Self-adaptive wall-climbing robot for repairing roof of ancient building

Abstract

The self-adaptive wall-climbing robot comprises a control module, a movement module, a negative pressure device, a material carrying table, a four-degree-of-freedom mechanical arm and a plurality of adsorption modules, the movement module is installed on the negative pressure device, and the material carrying table and the four-degree-of-freedom mechanical arm are both installed on the movement module; the multiple adsorption modules are installed on the movement module and connected with the negative pressure device, and the control module is installed on the negative pressure device. The control module controls the movement module to move, so that the adsorption module is driven to move and adsorb, automatic crawling of the robot is achieved, and the adsorption module is used for adapting to different curved surfaces. By arranging the adsorption module and the movement module, walking of the robot on the roof is achieved, the robot can walk forwards, backwards, leftwards and rightwards through the movement module, the adsorption module can firmly adsorb the roof, and the situation that the robot loosens and influences safety is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to an adaptive wall-climbing robot used for repairing ancient building roofs. Background Art

[0002] Long-term exposure to the elements exposes the roofs of ancient buildings to multiple threats of damage: erosion from wind and rain causes tiles to loosen and mortar to peel; drastic changes in temperature and humidity cause material expansion and contraction, leading to cracks in joints; biological attack (such as moss growth and insect infestation) accelerates the decay of the wooden base; and modern industrial pollution exacerbates acid rain, further weakening the roof's structural stability. If not repaired promptly, localized damage will gradually develop into overall roof leakage. Rainwater intrusion into the wooden structure can cause joints to fall apart, beams and columns to mold, and even lead to unbalanced building loads and roof collapse, causing irreversible damage to cultural heritage.

[0003] Currently, restoration mainly relies on traditional manual climbing operations, but high-altitude climbing is extremely risky and manual operation is inefficient. The restoration of a single hip roof takes up to 6 months, and labor costs account for more than 40% of the total budget. At the same time, scaffolding construction can easily cause secondary damage to fragile tiles and carved components.

[0004] Despite the recent emergence of mechanized auxiliary equipment, such as drones for ancient building inspections, their capabilities are limited to disease detection, with flight times of less than an hour, inability to operate in windy conditions, and a lack of repair capabilities. Existing wall-climbing robots require a ferromagnetic substrate for magnetic adsorption, which conflicts with the non-magnetic roofing mechanisms of ancient buildings. Bionic adsorption relies on molecular contact on a clean surface, but dust and weathering on ancient roofs can cause adhesion failure. While negative pressure adsorption is universally applicable, it requires a flat surface to maintain a sealed cavity. The curved surface structure of ancient tile roofs (such as the curved stacking of tubular tiles) can easily lead to negative pressure leakage and adsorption failure.

[0005] Patent publication number CN105015640B discloses a wall inspection and rescue robot and its control method. The overall structure comprises a robot body, a control system, and a rooftop safety protection system. The robot body includes a rotating platform, drive wheels, a drive motor, suction cups, a robotic arm, a camera, and a spraying device. The rooftop safety protection system includes a follower trolley, a hoisting mechanism, and a steel wire rope, which bears part of the system's weight and moves with the robot. Although this patent also uses suction cups for suction, this method cannot be applied to complex curved surfaces.

[0006] Therefore, providing an adaptive wall-climbing robot suitable for repairing the roofs of ancient buildings is an issue that urgently needs to be solved. Summary of the Invention

[0007] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide an adaptive wall-climbing robot for repairing the roofs of ancient buildings.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] According to one aspect of the present invention, an adaptive wall-climbing robot for repairing ancient building roofs is provided, comprising a control module, a motion module, a negative pressure device, a loading platform, a four-degree-of-freedom robotic arm, and a plurality of adsorption modules, wherein the motion module is mounted on the negative pressure device, the loading platform and the four-degree-of-freedom robotic arm are both mounted on the motion module, the plurality of adsorption modules are respectively mounted on the motion module and connected to the negative pressure device, and the control module is mounted on the negative pressure device;

[0010] The control module controls the movement of the motion module, thereby driving the adsorption module to move and adsorb, so as to realize the automatic crawling of the robot. The adsorption module is used to adapt to different curved surfaces.

[0011] As a preferred technical solution, each of the adsorption modules includes a linear push rod, a push rod fixing part, a push rod linkage base, a probe rod and a spring. A spring mounting hole is provided inside the push rod linkage base. The linear push rod is installed on the push rod linkage base. The push rod fixing part is installed on the linear push rod. The spring and the probe rod are both installed in the spring mounting hole. The spring is respectively connected to the probe rod and the push rod linkage base.

[0012] As a preferred technical solution, each of the adsorption modules also includes two adsorption units, each of which includes a trachea joint, a hardware joint socket, a hardware joint and an accordion suction cup. The trachea joint is connected to the hardware joint socket, the hardware joint is installed in the hardware joint socket, and the accordion suction cup is connected to the hardware joint.

[0013] As a preferred technical solution, each of the adsorption modules also includes a Z-shaped hinge, a torsion spring and a rope. The torsion spring is installed in the Z-shaped hinge. The hardware joint sockets of the two adsorption units are respectively connected through the Z-shaped hinge and the push rod linkage base. The rope is installed on the probe rod and is respectively connected to the hardware joint sockets of the two adsorption units.

[0014] As a preferred technical solution, the motion module includes an X-direction ball screw and a Y-direction ball screw, and the X-direction ball screw and the Y-direction ball screw are perpendicular to each other.

[0015] As an optimal technical solution, the motion module also includes an X-axis motor connecting seat, a Y-axis bearing seat, a Y-axis motor connecting seat and a loading platform fixing plate. The X-axis motor connecting seat is installed at one end of the X-axis ball screw, and the X-axis bearing seat is installed at the other end of the X-axis ball screw; the Y-axis bearing seat and the Y-axis motor connecting seat are respectively installed at both ends of the Y-axis ball screw, the loading platform fixing plate is installed on the Y-axis ball screw, and the loading platform is installed on the loading platform fixing plate.

[0016] As a preferred technical solution, the X-direction motor connecting seat includes a first connecting seat and a second connecting seat, and the first connecting seat and the second connecting seat are connected.

[0017] As an optimal technical solution, the motion module also includes a slide connector, two slides and two stepper motors, the two stepper motors are respectively installed on the X-axis motor connector and the Y-axis motor connector, the two slides are respectively installed on the X-axis ball screw and the Y-axis ball screw, and the two slides are connected by a slide connector.

[0018] As a preferred technical solution, the negative pressure device includes multiple groups of vacuum pumps and multiple groups of air pipes, and the vacuum pumps and adsorption modules are arranged in a one-to-one correspondence and connected through air pipes.

[0019] As a preferred technical solution, the loading platform includes a loading box and a loading box fixing plate, the loading box fixing plate is installed on the loading box, and the loading box is installed on the motion module through the loading box fixing plate.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention realizes the walking of the robot on the roof by setting an adsorption module and a motion module. The motion module enables the robot to walk forward, backward, left and right, and the adsorption module can firmly adsorb the roof to prevent the robot from loosening and affecting safety.

[0022] 2. The adsorption module of the present invention adopts a passive adaptive adsorption design. The adsorption module feeds back the tile curvature through the trigger probe, drives the suction cup to rotate and adjust its posture around the Z-shaped hinge axis, so that the bottom surface of the suction cup and the convex surface of the tubular tile form a full-circle fit, effectively reducing the adsorption instability caused by edge leakage; for the reverse curvature surface of the inverted tile, the trigger probe of the adsorption module will not be triggered, avoiding redundant action interference.

[0023] 3. The motion module of the present invention is composed of two motors and mutually perpendicular ball screws. Only two motors are needed to realize the movement of the robot in four directions: front, back, left, and right, which reduces the number of motors while taking into account the freedom of movement and lightweight.

[0024] 4. The present invention adopts a decentralized module direct connection design, abandons the complex fuselage frame, and realizes the direct interconnection of the adsorption module, control module, motion module, negative pressure device, loading platform, and four-degree-of-freedom robotic arm through various connecting parts, significantly reducing the weight of the whole machine and the complexity of assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2Schematic diagram of the overall structure of the adsorption module of the present invention;

[0027] Figure 3 This is a connection diagram of the adsorption module of the present invention;

[0028] Figure 4 Schematic diagram of the overall structure of the motion module of the present invention;

[0029] Figure 5 It is a front view of the motion module of the present invention;

[0030] Figure 6 This is a motion diagram of the adsorption module of the present invention during the adsorption process of the cylindrical tile;

[0031] Figure 7 This is a motion diagram of the adsorption module of the present invention being separated from the tubular tile;

[0032] Figure 8 This is a schematic diagram of a scene in which the adsorption module of the present invention adsorbs the cylindrical tile;

[0033] Figure 9 This is a schematic diagram of a scene in which the adsorption module of the present invention adsorbs tiles;

[0034] Figure 10 is a cross-sectional view of the negative pressure device of the present invention;

[0035] Figure 11 It is a structural schematic diagram of the loading platform of the present invention;

[0036] 1. Adsorption module, 2. Motion module, 3. Negative pressure device, 4. Loading platform, 5. Four-degree-of-freedom robotic arm, 101. Linear push rod, 102. Push rod fixing part, 103. Push rod linkage base, 104. Probe rod, 105. Air pipe joint, 106. Hardware joint holder, 107. Hardware joint, 108. Organ suction cup, 109. Z-shaped hinge, 110. Torsion spring, 111. Spring, 112. Rope, 20 1. First connecting seat, 202. Second connecting seat, 203. Stepper motor, 204. X-axis bearing seat, 205. X-axis ball screw, 206. Y-axis bearing seat, 207. Y-axis motor connecting seat, 208. Y-axis ball screw, 209. Slide connector, 210. Loading platform fixing plate, 301. Upper shell, 302. Lower shell, 303. Vacuum pump, 401. Loading box, 402. Loading box fixing plate. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0038] The purpose of the present invention is to provide an adaptive wall-climbing robot for repairing the roofs of ancient buildings, aiming to solve the problems of low efficiency and high risk of traditional manual high-altitude repair, and the incompatibility of existing wall-climbing robots with the complex environment of ancient building roofs due to their adsorption mechanism.

[0039] The present invention provides an adaptive wall-climbing robot for repairing the roofs of ancient buildings; the present invention realizes the walking of the robot on the roof by setting an adsorption module and a motion module. The motion module enables the robot to walk forward, backward, left and right, and the adsorption module can firmly adsorb the roof to prevent the robot from loosening and affecting safety. The adsorption module of the present invention adopts a passive adaptive adsorption design. The adsorption module feedbacks the curvature of the tile through the trigger probe, drives the suction cup to rotate and adjust the posture around the Z-shaped hinge axis, so that the bottom surface of the suction cup and the convex surface of the tubular tile form a full-circle fit, effectively reducing the adsorption instability caused by edge leakage; for the reverse curvature surface of the inverted tile, the trigger probe of the adsorption module will not be triggered, avoiding redundant action interference. The motion module of the present invention is composed of two motors and mutually perpendicular ball screws. Only two motors are needed to realize the movement of the robot in four directions of front, back, left and right, reducing the number of motors while taking into account the freedom of movement and lightweight. The present invention adopts a decentralized module direct connection design, abandons the complex fuselage frame, and realizes the direct interconnection of the adsorption module, control module, motion module, negative pressure device, loading platform, and four-degree-of-freedom robotic arm through various connecting parts, significantly reducing the weight of the whole machine and the complexity of assembly.

[0040] Example 1

[0041] like Figure 1 As shown, an adaptive wall-climbing robot for repairing the roof of an ancient building includes a control module, a motion module 2, a negative pressure device 3, a loading platform 4, a four-degree-of-freedom robotic arm 5, and multiple adsorption modules 1. The motion module 2 is mounted on the negative pressure device 3, the loading platform 4 and the four-degree-of-freedom robotic arm 5 are both mounted on the motion module 2, the multiple adsorption modules 1 are respectively mounted on the motion module 2 and connected to the negative pressure device 3, and the control module is mounted on the negative pressure device 3;

[0042] The control module controls the movement of the motion module 2, thereby driving the adsorption module 1 to move and adsorb, so as to realize the automatic crawling of the robot. The adsorption module 1 is used to adapt to different curved surfaces.

[0043] In this embodiment, the wall-climbing robot consists of an adsorption module 1, a motion module 2, a negative pressure device 3, a loading platform 4, and a four-degree-of-freedom robotic arm 5. Each module adopts a decentralized direct connection architecture. The adsorption module 1 is distributed at the four ends of the motion module 2, and realizes surface adaptive adsorption through the accordion suction cup 14 and the mechanical linkage structure; the motion module 2 is driven by an X / Y orthogonal ball screw to achieve bidirectional translation; the negative pressure device 3 is located in the middle of the fuselage, and provides an independent and controllable negative pressure source for the adsorption module through four groups of vacuum pumps 303. The vacuum pumps 303 are miniature vacuum pumps with small size and easy installation; the loading platform 4 is fixed above the motion module and carries the repair mortar material; the end of the four-degree-of-freedom robotic arm 5 is integrated with a repair scraper to perform material collection, plastering, and grouting tasks.

[0044] like Figure 2 and Figure 3 As shown, each of the adsorption modules 1 includes a linear push rod 101, a push rod fixing member 102, a push rod linkage base 103, a probe rod 104 and a spring 111. A spring mounting hole is provided inside the push rod linkage base 103. The linear push rod 101 is installed on the push rod linkage base 103. The push rod fixing member 102 is installed on the linear push rod 101. The spring 111 and the probe rod 104 are both installed in the spring mounting hole. The spring 111 is respectively connected to the probe rod 104 and the push rod linkage base 103.

[0045] Each of the adsorption modules 1 also includes two adsorption units, each of which includes an air pipe joint 105, a hardware joint holder 106, a hardware joint 107 and an accordion suction cup 108. The air pipe joint 105 is connected to the hardware joint holder 106, the hardware joint 107 is installed in the hardware joint holder 106, and the accordion suction cup 108 is connected to the hardware joint 107.

[0046] Each of the adsorption modules 1 also includes a Z-shaped hinge 109, a torsion spring 110 and a rope 112. The torsion spring 110 is installed in the Z-shaped hinge 109. The hardware joint sockets 106 of the two adsorption units are respectively connected to the push rod linkage base 103 through the Z-shaped hinge 109. The rope 112 is installed on the probe rod 104 and is respectively connected to the hardware joint sockets 106 of the two adsorption units.

[0047] In this embodiment, the adsorption module 1 of the wall-climbing robot provided in the embodiment is the core component of the robot's stable adsorption. Each adsorption module includes a linear push rod 101, a push rod linkage base 103, a Z-shaped hinge 109 and a hardware joint holder 106. The linear push rod 101 is connected to the motion module through a push rod fixing member 102, and the end is embedded in the groove of the push rod linkage base 103; a spring 111 is provided inside the push rod linkage base 103, one end of the spring is connected to the trigger probe 104, and the other end is fixed to the inner wall of the base; the Z-shaped hinge 109 connects the push rod linkage base 103 and the hardware joint holder 106, and a torsion spring 110 is embedded inside it to provide adaptive rebound force; a hardware joint 107 is installed in the hardware joint holder 106, the lower end is fixed with the accordion suction cup 14, and the upper end is connected to the negative pressure device through the air pipe joint 105.

[0048] Working process: When the wall-climbing robot needs to contact the tile surface, the linear push rod 101 extends, the trigger probe 104 is compressed and retracted, the spring 111 is compressed and stores energy, and the metal fitting holder 106 is pulled by the rope 112 to rotate around the axis of the Z-shaped hinge 109, so that the bottom surface of the accordion suction cup 14 adapts to the curvature of the tile. At this time, the negative pressure device 3 is started, and a stable dynamic negative pressure is formed in the suction cup to achieve firm adsorption; when disengaged, the negative pressure device 3 stops, the negative pressure is released, the linear push rod 101 retracts, the spring 111 releases potential energy to push the trigger probe 104 to reset, and the torsion spring 110 drives the suction cup to withdraw. For the curved surface of the cylindrical tile ( Figure 8 ), the trigger probe 104 is pressed to drive the suction cup to rotate and adjust its posture, and the edge of the suction cup fits the whole circumference of the barrel tile to reduce the air leakage rate; for the inverted tile surface ( Figure 9 ), the suction cup maintains its initial posture, and the negative pressure acts directly on the tile surface without the need for mechanical adjustment.

[0049] like Figure 4 and Figure 5 As shown, the motion module 2 includes an X-direction ball screw 205 and a Y-direction ball screw 208 , and the X-direction ball screw 205 and the Y-direction ball screw 208 are perpendicular to each other.

[0050] The motion module 2 also includes an X-axis motor connecting seat, a Y-axis bearing seat 206, a Y-axis motor connecting seat 207 and a loading platform fixing plate 210. The X-axis motor connecting seat is installed at one end of the X-axis ball screw 205, and the X-axis bearing seat 204 is installed at the other end of the X-axis ball screw 205; the Y-axis bearing seat 206 and the Y-axis motor connecting seat 207 are respectively installed at both ends of the Y-axis ball screw 208, the loading platform fixing plate 210 is installed on the Y-axis ball screw 208, and the loading platform 4 is installed on the loading platform fixing plate 210.

[0051] The X-direction motor connecting seat includes a first connecting seat 201 and a second connecting seat 202 , and the first connecting seat 201 and the second connecting seat 202 are connected.

[0052] The motion module 2 also includes a slide connector 209, two slides and two stepper motors 203, the two stepper motors 203 are respectively installed on the X-axis motor connector and the Y-axis motor connector 207, the two slides are respectively installed on the X-axis ball screw 205 and the Y-axis ball screw 208, and the two slides are connected via the slide connector 209.

[0053] In this embodiment, the motion module 2 of the wall-climbing robot provided adopts an orthogonal dual ball screw layout, specifically including an X-axis ball screw 205, a Y-axis ball screw 208, a stepper motor 203, and a loading platform fixing plate 210. The X-axis ball screw 205 is connected to the stepper motor 203 at both ends through a first connecting seat 201 and a second connecting seat 202, and radially supported by an X-axis bearing seat 204; the Y-axis ball screw 208 is connected to the stepper motor 203 through a Y-axis motor connecting seat 207 and is limited by a Y-axis bearing seat 206; a slide connector 209 is perpendicularly connected to the X / Y-axis screws to form a planar motion frame; and a loading platform fixing plate 210 is fixed above the Y-axis screw for mounting the loading platform 4.

[0054] Motion control logic: The stepper motor 203 drives the X / Y screw to rotate, enabling the robot to translate in a single direction. During single-axis motion, the adsorption modules at both ends of the motion direction remain in operation to provide stable adsorption force, while the adsorption modules at both ends perpendicular to the motion direction suspend work (the accordion suction cups release pressure and disengage). By alternately starting and stopping the X / Y motors, the robot moves forward in a creeping mode of "adsorption-movement-re-adsorption".

[0055] like Figure 6-Figure 9As shown, the entire workflow of the wall-climbing robot is as follows: the operator uses a drone to place the wall-climbing robot at the starting point of the roof. When the wall-climbing robot is about to contact the roof tiles, four sets of linear push rods 101 extend synchronously, pushing the trigger probe 104 to contact the tile surface. The probe 104 retracts under the reaction force, compressing the internal spring 111 and pulling the rope 112, driving the hardware joint holder 106 to rotate around the axis of the Z-shaped hinge 109, driving the accordion suction cup 108 to adaptively adjust the inclination angle. For the curved surface of the tubular tile, the suction cup 108 rotates to form a full-circle fit between the rubber sealing lip and the convex surface of the tile, reducing edge leakage. For the flat surface or low-curvature area of ​​the inverted plate tile, the built-in torsion spring 110 of the Z-shaped hinge 109 automatically locks the rotational freedom, keeping the suction cup 108 in a vertical suction state. After the bonding is completed, the vacuum pump 303 simultaneously evacuates the four sets of suction cups 108 through independent air circuits to complete the suction. Based on a preset map or images captured by a drone's onboard camera, the wall-climbing robot crawls along the roof. Upon reaching the repair point, the robotic arm 5 retrieves materials from the loading platform 4 and sequentially performs repair processes such as plastering and grouting. After completing the repair at the current point, the wall-climbing robot continues to the next one, achieving continuous movement by alternating the X / Y-axis ball screws (the suction cups in the non-moving direction are stopped during movement). Once the entire roof is repaired, the suction module 1 releases suction, and the drone retrieves the wall-climbing robot.

[0056] like Figure 10 As shown, the negative pressure device 3 includes multiple groups of vacuum pumps 303 and multiple groups of air pipes. The vacuum pumps 303 and the adsorption modules 1 are arranged in a one-to-one correspondence and are connected through air pipes.

[0057] In this embodiment, the wall-climbing robot's negative pressure device 3 consists of an upper housing 301, a lower housing 302, and four sets of vacuum pumps 303. The upper housing 301 is fixed below the X-axis lead screw, while the lower housing 302 is connected to the upper housing. Four sets of air holes are provided in its sidewalls for the passage of air pipes. Each set of vacuum pumps 303 is independently connected to the accordion suction cups 14 of the suction module via air pipes, enabling single-point negative pressure regulation. During the suction phase, the vacuum pumps 303 are activated; during the release phase, the vacuum pumps stop, releasing air pressure, and the suction cups release.

[0058] like Figure 11 As shown, the loading platform 4 includes a loading box 401 and a loading box fixing plate 402 . The loading box fixing plate 402 is installed on the loading box 401 . The loading box 401 is installed on the motion module 2 through the loading box fixing plate 402 .

[0059] In this embodiment, the wall-climbing robot's loading platform 4 consists of a loading box 401 and a loading box mounting plate 402. The loading box can hold gypsum-based putty or traditional mortar. A four-degree-of-freedom robotic arm 5 is mounted above the Y-axis lead screw. The robot's operation process is as follows: the robotic arm 5 rotates above the loading box 401, where a scraper collects a fixed amount of material before moving to the desired repair location. Once the repair is complete, the robotic arm 5 folds back to avoid interference with other movements.

[0060] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. An adaptive wall-climbing robot for repairing ancient building roofs, characterized in that: The invention comprises a control module, a motion module (2), a negative pressure device (3), a loading platform (4), a four-degree-of-freedom mechanical arm (5), and a plurality of adsorption modules (1), wherein the motion module (2) is mounted on the negative pressure device (3), the loading platform (4) and the four-degree-of-freedom mechanical arm (5) are both mounted on the motion module (2), the plurality of adsorption modules (1) are respectively mounted on the motion module (2) and connected to the negative pressure device (3), and the control module is mounted on the negative pressure device (3); The control module controls the movement of the motion module (2), thereby driving the adsorption module (1) to move and adsorb, so as to realize the automatic crawling of the robot. The adsorption module (1) is used to adapt to different curved surfaces.

2. The adaptive wall-climbing robot for ancient building roof restoration according to claim 1, characterized in that: Each adsorption module (1) comprises a linear push rod (101), a push rod fixing member (102), a push rod linkage base (103), a probe rod (104) and a spring (111); a spring mounting hole is provided inside the push rod linkage base (103); the linear push rod (101) is mounted on the push rod linkage base (103); the push rod fixing member (102) is mounted on the linear push rod (101); the spring (111) and the probe rod (104) are both mounted in the spring mounting hole; and the spring (111) is respectively connected to the probe rod (104) and the push rod linkage base (103).

3. The adaptive wall-climbing robot for ancient building roof restoration according to claim 2, characterized in that: Each adsorption module (1) further comprises two adsorption units, each of which comprises an air pipe joint (105), a hardware joint holder (106), a hardware joint (107) and an organ suction cup (108); the air pipe joint (105) is connected to the hardware joint holder (106); the hardware joint (107) is installed in the hardware joint holder (106); and the organ suction cup (108) is connected to the hardware joint (107).

4. The adaptive wall-climbing robot for ancient building roof restoration according to claim 3, characterized in that: Each adsorption module (1) further comprises a Z-shaped hinge (109), a torsion spring (110) and a rope (112); the torsion spring (110) is installed in the Z-shaped hinge (109); the hardware joint holders (106) of the two adsorption units are respectively connected to the push rod linkage base (103) via the Z-shaped hinge (109); the rope (112) is installed on the probe rod (104) and respectively connected to the hardware joint holders (106) of the two adsorption units.

5. The adaptive wall-climbing robot for ancient building roof restoration according to claim 1, characterized in that: The motion module (2) comprises an X-direction ball screw (205) and a Y-direction ball screw (208), wherein the X-direction ball screw (205) and the Y-direction ball screw (208) are perpendicular to each other.

6. The adaptive wall-climbing robot for ancient building roof restoration according to claim 5, characterized in that: The motion module (2) further comprises an X-direction motor connection seat, a Y-direction bearing seat (206), a Y-direction motor connection seat (207) and a loading platform fixing plate (210), wherein the X-direction motor connection seat is mounted on one end of the X-direction ball screw (205), and the X-direction bearing seat (204) is mounted on the other end of the X-direction ball screw (205); the Y-direction bearing seat (206) and the Y-direction motor connection seat (207) are respectively mounted on the two ends of the Y-direction ball screw (208), the loading platform fixing plate (210) is mounted on the Y-direction ball screw (208), and the loading platform (4) is mounted on the loading platform fixing plate (210).

7. The adaptive wall-climbing robot for ancient building roof restoration according to claim 6, characterized in that: The X-direction motor connecting seat comprises a first connecting seat (201) and a second connecting seat (202), and the first connecting seat (201) and the second connecting seat (202) are connected.

8. The adaptive wall-climbing robot for repairing ancient building roofs according to claim 6, characterized in that: The motion module (2) further comprises a slide connector (209), two slides and two stepper motors (203), wherein the two stepper motors (203) are respectively mounted on an X-direction motor connector and a Y-direction motor connector (207), and the two slides are respectively mounted on an X-direction ball screw (205) and a Y-direction ball screw (208), and the two slides are connected via the slide connector (209).

9. The adaptive wall-climbing robot for ancient building roof restoration according to claim 1, characterized in that: The negative pressure device (3) comprises multiple groups of vacuum pumps (303) and multiple groups of air pipes. The vacuum pumps (303) and the adsorption modules (1) are arranged in a one-to-one correspondence and are connected via the air pipes.

10. The adaptive wall-climbing robot for ancient building roof restoration according to claim 1, characterized in that: The loading platform (4) comprises a loading box (401) and a loading box fixing plate (402), wherein the loading box fixing plate (402) is mounted on the loading box (401), and the loading box (401) is mounted on the motion module (2) via the loading box fixing plate (402).

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