telescopic component 4, and the downward pressure output component 5 according to the position, height, direction, length, and width of the crack. The rangefinder is used to detect the distance between the equipment and the wall. The controller controls the small arm swing component 2 to change the telescopic distance of the clamping adjustment component 3 based on the rangefinder detection data to ensure that the front end of the discharge pipe 37 is close to the crack. The controller controls the equipment movement speed and residence time as well as the spraying amount based on the direction, length, and width of the crack image analyzed.

[0038] The arm connecting cylinder 23 is moved back and forth by the arm swing component 2, so that the arm rotating shaft 24 swings back and forth, so that the arm extension block 25 contracts the clamping adjustment component 3 to make the internal extrusion and sputtering more, saving labor, and controlling the discharge amount of the connecting pipe 15 by the clamping adjustment component 3, and fixing it by the clamp fixing plate 31. After fixing, the clamp connecting shaft 33 is used to drive the clamp movable shaft 34 to move up and down, and the current limiting clamping claw 35 is moved up and down, so that the connecting pipe 15 is clamped and released, so that the pressure is increased and the spraying distance is increased, saving labor and improving efficiency, and the arm swing is performed by the large arm telescopic component 4. The dynamic component 2 provides power, so that the air pressure is transmitted to the power, and the sliding guide rail 41 is used to guide the boom swing cylinder 44 to push the boom output cylinder rod 45, which is controlled by the linear bearing 42, so that the operation of the mechanism is more precise, the error prevention rate is reduced, and personal safety is improved. The downward pressure output component 5 is used to press the downward pressure cylinder rod 55 downward, so that the internal air is compressed to push the downward pressure cylinder rod 55 out. After being pushed out, it is transmitted to the lower end locking end cover 53 through the downward pressure cylinder barrel 54, and the downward pressure middle connecting bearing 52 ensures its concentricity, and displaces the downward pressure locking block 51 to drive the boom to swing, which is simpler, easy to understand, highly integrated, and also has automation.

[0039] Example 2: Based on Example 1, a roller brush mechanism 8 is as follows Figure 1 As shown, it mainly includes a rear seat and a front seat, and the two sides of the front and rear seats are respectively hinged with parallel connecting rods through corresponding pins to form a four-bar structure. Rollers are installed on the pins of the front seat, and each roller is parallel to the wall. Tension springs are connected between the connecting rods on both sides of the four-bar structure, so that the front seat can automatically unfold forward. After the front seat unfolds forward and brings the rollers into contact with the wall, the tension springs can ensure that there is appropriate pressure between the rollers and the wall. Since the roller brush mechanism 8 is located on the rear side of the clamping and adjusting component 3, when the device is translated as a whole, it can drive the rollers to roll along the wall and brush the spraying area to ensure smoothness.

[0040] Example 3: Based on Example 1, a clamping seat 38 is set in the middle of the discharge pipe 37, and a material receiving mechanism is fixedly connected below the current limiting clamping claw 35. A form of material receiving mechanism is as follows Figure 6 As shown, the mechanism mainly includes a base 61, a receiving hopper 62, a hollow area outside the hopper 63, a universal wheel 64, a receiving pipe 65, a parallelogram 66, a tension spring 67, a telescopic rod 68, and a locking wire 69.

[0041] Specifically, hinged seats A and B are provided at the upper end of the base 61, and hinged seats C and D are provided at the upper and lower ends of a side wall of the hopper 62. An upper parallel link is connected between hinged seats A and C via a pin, and a lower parallel link is connected between hinged seats B and D via a pin. The upper and lower parallel links are parallel to each other, thereby forming a parallelogram 66. A tension spring 67 is connected between the base 61 and the hopper 62, ensuring that the hopper 62 is naturally away from the base 61.

[0042] The other side wall of the receiving hopper 62 is an inclined surface, the upper part of which contacts the wall and the lower part is in contact with the wall. Below the inclined surface is a hollow area 63 outside the hopper, and a universal wheel 64 is installed in the hollow area 63 outside the hopper, and the universal wheel 64 is supported on the wall.

[0043] A material receiving pipe 65 is connected below the material receiving hopper 62 , and the bottom of the material receiving pipe 65 is communicated with the extraction tank body 11 .

[0044] A telescopic rod 68 is connected between the base and the lower portion of the current limiting clamping jaw 35, and a locking wire 69 is installed. This allows the docking mechanism to be telescopically adjusted as a whole and locked at a suitable height.

[0045] The tension spring in this embodiment ensures that the inner wall of the upper opening of the hopper 62 is always in contact with the wall, and the universal wheel 64 always rolls along the wall in any direction. Due to the presence of the material receiving mechanism, the discharge volume can be appropriately increased to ensure that the wall cracks are fully filled, thereby ensuring construction quality and efficiency. Excess slurry can also be returned to the extraction tank 11 through the material receiving mechanism.

[0046] Example 4: Based on Example 1, the discharge pipe is additionally provided with a pressurized discharge mechanism. One form of the pressurized discharge mechanism is as follows: Figure 7 As shown, it mainly includes a temporary storage bin 71, a return pipe 72, a sleeve 73, a telescopic tube 74, a spring 75, a pressure plate 76, and an air pipe 77.

[0047] Specifically, a discharge hole is provided at the lower middle portion of the discharge pipe 37 and a return pipe 72 is sealed and installed therein. A temporary storage bin 71 is fixed outside the discharge pipe 37 , and the return pipe 72 is located inside the temporary storage bin 71 .

[0048] A sleeve 73 is fixed on the front side of the temporary storage bin 71, and a telescopic tube 74 is sealed inside the sleeve 73. The telescopic tube 74 is sleeved on the outside of the discharge pipe. An outward-turning baffle is provided at the inner end of the telescopic tube 74 and a spring 75 is sleeved at the front end of the baffle. A pressure plate 76 is fixed to the outer end of the telescopic tube 74, and the outer end surface of the pressure plate has a flexible layer.

[0049] The inner cavities of the temporary storage bin 71 and the sleeve 73 respectively lead out an air pipe 77, which is connected to the exhaust pipe of the gas tank and is equipped with an air pipe solenoid valve. The air outlet of the air pump is connected to the air inlet of the gas tank. The processor detects the air pressure intensity in the gas tank through the air pressure sensor and ensures constant pressure in the gas tank by controlling the air pump. The processor supplies high-pressure gas into the air pipe 77 by controlling the air pipe solenoid valve. The high-pressure gas enters the upper side of the inner cavity of the temporary storage bin 71 and the sleeve 73 at the same time. The temporary storage material in the temporary storage bin 71 is compressed by the high-pressure gas, so that the slurry is pressed from the return pipe 72 into the discharge pipe 37. At the same time, the high-pressure gas in the sleeve 73 compresses the telescopic tube 74 to move forward, so that the pressure plate 76 fits against the wall surface, seals the periphery of the crack, and ensures that the slurry can be pressed into the crack. This method is suitable for areas with smaller or deeper cracks.

[0050] Example 5: Based on Example 1, the downward pressure middle connecting bearing in Example 1 is replaced with a steering motor 9. A guide hole is provided on the upper portion of the end surface fixed support plate 16 and a guide rod 92 is installed. A motor base 91 is fixed to the upper end of the guide rod 92. The steering motor 9 is fixed in the motor base, and the rotating shaft of the steering motor 9 is connected to the downward pressure locking block 51. In this way, a controller can control the steering motor 9 to always have the automatic steering function.

[0051] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An intelligent detection and automatic repair device for cracks on the surface of a building wall, comprising an extraction component (1), a small arm swing component (2), a clamping adjustment component (3), a large arm telescopic component (4), a downward pressure output component (5), a camera, a rangefinder, a control system and a walking mechanism, characterized in that: The downward pressure output assembly (5) is fixed upright above the middle of the walking mechanism (19), and a boom telescopic assembly (4) is fixed on the upper part of the downward pressure output assembly (5). The end of the boom telescopic assembly (4) is installed with a small arm swing assembly (2), and the end of the small arm swing assembly (2) is installed with a clamping adjustment assembly (3). The extraction assembly includes an extraction tank (11), an overflow pump (14) and a connecting pipe (15). The overflow pump (14) extracts the slurry in the extraction tank (11) and discharges it through the connecting pipe (15). A discharge pipe (37) is installed at the end of the connecting pipe (15). The clamping adjustment assembly (3) is used to fix the discharge pipe (37) and ensure that the port of the discharge pipe (37) corresponds to the wall. A camera is installed above and / or at the front end of the boom telescopic assembly (4). The front end of (4) is equipped with a rangefinder, and the data lines of the camera and the rangefinder are respectively connected to the signal input end of the processor. The control end of the processor respectively controls the movement of the small arm swing assembly (2), the large arm telescopic assembly (4) and the downward pressure output assembly (5), and controls the start and stop of the overflow pump (14). The downward pressure output assembly (5) includes a downward pressure locking block (51), the lower end surface of the downward pressure locking block (51) is connected to the downward pressure middle connecting bearing (52), the lower end surface of the downward pressure middle connecting bearing (52) is provided with a lower end locking end cover (53), the lower end surface of the lower end locking end cover (53) is connected to the downward pressure cylinder barrel (54), and a locking mechanism is provided between the lower end locking end cover (53) and the downward pressure cylinder barrel (54) to ensure that the two cannot rotate in the working state. The middle part of the downward pressure middle connecting bearing (52) is connected to the downward pressure cylinder rod (55).

2. The intelligent detection and automatic repair equipment for building wall surface cracks according to claim 1 is characterized in that: The boom telescopic assembly (4) includes a sliding guide rail (41), the middle portion of the sliding guide rail (41) is connected to a linear bearing (42), the rear end face of the sliding guide rail (41) is threadedly connected to a locking nut (43), the end face of the sliding guide rail (41) is provided with a boom swing cylinder (44), the boom swing cylinder (44) is connected to a boom output cylinder rod (45), the lower end face of the downward pressure cylinder barrel (54) is connected to a downward pressure output fixed plate (18), the end face of the downward pressure output fixed plate (18) is connected to an end face fixed support plate (16), and the end face of the end face fixed support plate (16) is connected to a support plate reinforcement rib (17).

3. The intelligent detection and automatic repair equipment for building wall surface cracks according to claim 1 is characterized in that: The forearm swing assembly (2) includes a forearm fixing plate (21), the upper end surface of the forearm fixing plate (21) is connected to a forearm fixing link plate (22), a forearm connecting cylinder (23) is placed inside the forearm fixing link plate (22), the end surface of the forearm connecting cylinder (23) is connected to a forearm rotating shaft (24), and the end surface of the forearm rotating shaft (24) is connected to a forearm extending block (25).

4. The intelligent detection and automatic repair equipment for building wall surface cracks according to claim 1 is characterized in that: The clamping adjustment component (3) includes a clamp fixing plate (31), the lower end surface of the clamp fixing plate (31) is connected to a clamp locking plate (32), the lower end surface of the clamp locking plate (32) is connected to a clamp connecting shaft (33), the lower end surface of the clamp connecting shaft (33) is connected to a clamp movable shaft (34), a flange is provided below the clamp connecting shaft (33), positioning holes are evenly distributed on the flange, the clamp connecting shaft and the clamp movable shaft (34) can rotate after being fitted together, a positioning hole is provided on the end surface of the clamp movable shaft (34), any positioning hole of the flange is locked with the positioning hole of the movable shaft by a positioning pin (36), so that the two can operate after the set angle is fixed, and the lower end surface of the clamp movable shaft (34) is connected to a flow-limiting clamping jaw (35) through transmission.

5. The intelligent detection and automatic repair equipment for building wall surface cracks according to claim 1 is characterized in that: A walking mechanism (19) is provided at the bottom of the downward pressure output component (5), and a pair of parallel tracks (10) are laid at a certain distance from the wall. The walking wheels of the walking mechanism are matched and fitted in the pair of parallel tracks, and can travel along the tracks, ensuring that the device can be translated in a direction parallel to the wall.

6. The intelligent detection and automatic repair equipment for cracks on building wall surfaces according to claim 1 is characterized in that: A roller brush mechanism (8) is also installed on one side of the front portion of the boom telescopic assembly (4).

7. The intelligent detection and automatic repair equipment for building wall surface cracks according to claim 1 is characterized in that: A material receiving mechanism is also installed below the clamping and adjusting component (3).

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