Modularized negative pressure adsorption type wall-climbing robot for polishing, washing and spraying concrete

Abstract

The invention provides a concrete polishing, washing and spraying modular negative pressure adsorption type wall-climbing robot body, and belongs to the technical field of concrete curing. Comprising a wall-climbing robot, a mechanical polishing module, a high-pressure airless spraying module and a high-pressure washing module, the wall-climbing robot adopts a wall-climbing robot main body in the prior art and is used for driving the modules to move, and the mechanical polishing module is used for polishing concrete surface diseases and original coatings; the high-pressure airless spraying module is used for spraying a coating on the surface of concrete, and the high-pressure washing module is used for cleaning surface soil and unconsolidated strata on the surface of the concrete. Coating operation is achieved on the concrete surface in a negative pressure adsorption mode, traditional limitation is broken through, and safe, efficient and accurate intelligent construction is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete curing, and in particular to a modular negative pressure adsorption wall-climbing robot for concrete grinding, flushing and spraying. Background Art

[0002] Existing wall-climbing robots mostly focus on detection functions and lack system integration for concrete surface treatment (grinding, high-pressure washing, and spraying). They have single functions and insufficient scalability. Therefore, this application provides a modular negative pressure adsorption wall-climbing robot body for concrete grinding, washing, and spraying to meet the needs. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a modular negative pressure adsorption wall-climbing robot for concrete grinding, flushing and spraying to solve the existing problems.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: A modular negative pressure adsorption wall-climbing robot for concrete grinding, flushing and spraying, including: a wall-climbing robot, a mechanical grinding module, a high-pressure airless spraying module and a high-pressure flushing module. The side of the wall-climbing robot is provided with a track, and one side of the wall-climbing robot is provided with an installation component, and the installation component is used to install the mechanical grinding module, the high-pressure airless spraying module and the high-pressure flushing module. A protective plate is provided on the outside of the track. The wall-climbing robot adopts the wall-climbing robot body in the existing technology to drive the above-mentioned modules to move. The mechanical grinding module is used to grind concrete surface defects and original coatings, the high-pressure airless spraying module is used to spray coatings on the concrete surface, and the high-pressure flushing module is used to clean the loose soil and loose layers on the concrete surface.

[0005] Optionally, the top of the wall-climbing robot is provided with a guardrail, the guardrail is arranged in an elliptical ring shape, a plurality of top exhaust ports are provided on the surface of the wall-climbing robot inside the guardrail, a plurality of suction cups are provided at the bottom of the wall-climbing robot, the suction cups are connected to the exhaust ports, and the exhaust ports are used for exhaust work when the suction cups are adsorbed.

[0006] Optionally, the wall-climbing robot is provided with a robot integrated dual-camera acquisition terminal on one side of the mounting assembly, and the robot integrated dual-camera acquisition terminal is equipped with a plurality of lighting panels, and a plurality of lighting lamp beads are provided on the surface of each lighting panel.

[0007] Optionally, it also includes that the mounting assembly includes a mounting base, the mounting base is fixedly connected to the wall-climbing robot, the mounting base is provided with two pieces, magnets are provided on the top of the two mounting bases, and two slide grooves are provided on the sides of the two mounting bases away from each other, each of the slide grooves is provided with a slide rod, and a positioning plate is slidably sleeved on the surface of each slide rod, the positioning plate is slidably connected to the slide rod, and a tightening bolt is provided on the side of the positioning plate, the tightening bolt passes through the side of the mounting base and contacts the positioning plate, the tightening bolt is used to limit the position of the positioning plate, the positioning plate is set at a right angle, and two positioning holes are provided on the surface of the positioning plate, and the two positioning holes are respectively located at the two right-angled sides of the positioning plate.

[0008] Optionally, it is also included that the mechanical grinding module, high-pressure airless spray module and high-pressure flushing module are all equipped with functional components, and the functional components are used to install the mechanical grinding module, high-pressure airless spray module and high-pressure flushing module on the mounting component, and the functional component structure of the mechanical grinding module, high-pressure airless spray module and high-pressure flushing module is the same, and the functional components include a mounting plate, a baffle and a side block, the mounting plate is in contact with the mounting base plate, and another magnet is provided at the bottom of the mounting plate, and the other magnet at the bottom of the mounting plate is connected to the magnet at the top of the mounting base plate, and two baffles are provided, and both baffles are located on the side of the mounting plate away from the wall-climbing robot, and the baffle is fixedly connected to the mounting plate, and side blocks are provided on both sides of the mounting plate and the bottom of the two baffles, and the side blocks match the positioning plate, and fixing bolts are provided inside the side blocks, and the fixing bolts pass through the side blocks and are threadedly connected to the positioning holes of the positioning plate.

[0009] Optionally, a functional plate is provided on the side of the mounting plate away from the wall-climbing robot, a movable groove is provided inside the functional plate, a slide rail is provided inside the movable groove, a placement plate is slidably connected to the surface of the slide rail, a control box is provided on the surface of the placement plate, a reciprocating motor is provided between the side of the placement plate and the movable groove, and the reciprocating motor is used to drive the placement plate to move.

[0010] Optionally, the mechanical grinding module includes a robotic arm, which is installed on the surface of the placement plate and fixedly connected to the placement plate. The robotic arm is connected to an adaptive grinding head, and the robotic arm is used to flexibly move the adaptive grinding head. The adaptive grinding head is used to grind concrete surface defects and original coatings. The robotic arm is equipped with a pressure sensor and can dynamically adjust the grinding depth.

[0011] Optionally, the high-pressure flushing module is equipped with a high-pressure flushing bracket, which is installed on the surface of the placement plate and fixedly connected to the placement plate. The high-pressure flushing bracket is equipped with an integrated high-pressure nozzle with a working pressure range of 20-30MPa, which can remove surface dust and loose layers. The nozzle angle of the integrated high-pressure nozzle is adjustable and can withstand the recoil force brought by the high-pressure water gun nozzle.

[0012] Optionally, the high-pressure airless spray module is equipped with a spray bracket, which is installed on the surface of the placement plate and fixedly connected to the placement plate. The spray bracket is equipped with an airless sprayer and a spray gun for mobile spraying operations. The spraying efficiency is ≥200㎡ / h, and the coating uniformity error is ≤5%. The robot integrates a dual-camera acquisition terminal, supports 1080P high-definition imaging and 81°-100° field of view environmental monitoring, and the wall-climbing robot is equipped with an anti-fall redundant adsorption mechanism, an emergency stop button and a real-time monitoring system.

[0013] Compared with the prior art, the present invention has at least the following beneficial effects: In the above solution, through modular design, the grinding, high-pressure washing and spraying functions are integrated into the main body of the wall-climbing robot, and the painting operation is realized on the concrete surface through negative pressure adsorption, breaking through traditional limitations and realizing safe, efficient and precise intelligent construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, further serve to explain the principles of the present disclosure and to enable one skilled in the relevant art to make and use the present disclosure.

[0015] Figure 1 This is a schematic diagram of the structure of the wall-climbing robot body in the modular negative pressure adsorption wall-climbing robot for concrete grinding, washing and spraying; Figure 2 Schematic diagram of the structure of a modular negative pressure adsorption wall-climbing robot equipped with a high-pressure washing module for concrete grinding, washing and spraying; Figure 3 Schematic diagram of the structure of a modular negative pressure adsorption wall-climbing robot equipped with a high-pressure airless spray module for concrete grinding, washing and spraying; Figure 4 Schematic diagram of the structure of a modular negative pressure adsorption wall-climbing robot equipped with a mechanical grinding module for concrete grinding, washing and spraying; Figure 5 Schematic diagram of the structural components of the modular negative pressure adsorption wall-climbing robot for concrete grinding, washing and spraying; Figure 6 System module diagram of a modular negative pressure adsorption wall-climbing robot for concrete grinding, washing, and spraying.

[0016] [Reference Signs] 1. Wall-climbing robot; 2. Edge protection; 3. Top exhaust port; 4. Track; 5. Protective plate; 6. Mounting assembly; 601. Mounting base plate; 602. Positioning plate; 603. Magnet; 604. Slide rod; 605. Tightening bolt; 7. Functional assembly; 701. Mounting plate; 702. Side block; 703. Fixing bolt; 704. Baffle; 705. Functional board; 706. Slide rail; 707. Reciprocating motor; 708. Control box; 8. High-pressure flushing module; 9. High-pressure airless spraying module; 10. Mechanical polishing module; 11. Robot integrated dual-camera acquisition terminal.

[0017] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments, and the adjustments or modifications made are still included in the scope of the appended claims. DETAILED DESCRIPTION

[0018] The following describes in detail the modular negative pressure adsorption wall-climbing robot for concrete grinding, flushing, and spraying provided by the present invention, with reference to the accompanying drawings and specific embodiments. It should also be noted that, for the sake of completeness, the following embodiments are listed as best and preferred embodiments, and those skilled in the art may employ alternative implementations. Furthermore, the accompanying drawings are intended only to further illustrate the embodiments and are not intended to limit the present invention.

[0019] It should be noted that references in the specification to "one embodiment," "an embodiment," "exemplary embodiments," "some embodiments," etc. indicate that the described embodiments may include specific features, structures, or characteristics, but not necessarily every embodiment will include such specific features, structures, or characteristics. Furthermore, when specific features, structures, or characteristics are described in conjunction with an embodiment, it would be within the knowledge of persons skilled in the relevant art to implement such features, structures, or characteristics in conjunction with other embodiments (whether or not explicitly described).

[0020] In general, terms can be understood, at least in part, from their use in context. For example, depending at least in part on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending at least in part on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0021] It will be understood that the meanings of “on,” “over,” and “above” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on” something, but also includes being “on” something with intervening features or layers, and “on” or “over” means not only “on” or “above” something, but also includes being “on” or “above” something with no intervening features or layers.

[0022] Additionally, spatially relative terms such as "below," "beneath," "lower," "above," "upper," and the like may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as illustrated in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein should be similarly interpreted accordingly.

[0023] Example 1 like Figure 1 、 Figure 2 and Figure 5 As shown, an embodiment of the present invention provides a modular negative pressure adsorption wall-climbing robot 1 for concrete grinding, flushing and spraying, comprising: a wall-climbing robot 1 and a mechanical grinding module 10, wherein a track 4 is provided on the side of the wall-climbing robot 1, and a mounting assembly 6 is provided on one side of the wall-climbing robot 1, wherein the mounting assembly 6 is used to install the mechanical grinding module 10, and a protective plate 5 is provided on the outer side of the track 4. The wall-climbing robot 1 adopts the wall-climbing robot 1 main body in the prior art, which is used to drive the mechanical grinding module 10 to move, and the mechanical grinding module 10 is used to grind concrete surface defects and original coatings.

[0024] What needs to be further explained in this embodiment is that the top of the wall-climbing robot 1 is provided with a guardrail 2, and the guardrail 2 is arranged in an elliptical ring shape. The surface of the wall-climbing robot 1 inside the guardrail 2 is provided with several top exhaust ports 3, and the bottom of the wall-climbing robot 1 is provided with several suction cups, and the suction cups are connected to the exhaust ports. The exhaust ports are used for exhaust work when the suction cups are adsorbed. The wall-climbing robot 1 is provided with a robot integrated dual-camera acquisition terminal 11 on one side of the mounting assembly 6. The robot integrated dual-camera acquisition terminal 11 is equipped with several lighting panels, and each of the lighting panels is provided with several lighting beads on its surface. The mounting assembly 6 includes a mounting base 601, which is fixedly connected to the wall-climbing robot 1. The mounting base 601 is provided with two pieces, and magnets 603 are provided on the tops of the two mounting bases 601. Two sliding grooves are provided on the sides of the two mounting bases 601 away from each other, and a sliding rod 604 is provided inside each of the sliding grooves. A positioning plate 602 is slidably sleeved on the surface of each sliding rod 604, and the positioning plate 602 is slidably connected to the sliding rod 604. A tightening bolt 605 is provided on the side of the positioning plate 602, and the tightening bolt 605 passes through the side of the mounting base 601. And in contact with the positioning plate 602, the tightening bolt 605 is used to limit the position of the positioning plate 602, the positioning plate 602 is set at a right angle, and two positioning holes are opened on the surface of the positioning plate 602, and the two positioning holes are respectively located at the two right-angled sides of the positioning plate 602. The mechanical grinding module 10 is equipped with a functional component 7, and the functional component 7 is used to install the mechanical grinding module 10 on the mounting component 6. The functional component 7 includes a mounting plate 701, a baffle 704 and a side block 702. The mounting plate 701 is in contact with the mounting base plate 601, and another magnet 603 is provided at the bottom of the mounting plate 701. The other magnet 603 at the bottom of the mounting plate 701 is connected to the magnet 603 at the top of the mounting base plate 601. Two baffles 704 are provided. Both baffles 704 are located on the side of the mounting plate 701 away from the wall-climbing robot 1. The baffles 704 are fixedly connected to the mounting plate 701. Side blocks 702 are provided on both sides of the mounting plate 701 and the bottoms of the two baffles 704. The side blocks 702 match the positioning plate 602. A fixing bolt 703 is provided inside the side block 702. The fixing bolt 703 passes through the side block 702 and is threadedly connected to the positioning hole of the positioning plate 602.

[0025] What needs to be further explained in this embodiment is that a functional plate 705 is provided on the side of the mounting plate 701 away from the wall-climbing robot 1, and a movable groove is opened inside the functional plate 705, and a slide rail 706 is provided inside the movable groove. The surface of the slide rail 706 is slidably connected to a placement plate, and a control box 708 is provided on the surface of the placement plate. A reciprocating motor 707 is provided between the side of the placement plate and the movable groove, and the reciprocating motor 707 is used to drive the placement plate to move. The mechanical grinding module 10 includes a robotic arm, which is installed on the surface of the placement plate and fixedly connected to the placement plate. The robotic arm is connected to an adaptive grinding head, and the robotic arm is used to flexibly move the adaptive grinding head. The adaptive grinding head is used to grind concrete surface defects and original coatings. The robotic arm is equipped with a pressure sensor and can dynamically adjust the grinding depth.

[0026] Example 2 like Figure 1 、 Figure 2 and Figure 4 As shown, an embodiment of the present invention provides a modular negative pressure adsorption wall-climbing robot 1 for concrete grinding, flushing and spraying, comprising: a wall-climbing robot 1 and a high-pressure airless spraying module 9, a track 4 is provided on the side of the wall-climbing robot 1, and a mounting assembly 6 is provided on one side of the wall-climbing robot 1, and the mounting assembly 6 is used to install the high-pressure airless spraying module 9, and a protective plate 5 is provided on the outside of the track 4. The wall-climbing robot 1 adopts the wall-climbing robot 1 main body in the prior art, which is used to drive the above-mentioned module to move, and the high-pressure airless spraying module 9 is used to spray coating on the concrete surface.

[0027] What needs to be further explained in this embodiment is that the top of the wall-climbing robot 1 is provided with a guardrail 2, and the guardrail 2 is arranged in an elliptical ring shape. The surface of the wall-climbing robot 1 inside the guardrail 2 is provided with several top exhaust ports 3, and the bottom of the wall-climbing robot 1 is provided with several suction cups, and the suction cups are connected to the exhaust ports, and the exhaust ports are used for exhaust work when the suction cups are adsorbed. The wall-climbing robot 1 is provided with a robot integrated dual-camera acquisition terminal 11 on one side of the mounting component 6, and the robot integrated dual-camera acquisition terminal 11 is equipped with several lighting panels, and each of the lighting panels is provided with several lighting beads on its surface.

[0028] What needs to be further explained in this embodiment is that the mounting assembly 6 includes a mounting base 601, and the mounting base 601 is fixedly connected to the wall-climbing robot 1. The mounting base 601 is provided with two pieces, and magnets 603 are provided on the tops of the two mounting bases 601. Two sliding grooves are provided on the sides of the two mounting bases 601 away from each other, and a sliding rod 604 is provided inside each of the sliding grooves. A positioning plate 602 is slidably sleeved on the surface of each sliding rod 604, and the positioning plate 602 is slidably connected to the sliding rod 604. A tightening screw is provided on the side of the positioning plate 602. Bolt 605, the tightening bolt 605 passes through the side of the mounting base plate 601 and contacts the positioning plate 602, the tightening bolt 605 is used to limit the position of the positioning plate 602, the positioning plate 602 is set at a right angle, and two positioning holes are opened on the surface of the positioning plate 602, and the two positioning holes are respectively located at the two right-angled sides of the positioning plate 602. The high-pressure airless spray module 9 is equipped with a functional component 7, which is used to install the high-pressure airless spray module 9 on the mounting component 6. The functional component 7 includes a mounting plate 701, a baffle 704 and a side block 702. The mounting plate 701 is in contact with the mounting base plate 601, and another magnet 603 is provided at the bottom of the mounting plate 701. The other magnet 603 at the bottom of the mounting plate 701 is connected to the magnet 603 at the top of the mounting base plate 601. Two baffles 704 are provided. Both baffles 704 are located on the side of the mounting plate 701 away from the wall-climbing robot 1. The baffles 704 are fixedly connected to the mounting plate 701. Side blocks 702 are provided on both sides of the mounting plate 701 and the bottoms of the two baffles 704. The side blocks 702 match the positioning plate 602. A fixing bolt 703 is provided inside the side block 702, and the fixing bolt 703 passes through the side block 702 and is threadedly connected to the positioning hole of the positioning plate 602. A functional plate 705 is provided on the side of the mounting plate 701 away from the wall-climbing robot 1. A moving groove is provided inside the functional plate 705, and a slide rail 706 is provided inside the moving groove. The surface of the slide rail 706 is slidably connected to a placement plate, and a control box 708 is provided on the surface of the placement plate. A reciprocating motor 707 is provided between the side of the placement plate and the moving groove, and the reciprocating motor 707 is used to drive the placement plate to move.

[0029] What needs to be further explained in this embodiment is that the high-pressure airless spray module 9 is equipped with a spray bracket, which is installed on the surface of the placement plate and fixedly connected to the placement plate. The spray bracket is equipped with an airless sprayer and a spray gun for mobile spraying operations. The spraying efficiency is ≥200㎡ / h, and the coating uniformity error is ≤5%. The robot integrates a dual-camera acquisition terminal 11, supports 1080P high-definition imaging and 81°-100° field of view environmental monitoring, and the wall-climbing robot 1 is equipped with an anti-fall redundant adsorption mechanism, an emergency stop button and a real-time monitoring system.

[0030] Example 3 like Figure 1 、 Figure 2 and Figure 3 As shown, an embodiment of the present invention provides a modular negative pressure adsorption wall-climbing robot 1 for concrete grinding, flushing and spraying, comprising: a wall-climbing robot 1 and a high-pressure flushing module 8, wherein a track 4 is provided on the side of the wall-climbing robot 1, and a mounting assembly 6 is provided on one side of the wall-climbing robot 1, wherein the mounting assembly 6 is used to install the high-pressure flushing module 8, and a protective plate 5 is provided on the outer side of the track 4. The wall-climbing robot 1 adopts the wall-climbing robot 1 main body in the prior art, which is used to drive the above-mentioned modules to move, and the high-pressure flushing module 8 is used to clean the loose soil and loose layer on the concrete surface.

[0031] What needs to be further explained in this embodiment is that the top of the wall-climbing robot 1 is provided with a guardrail 2, and the guardrail 2 is arranged in an elliptical ring shape. The surface of the wall-climbing robot 1 inside the guardrail 2 is provided with several top exhaust ports 3, and the bottom of the wall-climbing robot 1 is provided with several suction cups, and the suction cups are connected to the exhaust ports, and the exhaust ports are used for exhaust work when the suction cups are adsorbed. The wall-climbing robot 1 is provided with a robot integrated dual-camera acquisition terminal 11 on one side of the mounting component 6, and the robot integrated dual-camera acquisition terminal 11 is equipped with several lighting panels, and each of the lighting panels is provided with several lighting beads on its surface.

[0032] What needs to be further explained in this embodiment is that the mounting assembly 6 includes a mounting base 601, and the mounting base 601 is fixedly connected to the wall-climbing robot 1. The mounting base 601 is provided with two pieces, and a magnet 603 is provided on the top of the two mounting bases 601. Two sliding grooves are provided on the side away from each other of the two mounting bases 601, and a sliding rod 604 is provided inside each of the sliding grooves. A positioning plate 602 is slidably sleeved on the surface of each sliding rod 604, and the positioning plate 602 is slidably connected to the sliding rod 604. The side of the positioning plate 602 is provided with a tightening Bolt 605, the tightening bolt 605 passes through the side of the mounting base plate 601 and contacts the positioning plate 602, the tightening bolt 605 is used to limit the position of the positioning plate 602, the positioning plate 602 is set at a right angle, and two positioning holes are opened on the surface of the positioning plate 602, and the two positioning holes are respectively located at the two right-angled sides of the positioning plate 602. The high-pressure flushing module 8 is equipped with a functional component 7, which is used to install the high-pressure flushing module 8 on the mounting component 6. The functional component 7 includes a mounting plate 701, a baffle 704 and a side block 702. The mounting plate 701 is in contact with the mounting base plate 601, and another magnet 603 is provided at the bottom of the mounting plate 701. The other magnet 603 at the bottom of the mounting plate 701 is connected to the magnet 603 at the top of the mounting base plate 601. The baffle 704 is provided with two pieces. Both baffles 704 are located on the side of the mounting plate 701 away from the wall-climbing robot 1. The baffle 704 is fixedly connected to the mounting plate 701. Side blocks 702 are provided on both sides of the mounting plate 701 and the bottoms of the two baffles 704. The side blocks 702 match with the positioning plate 602. A fixing bolt 703 is provided inside the side block 702, and the fixing bolt 703 passes through the side block 702 and is threadedly connected to the positioning hole of the positioning plate 602. A functional plate 705 is provided on the side of the mounting plate 701 away from the wall-climbing robot 1, and a moving groove is provided inside the functional plate 705. A slide rail 706 is provided inside the moving groove. The surface of the slide rail 706 is slidably connected to a placement plate, and a control box 708 is provided on the surface of the placement plate. A reciprocating motor 707 is provided between the side of the placement plate and the moving groove, and the reciprocating motor 707 is used to drive the placement plate to move.

[0033] What needs to be further explained in this embodiment is that the high-pressure flushing module 8 is equipped with a high-pressure flushing bracket, which is installed on the surface of the placement plate and fixedly connected to the placement plate. The high-pressure flushing bracket is equipped with an integrated high-pressure nozzle with a working pressure range of 20-30MPa, which can remove surface dust and loose layers. The nozzle angle of the integrated high-pressure nozzle is adjustable and can withstand the recoil force brought by the high-pressure water gun nozzle.

[0034] How it works As needed, connect the mechanical grinding module 10, the high-pressure airless spraying module 9 or the high-pressure flushing module 8 to the wall-climbing drone, make the mounting plate 701 contact the mounting base plate 601, and make the positioning plate 602 slide on the surface of the slide bar 604, adjust the position of the positioning plate 602, and when the position of the positioning plate 602 corresponds to the position of the side block 702, fix the position of the positioning plate 602 by tightening the bolt 605, so that the side block 702 is matched with the positioning block, and then connect the side block 702 with the positioning block by fixing the bolt 703. When the module needs to be replaced, repeat the above operation, so that the wall-climbing robot 1 can realize the grinding function, high-pressure flushing function and spraying function.

[0035] The technical solution provided by the present invention integrates grinding, high-pressure flushing and spraying functions into the main body of the wall-climbing robot through modular design, and realizes painting operations on the concrete surface through negative pressure adsorption, breaking through traditional limitations and realizing safe, efficient and precise intelligent construction.

[0036] The present invention encompasses any alternatives, modifications, equivalents, and solutions that fall within the spirit and scope of the present invention. To provide a thorough understanding of the present invention, specific details are described in detail below in connection with the preferred embodiments of the present invention, but those skilled in the art will be able to fully understand the present invention without these detailed descriptions. Furthermore, to avoid unnecessary confusion regarding the essence of the present invention, well-known methods, processes, procedures, components, and circuits have not been described in detail.

[0037] Those skilled in the art will understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc.

[0038] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. Modular negative pressure adsorption wall climbing robot for concrete grinding, washing and spraying, characterized by: include: A wall-climbing robot (1), a mechanical grinding module (10), a high-pressure airless spraying module (9) and a high-pressure flushing module (8), wherein a crawler (4) is provided on the side of the wall-climbing robot, a mounting assembly (6) is provided on one side of the wall-climbing robot, and the mounting assembly (6) is used to install the mechanical grinding module (10), the high-pressure airless spraying module (9) and the high-pressure flushing module (8), and a protective plate (5) is provided on the outer side of the crawler (4). The wall-climbing robot (1) adopts a wall-climbing robot body (1) in the prior art, which is used to drive the above modules to move, the mechanical grinding module (10) is used to grind concrete surface defects and original coatings, the high-pressure airless spraying module (9) is used to spray coatings on the concrete surface, and the high-pressure flushing module (8) is used to clean floating soil and loose layers on the concrete surface.

2. The modular negative pressure adsorption wall-climbing robot for concrete grinding, washing and spraying according to claim 1 is characterized in that: The top of the wall-climbing robot (1) is provided with a protective edge (2), the protective edge (2) is provided in an elliptical ring shape, the surface of the wall-climbing robot (1) inside the protective edge (2) is provided with a plurality of top exhaust ports (3), the bottom of the wall-climbing robot (1) is provided with a plurality of suction cups, the suction cups are connected to the exhaust ports, and the exhaust ports are used for exhaust work when the suction cups are adsorbed.

3. The modular negative pressure adsorption wall-climbing robot for concrete grinding, washing and spraying according to claim 1 is characterized in that: The wall-climbing robot (1) is provided with a robot integrated dual-camera acquisition terminal (11) on one side of the mounting assembly (6), and the robot integrated dual-camera acquisition terminal (11) is equipped with a plurality of lighting panels, and a plurality of lighting beads are provided on the surface of each lighting panel.

4. The modular negative pressure adsorption wall-climbing robot for concrete grinding, washing and spraying according to claim 1 is characterized in that: The mounting assembly (6) includes a mounting base (601), the mounting base (601) is fixedly connected to the wall-climbing robot (1), and two mounting bases (601) are provided. Magnets (603) are provided on the tops of the two mounting bases (601). Two sliding grooves are provided on the sides of the two mounting bases (601) away from each other. A sliding rod (604) is provided inside each sliding groove. A positioning plate (602) is slidably sleeved on the surface of each sliding rod (604). The plate (602) is slidably connected to the slide rod (604), and a tightening bolt (605) is provided on the side of the positioning plate (602). The tightening bolt (605) passes through the side of the mounting base plate (601) and contacts the positioning plate (602). The tightening bolt (605) is used to limit the position of the positioning plate (602). The positioning plate (602) is set at a right angle, and two positioning holes are opened on the surface of the positioning plate (602), and the two positioning holes are respectively located at two right-angled sides of the positioning plate (602).

5. The modular negative pressure adsorption wall-climbing robot for concrete grinding, washing and spraying according to claim 1 is characterized in that: The mechanical grinding module (10), the high-pressure airless spraying module (9) and the high-pressure flushing module (8) are all equipped with a functional component (7), and the functional component (7) is used to install the mechanical grinding module (10), the high-pressure airless spraying module (9) and the high-pressure flushing module (8) on the mounting component (6). The functional components (7) of the mechanical grinding module (10), the high-pressure airless spraying module (9) and the high-pressure flushing module (8) have the same structure. The functional component (7) includes a mounting plate (701), a baffle (704) and a side block (702). The mounting plate (701) contacts the mounting base plate (601). Another magnet (603) is provided at the bottom of the mounting plate (701). Another magnet (603) at the bottom of (701) is connected to the magnet (603) at the top of the mounting base (601), two baffles (704) are provided, and both baffles (704) are located on the side of the mounting plate (701) away from the wall-climbing robot (1), and the baffles (704) are fixedly connected to the mounting plate (701), and side blocks (702) are provided on both sides of the mounting plate (701) and the bottoms of the two baffles (704), and the side blocks (702) and the positioning plate (602) are matched with each other, and fixing bolts (703) are provided inside the side blocks (702), and the fixing bolts (703) pass through the side blocks (702) and are threadedly connected to the positioning holes of the positioning plate (602).

6. The modular negative pressure adsorption wall-climbing robot for concrete grinding, washing and spraying according to claim 5 is characterized in that: A functional board (705) is provided on the side of the mounting plate (701) away from the wall-climbing robot (1), a movable groove is provided inside the functional board (705), a slide rail (706) is provided inside the movable groove, a placement plate is slidably connected to the surface of the slide rail (706), a control box (708) is provided on the surface of the placement plate, a reciprocating motor (707) is provided between the side surface of the placement plate and the movable groove, and the reciprocating motor (707) is used to drive the placement plate to move.

7. The modular negative pressure adsorption wall-climbing robot for concrete grinding, washing and spraying according to claim 1 is characterized in that: The mechanical grinding module (10) comprises a mechanical arm, the mechanical arm is mounted on the surface of the placement plate and fixedly connected to the placement plate, the mechanical arm is connected to an adaptive grinding head, the mechanical arm is used to flexibly move the adaptive grinding head, the adaptive grinding head is used to grind concrete surface defects and original coatings, and the mechanical arm is equipped with a pressure sensor, which can dynamically adjust the grinding depth.

8. The modular negative pressure adsorption wall-climbing robot for concrete grinding, washing and spraying according to claim 1 is characterized in that: The high-pressure flushing module (8) is equipped with a high-pressure flushing bracket, which is installed on the surface of the placement plate and fixedly connected to the placement plate. The high-pressure flushing bracket is equipped with an integrated high-pressure nozzle with a working pressure range of 20-30 MPa, which can remove surface dust and loose layers. The nozzle angle of the integrated high-pressure nozzle is adjustable and can withstand the recoil force brought by the high-pressure water gun nozzle.

9. The modular negative pressure adsorption wall-climbing robot for concrete grinding, washing and spraying according to claim 1, characterized in that: The high-pressure airless spraying module (9) is equipped with a spraying bracket, which is installed on the surface of the placement plate and fixedly connected to the placement plate. The spraying bracket is equipped with an airless sprayer and a spray gun for mobile spraying operations. The spraying efficiency is ≥200 m2 / h, and the coating uniformity error is ≤5%. The robot is integrated with a dual-camera acquisition terminal (11), which supports 1080P high-definition imaging and 81°-100° field of view environmental monitoring. The wall-climbing robot is equipped with an anti-fall redundant adsorption mechanism, an emergency stop button and a real-time monitoring system.

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