Climbing robot for detecting firmness of curtain wall panel based on visual technology

Abstract

The invention discloses a curtain wall panel firmness detection climbing robot based on a visual technology, and relates to the technical field of curtain wall detection, the curtain wall panel firmness detection climbing robot comprises a machine body, first steering engines are fixedly mounted at the four corners in the machine body, and the output ends of the two sides of the first steering engines are fixedly connected with fixing frames; a second steering engine is fixedly connected to the side, away from the first steering engine, of the fixing frame, connecting arms are fixedly connected to the output ends of the two sides of the second steering engine, a third steering engine is fixedly connected between the two connecting arms, the two output ends of the third steering engine are fixedly connected with the two connecting arms correspondingly, and a first electric push rod is fixedly connected to the bottom of the third steering engine; the output end of the first electric push rod is fixedly connected with a first negative pressure suction cup. The curtain wall panel firmness detection device has the advantages that manual work is replaced by the climbing robot for high-altitude operation, the risk that personnel are exposed in the high-altitude operation environment is greatly reduced, the firmness of the curtain wall panel can be effectively detected in a short time, work of more test points can be completed, and the overall detection efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of curtain wall detection, and more particularly to a climbing robot for detecting the firmness of curtain wall panels based on vision technology. Background Art

[0002] A curtain wall is an exterior wall enclosure of a building, which does not bear weight and is hung like a curtain, so it is also called a "curtain wall". It is a lightweight wall with a decorative effect commonly used in modern large-scale and high-rise buildings.

[0003] Currently, the detection of the installation firmness of stone curtain wall panels is an important part of the acceptance of curtain wall construction quality and the reliability appraisal of existing curtain walls. The quality of its firmness is directly related to the risk of falling of the curtain wall panels. However, due to the lack of detection means, in the current relevant curtain wall detection and acceptance standards, the detection of curtain wall firmness generally transports personnel to the position to be detected by a hanging basket, and then uses a hand push or a suction cup to test the firmness of the curtain wall. The operation of the hanging basket requires personnel to work at high altitude. If the hanging basket fails or is operated improperly, it may cause personnel to fall or other accidents to occur, and the safety risk of high-altitude operation is significantly increased. To solve the above problems, a climbing robot for detecting the firmness of curtain wall panels based on vision technology is proposed. Summary of the Invention

[0004] To solve the above technical problems, a climbing robot for detecting the firmness of curtain wall panels based on vision technology is provided, which solves the problem that the current detection of the installation firmness of curtain wall panels is an important part of the acceptance of curtain wall construction quality and the reliability appraisal of existing curtain walls. The quality of its firmness is directly related to whether the stone falls or not. However, due to the lack of detection means, in the current relevant curtain wall detection and acceptance standards, the detection of curtain wall firmness generally transports personnel to the position to be detected by a hanging basket, and then uses a tensile tester to test the firmness of the curtain wall. At the same time, a camera is used to record the displacement changes of the four sides of the curtain wall panel in real time under the action of tension, and the video is transmitted to the staff downstairs through the network. The staff watches the state of the curtain wall panel under the action of tension through a monitor to further judge whether there is a risk of detachment of the curtain wall. The operation of using a hanging basket requires personnel to work at high altitude. If the hanging basket fails or is operated improperly, it may cause personnel to fall or other accidents to occur, and the safety risk of high-altitude operation is significantly increased.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows: A climbing robot for detecting the firmness of curtain wall panels based on vision technology, including a body. At the four corner positions inside the body, first servo motors are fixedly installed. Fixed frames are fixedly connected to the output ends on both sides of the first servo motors. Second servo motors are fixedly connected to the sides of the fixed frames away from the first servo motors. Connecting arms are fixedly connected to the output ends on both sides of the second servo motors. A third servo motor is fixedly connected between the two connecting arms, and the two output ends of the third servo motor are respectively fixedly connected to the two connecting arms. A first electric push rod is fixedly connected to the bottom of the third servo motor. A first negative pressure suction cup is fixedly connected to the output end of the first electric push rod. A fixed block is fixedly connected to the middle position inside the body. Extension assemblies are arranged on both the left and right sides of the fixed block. Adsorption assemblies are arranged at the ends of the extension assemblies. An auxiliary assembly is fixedly installed at the middle position of the bottom of the body.

[0006] Preferably, the extension assembly includes a second electric push rod and a fixed seat. One side of the second electric push rod is fixedly connected to the fixed block. The fixed seat is fixedly connected inside the body. Two first connecting rods are rotatably connected to both the upper and lower sides of the fixed seat. The ends of the four first connecting rods are all rotatably connected to second connecting rods. The two second connecting rods are arranged in an "X" shape and are rotatably connected in the middle through a rotating shaft. A limiting block is rotatably connected between the second connecting rods on the upper and lower sides. The output end of the second electric push rod passes through the fixed seat and is fixedly connected to one side of the limiting block.

[0007] Preferably, third connecting rods are rotatably connected to the ends of the four second connecting rods. A connecting block is rotatably connected to the end of the third connecting rod away from the second connecting rod. A mounting plate is fixedly connected to the side of the connecting block away from the second connecting rod. Two limiting rods are fixedly connected to the side of the mounting plate close to the second connecting rod. The two limiting rods are slidably connected to the limiting block.

[0008] Preferably, the adsorption assembly includes a connecting plate. The connecting plate is fixedly connected to one side of the mounting plate. Fixed supports are fixedly connected to both the front and rear ends on one side of the connecting plate. A bidirectional lead screw is rotatably connected in the middle between the two fixed supports. Guide rods are fixedly connected to both the upper and lower sides between the two fixed supports and the bidirectional lead screw. Moving blocks are threadedly connected to the left and right sides of the outer surface of the bidirectional lead screw. The upper and lower sides of the moving blocks are slidably connected to the guide rods.

[0009] Preferably, mounting seats are fixedly connected to the bottoms of the moving blocks. Tensile sensors are fixedly connected to the bottoms of the mounting seats. Driving sources are fixedly connected to the bottoms of the tensile sensors. Second negative pressure suction cups are fixedly connected to the bottoms of the driving sources. An adjustment motor is fixedly installed on the side of at least one fixed support. The output end of the adjustment motor passes through the fixed support and is fixedly connected to the end of the bidirectional lead screw.

[0010] Preferably, the auxiliary component includes a first telescopic rod, the upper end of the first telescopic rod is fixedly connected to the bottom surface of the machine body, a second telescopic rod is slidably connected inside the first telescopic rod, a third telescopic rod is slidably connected inside the second telescopic rod, a fourth telescopic rod is slidably connected inside the third telescopic rod, and the bottom of the fourth telescopic rod is fixedly connected to a third negative pressure suction cup.

[0011] Preferably, a hinge frame is fixedly connected above the inside of the first telescopic rod, the bottom of the hinge frame is fixedly connected to the fourth telescopic rod by screws, a first limiting groove is formed on one side of the second telescopic rod, a first limiting post is slidably connected inside the first limiting groove, and the end of the first limiting post is fixedly connected to the middle of the hinge frame. A second limiting groove is formed through one side of the third telescopic rod, a second limiting post is slidably connected inside the second limiting groove, and the end of the second limiting post is fixedly connected to the lower end of the hinge frame.

[0012] Preferably, a servo motor is fixedly connected between the top surface inside the first telescopic rod and the front side of the hinge frame, a cross bar is fixedly connected below the inside of the first telescopic rod, the output end of the servo motor is fixedly connected to a threaded rod, the end of the threaded rod is rotatably connected to the cross bar, and a threaded block is threadedly connected to the outer surface of the threaded rod. The threaded block is rotatably connected to the upper end of the hinge frame.

[0013] Preferably, an adjustable camera is fixedly installed on the front side of the upper surface of the machine body, an intelligent control box is fixedly connected to the rear side of the upper surface of the machine body, a mounting frame is fixedly connected above the intelligent control box, and a radar is fixedly connected to the top of the mounting frame.

[0014] Compared with the prior art, the advantages of the present invention are as follows: The present invention uses a climbing robot to replace manual high-altitude operations, greatly reducing the risk of personnel being exposed to high-altitude operation environments. Especially in bad weather or high-altitude operations, it can effectively prevent personnel from falling or other accidents. Compared with hanging baskets, climbing robots generally have higher stability and autonomy, reducing potential safety hazards caused by improper hanging basket operations or equipment failures. Climbing robots can automatically complete the task of testing the firmness of curtain wall panels, reducing dependence on manual labor. Especially in large-scale inspections, it can significantly reduce labor costs. Climbing robots have the ability of automatic navigation and operation, can autonomously crawl on complex building surfaces, quickly reach the target position for testing, reducing the time for manually transporting hanging baskets and testing equipment, improving the overall inspection efficiency. Moreover, climbing robots can quickly complete the firmness tests at different positions, especially suitable for scenarios that require comprehensive inspections of large-area curtain walls, and can complete the work of more test points in a shorter time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the present invention; Figure 2 Schematic diagram of the body structure in the present invention; Figure 3 Schematic diagram of the connection between the extension component and the adsorption component in the present invention; Figure 4 Schematic diagram of the structure of the extension component in the present invention; Figure 5 Schematic diagram of the structure of the adsorption component in the present invention; Figure 6 Schematic diagram of the internal structure of the auxiliary component in the present invention; Figure 7 is Figure 6 Partial enlarged view of location A in

[0016] The reference numerals in the figure are: 1, body; 2, first servo; 3, fixing bracket; 4, second servo; 5, connecting arm; 6, third servo; 7, first electric push rod; 8, first negative pressure suction cup; 9, adjustable camera; 10, intelligent control box; 11, mounting bracket; 12, radar; 13, fixing block; 14, extension component; 1401, second electric push rod; 1402, fixing seat; 1403, first connecting rod; 1404, second connecting rod; 1405, third connecting rod; 1406, connecting block; 1407, mounting plate; 1408, limiting block; 1409, limiting rod; 15, adsorption component; 1501, connecting plate; 1502, fixing support; 1503, bidirectional lead screw; 1504, guide rod; 1505, moving block; 1506, mounting seat; 1507, tension sensor; 1508, driving source; 1509, second negative pressure suction cup; 1510, adjusting motor; 16, auxiliary component; 1601, first telescopic rod; 1602, second telescopic rod; 1603, third telescopic rod; 1604, fourth telescopic rod; 1605, servo motor; 1606, threaded rod; 1607, cross bar; 1608, hinge bracket; 1609, threaded block; 1610, first limiting groove; 1611, first limiting post; 1612, second limiting groove; 1613, second limiting post; 1614, third negative pressure suction cup. Detailed implementation manners

[0017] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations.

[0018] Referring to Figures 1-7As shown in the figure, a climbing robot for detecting the firmness of curtain wall panels based on vision technology includes a body 1. At the four corner positions inside the body 1, first servos 2 are fixedly installed. Fixed frames 3 are fixedly connected to the output ends on both sides of the first servos 2. A second servo 4 is fixedly connected to the side of the fixed frame 3 away from the first servo 2. Connecting arms 5 are fixedly connected to the output ends on both sides of the second servo 4. A third servo 6 is fixedly connected between the two connecting arms 5. Through the combination of the first servo 2, the second servo 4, and the third servo 6, three-dimensional flexible movement of the robot on the curtain wall is achieved. This multi-axis motion system not only improves the motion accuracy and stability of the robot, but also enables it to adapt to curtain walls of different shapes and angles, enhancing the adaptability and practicality of the robot. The two output ends of the third servo 6 are respectively fixedly connected to the two connecting arms 5. A first electric push rod 7 is fixedly connected to the bottom of the third servo 6. The output end of the first electric push rod 7 is fixedly connected to a first negative pressure suction cup 8. The first negative pressure suction cup 8 is used for the preliminary adsorption of the robot and fixation during the movement process. The first electric push rod 7 can precisely control the lifting of the first negative pressure suction cup 8 to achieve the smooth movement and precise positioning of the robot. A fixed block 13 is fixedly connected to the middle position inside the body 1. Expansion assemblies 14 are arranged on both the left and right sides of the fixed block 13. Adsorption assemblies 15 are arranged at the ends of the expansion assemblies 14. An auxiliary assembly 16 is fixedly installed at the middle position of the bottom of the body 1. It is worth mentioning that the power source of this robot can be realized by an internal battery or an external wire. And in order to prevent the robot from falling due to the reduction of the suction force of the suction cup, during use, a traction rope needs to be added on the roof to prevent the risk of the robot falling and crashing.

[0019] Further, the expansion assembly 14 includes a second electric push rod 1401 and a fixed seat 1402. One side of the second electric push rod 1401 is fixedly connected to the fixed block 13. The fixed seat 1402 is fixedly connected to the inside of the body 1. Two first connecting rods 1403 are rotatably connected to both the upper and lower sides of the fixed seat 1402. The ends of the four first connecting rods 1403 are all rotatably connected to second connecting rods 1404. The two second connecting rods 1404 are arranged in an "X" shape and are rotatably connected in the middle through a rotating shaft. A limiting block 1408 is rotatably connected between the second connecting rods 1404 on the upper and lower sides. The output end of the second electric push rod 1401 passes through the fixed seat 1402 and is fixedly connected to one side of the limiting block 1408.

[0020] Further, the ends of the four second connecting rods 1404 are all rotatably connected to third connecting rods 1405. One end of the third connecting rod 1405 away from the second connecting rod 1404 is rotatably connected to a connecting block 1406. A mounting plate 1407 is fixedly connected to the side of the connecting block 1406 away from the second connecting rod 1404. Two limiting rods 1409 are fixedly connected to the side of the mounting plate 1407 close to the second connecting rod 1404. The two limiting rods 1409 are slidably connected to the limiting block 1408.

[0021] Further, the adsorption assembly 15 includes a connecting plate 1501. The connecting plate 1501 is fixedly connected to one side of the mounting plate 1407. At both the front and rear ends of one side of the connecting plate 1501, fixed supports 1502 are fixedly connected. A bidirectional lead screw 1503 is rotatably connected in the middle between the two fixed supports 1502. Guide rods 1504 are fixedly connected to both the upper and lower sides of the bidirectional lead screw 1503 between the two fixed supports 1502. Moving blocks 1505 are threadedly connected to both the left and right sides of the outer surface of the bidirectional lead screw 1503. The upper and lower sides of the moving blocks 1505 are slidably connected to the guide rods 1504.

[0022] Further, mounting seats 1506 are fixedly connected to the bottoms of the moving blocks 1505. A tension sensor 1507 is fixedly connected to the bottom of the mounting seat 1506. The tension sensor 1507 can monitor the force during the firmness test in real time and display the data in a visual form. This design not only makes the test process more intuitive and accurate. A driving source 1508 is fixedly connected to the bottom of the tension sensor 1507. A second negative pressure suction cup 1509 is fixedly connected to the bottom of the driving source 1508. In this embodiment, the driving source 1508 is preferably a thruster, and the internal structure of the thruster is the same as that of the prior art and will not be described in detail here. However, in other embodiments, the driving source 1508 can also be a driving motor, a driving cylinder, etc. For the specific type of the driving source 1508, it can be specifically set according to requirements, and the present invention is not limited. An adjustment motor 1510 is fixedly installed on the side of at least one of the fixed supports 1502. The output end of the adjustment motor 1510 penetrates through the fixed support 1502 and is fixedly connected to the end of the bidirectional lead screw 1503. The adsorption assembly 15 can adjust the distance between the two second negative pressure suction cups 1509 as needed through the cooperation of the bidirectional lead screw 1503 and the moving blocks 1505 to adapt to curtain walls of different widths. This design not only improves the adaptability and flexibility of the robot but also ensures its stability and accuracy during the firmness test.

[0023] Further, the auxiliary assembly 16 includes a first telescopic rod 1601. The upper end of the first telescopic rod 1601 is fixedly connected to the bottom surface of the body 1. A second telescopic rod 1602 is slidably connected inside the first telescopic rod 1601. A third telescopic rod 1603 is slidably connected inside the second telescopic rod 1602. A fourth telescopic rod 1604 is slidably connected inside the third telescopic rod 1603. A third negative pressure suction cup 1614 is fixedly connected to the bottom of the fourth telescopic rod 1604.

[0024] Furthermore, a hinge frame 1608 is fixedly connected above the interior of the first telescopic rod 1601. The bottom of the hinge frame 1608 is fixedly connected to the fourth telescopic rod 1604 by screws. A first limiting groove 1610 is formed on one side of the second telescopic rod 1602. A first limiting post 1611 is slidably connected inside the first limiting groove 1610. The end of the first limiting post 1611 is fixedly connected to the middle of the hinge frame 1608. A second limiting groove 1612 is formed through one side of the third telescopic rod 1603. A second limiting post 1613 is slidably connected inside the second limiting groove 1612. The end of the second limiting post 1613 is fixedly connected to the lower end of the hinge frame 1608. The auxiliary component 16, through the combination of a multi-stage telescopic rod and a third negative pressure suction cup 1614, provides additional support and stability for the robot. During the firmness test, the auxiliary component 16 can ensure that the robot will not overturn or fall off due to excessive force, thereby improving the safety and reliability of the test.

[0025] Furthermore, a servo motor 1605 is fixedly connected between the top surface inside the first telescopic rod 1601 and the front side of the hinge frame 1608. A cross bar 1607 is fixedly connected below the interior of the first telescopic rod 1601. The output end of the servo motor 1605 is fixedly connected to a threaded rod 1606. The end of the threaded rod 1606 is rotatably connected to the cross bar 1607. A threaded block 1609 is threadedly connected to the outer surface of the threaded rod 1606. The threaded block 1609 is rotatably connected to the upper end of the hinge frame 1608.

[0026] Furthermore, an adjustable camera 9 is fixedly installed on the front side of the upper surface of the body 1. A smart control box 10 is fixedly connected to the rear side of the upper surface of the body 1. The adjustable camera 9 can capture the states of the curtain wall and the robot in real time, providing accurate visual information for the smart control box 10. The smart control box 10 can then precisely control and schedule the robot based on this information, realizing the automated and intelligent operation of the robot. An installation frame 11 is fixedly connected above the smart control box 10. A radar 12 is fixedly connected to the top of the installation frame 11. The radar 12 can sense the environment and obstacles around the robot in real time, providing a basis for obstacle avoidance and navigation for the robot.

[0027] Working principle: When the climbing robot is walking, the first servo motor 2 drives the fixed frame 3 to rotate for the movement of the first axis, the second servo motor 4 drives the connecting arm 5 to rotate for the movement of the second axis, and the third servo motor 6 can drive the first electric push rod 7 to swing by swinging around the connecting arm 5 to achieve the movement of the third axis. The first electric push rod 7 can push the first negative pressure suction cup 8 to move up and down, and under the overall coordination of the intelligent control box 10, the function of walking on the curtain wall surface is realized. When the first electric push rod 7 needs to lift the first negative pressure suction cup 8, the first negative pressure suction cup 8 will lose its adsorption on the curtain wall for easy movement. When walking to the position of the curtain wall to be tested, the adjustable camera 9 will observe the positions of the four first negative pressure suction cups 8 to ensure that the four first negative pressure suction cups 8 are not located on the surface of the curtain wall to be detected. The second electric push rod 1401 pushes the connecting block 1406 to move, and under the combined action of the first connecting rod 1403, the second connecting rod 1404 and the third connecting rod 1405, the stroke of the second electric push rod 1401 can be amplified, so that curtain walls of different specifications can be realized. After the stretching component 14 reaches the designated position, the adjusting motor 1510 drives the bidirectional lead screw 1503 to rotate, and under the action of thread fitting, the two moving blocks 1505 move relatively, so as to increase the distance between the two second negative pressure suction cups 1509 and improve the stability of the pulling process. Then the driving source 1508 will push the second negative pressure suction cup 1509 to contact the curtain wall surface and then adsorb together. At this time, the output end of the servo motor 1605 drives the threaded rod 1606 to rotate, so that the threaded block 1609 moves along the threaded rod 1606. When the threaded block 1609 moves, it pushes the hinge frame 1608 to expand and contract, so as to push the second telescopic rod 1602, the third telescopic rod 1603 and the fourth telescopic rod 1604 to extend in turn, and then the third negative pressure suction cup 1614 adsorbs to the curtain wall surface, improving the stability of the robot during the pulling process. After the second negative pressure suction cup 1509 and the third negative pressure suction cup 1614 adsorb to the curtain wall surface, the output end of the first electric push rod 7 will extend, and under the reaction force, the body 1 tests the firmness of the curtain wall through the second negative pressure suction cup 1509 and the third negative pressure suction cup 1614, and the firmness of the curtain wall is displayed in a visual form through the tension sensor 1507. All the above movements are coordinated by the intelligent control box 10.

[0028] The above shows and describes the basic principle, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. A curtain wall panel firmness detection climbing robot based on vision technology, characterized in that: The invention comprises a machine body (1), wherein first steering gears (2) are fixedly installed at four corners of the machine body (1), output ends on both sides of the first steering gear (2) are fixedly connected to fixing frames (3), a second steering gear (4) is fixedly connected to a side of the fixing frame (3) away from the first steering gear (2), output ends on both sides of the second steering gear (4) are fixedly connected to connecting arms (5), a third steering gear (6) is fixedly connected between the two connecting arms (5), and two output ends of the third steering gear (6) are respectively fixedly connected to the two connecting arms (5), a first electric push rod (7) is fixedly connected to the bottom of the third steering gear (6), and a first negative pressure suction cup (8) is fixedly connected to the output end of the first electric push rod (7), a fixing block (13) is fixedly connected to the middle position of the machine body (1), extension components (14) are arranged on the left and right sides of the fixing block (13), and an adsorption component (15) is arranged at the end of the extension component (14), and an auxiliary component (16) is fixedly installed at the middle position of the bottom of the machine body (1).

2. According to claim 1, a curtain wall panel firmness detection climbing robot based on visual technology is characterized in that: The extension assembly (14) comprises a second electric push rod (1401) and a fixed seat (1402); one side of the second electric push rod (1401) is fixedly connected to the fixed block (13); the fixed seat (1402) is fixedly connected to the inside of the machine body (1); two first connecting rods (1403) are rotatably connected to the upper and lower sides of the fixed seat (1402); the ends of the four first connecting rods (1403) are rotatably connected to the second connecting rods (1404); the two second connecting rods (1404) are arranged in an "X" shape and are rotatably connected in the middle via a rotating shaft; a limit block (1408) is rotatably connected between the second connecting rods (1404) on the upper and lower sides; and the output end of the second electric push rod (1401) passes through the fixed seat (1402) and is fixedly connected to one side of the limit block (1408).

3. According to claim 2, a curtain wall panel firmness detection climbing robot based on visual technology is characterized in that: The ends of the four second connecting rods (1404) are all rotatably connected to the third connecting rod (1405); one end of the third connecting rod (1405) away from the second connecting rod (1404) is rotatably connected to a connecting block (1406); a side of the connecting block (1406) away from the second connecting rod (1404) is fixedly connected to a mounting plate (1407); a side of the mounting plate (1407) close to the second connecting rod (1404) is fixedly connected to two limit rods (1409); the two limit rods (1409) are slidably connected to the limit block (1408).

4. According to claim 1, a curtain wall panel firmness detection climbing robot based on visual technology is characterized in that: The adsorption assembly (15) comprises a connecting plate (1501), wherein the connecting plate (1501) is fixedly connected to one side of the mounting plate (1407), and the front and rear ends of one side of the connecting plate (1501) are fixedly connected to fixed supports (1502), a bidirectional screw rod (1503) is rotatably connected in the middle between the two fixed supports (1502), and guide rods (1504) are fixedly connected between the two fixed supports (1502) and on both upper and lower sides of the bidirectional screw rod (1503), and moving blocks (1505) are threadedly connected on both left and right sides of the outer surface of the bidirectional screw rod (1503), and the moving blocks (1505) are slidably connected to the guide rods (1504) on both upper and lower sides.

5. The curtain wall panel firmness detection climbing robot based on vision technology according to claim 4 is characterized in that: The bottom of the moving block (1505) is fixedly connected to a mounting seat (1506), the bottom of the mounting seat (1506) is fixedly connected to a tension sensor (1507), the bottom of the tension sensor (1507) is fixedly connected to a driving source (1508), the bottom of the driving source (1508) is fixedly connected to a second negative pressure suction cup (1509), and at least one side of the fixed support (1502) is fixedly installed with an adjustment motor (1510), the output end of the adjustment motor (1510) passes through the fixed support (1502) and is fixedly connected to the end of the bidirectional screw rod (1503).

6. The curtain wall panel firmness detection climbing robot based on vision technology according to claim 1 is characterized by: The auxiliary component (16) comprises a first telescopic rod (1601), the upper end of the first telescopic rod (1601) is fixedly connected to the bottom surface of the body (1), the first telescopic rod (1601) is slidably connected to the inside of the second telescopic rod (1602), the second telescopic rod (1602) is slidably connected to the inside of the third telescopic rod (1603), the third telescopic rod (1603) is slidably connected to the inside of the fourth telescopic rod (1604), and the bottom of the fourth telescopic rod (1604) is fixedly connected to a third negative pressure suction cup (1614).

7. The curtain wall panel firmness detection climbing robot based on vision technology according to claim 6 is characterized by: A hinge frame (1608) is fixedly connected to the upper part of the first telescopic rod (1601), and the bottom of the hinge frame (1608) is fixedly connected to the fourth telescopic rod (1604) by screws. A first limiting groove (1610) is provided on one side of the second telescopic rod (1602), and a first limiting column (1611) is slidably connected inside the first limiting groove (1610), and the end of the first limiting column (1611) is fixedly connected to the middle part of the hinge frame (1608). A second limiting groove (1612) is provided on one side of the third telescopic rod (1603), and a second limiting column (1613) is slidably connected inside the second limiting groove (1612), and the end of the second limiting column (1613) is fixedly connected to the lower end of the hinge frame (1608).

8. The curtain wall panel firmness detection climbing robot based on vision technology according to claim 6 is characterized by: A servo motor (1605) is fixedly connected to the top surface of the interior of the first telescopic rod (1601) and the front side of the hinge frame (1608); a cross bar (1607) is fixedly connected to the interior bottom of the first telescopic rod (1601); a threaded rod (1606) is fixedly connected to the output end of the servo motor (1605); the end of the threaded rod (1606) is rotatably connected to the cross bar (1607); a threaded block (1609) is threadedly connected to the outer surface of the threaded rod (1606); and the threaded block (1609) is rotatably connected to the upper end of the hinge frame (1608).

9. The curtain wall panel firmness detection climbing robot based on vision technology according to claim 1, characterized in that: An adjustable camera (9) is fixedly mounted on the front side of the upper surface of the machine body (1), an intelligent control box (10) is fixedly connected to the rear side of the upper surface of the machine body (1), a mounting frame (11) is fixedly connected above the intelligent control box (10), and a radar (12) is fixedly connected to the top of the mounting frame (11).

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