Outer wall enclosure system mechanical detection wall-climbing robot and detection method

Abstract

The invention discloses an outer wall enclosure system mechanical detection wall-climbing robot and a detection method, the outer wall enclosure system mechanical detection wall-climbing robot comprises a wall-climbing robot body used for walking on an outer wall, and the wall-climbing robot body is connected with a mechanical arm; the drawing detection device is connected with the wall-climbing robot body through a mechanical arm and is used for carrying out mechanical detection on the bonding strength of the external thermal insulation system on the to-be-detected wall, and a communication antenna is arranged on the drawing detection device; the laser range finder is arranged on the wall-climbing robot body and used for positioning the positions of the wall-climbing robot body and the drawing detection device on the outer wall; the controller is arranged on the wall-climbing robot body, and the controller is electrically connected with the wall-climbing robot body, the drawing detection device and the mechanical arm; and the remote controller is in signal connection with the controller through the communication antenna. According to the invention, automatic inspection of the outer wall enclosure system is realized, and the detection precision and inspection efficiency of the outer wall enclosure system are improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical testing technology for exterior wall cladding systems, and more specifically to a wall-climbing robot and testing method for mechanical testing of exterior wall cladding systems. Background Technology

[0002] The exterior wall cladding system is a key component of a building used to separate the indoor and outdoor environments and resist adverse external factors. Its core functions include waterproofing, heat insulation, sound insulation, fire prevention, and decoration. For example, the exterior wall insulation system is a non-load-bearing structure consisting of an insulation layer, a protective layer, and fixing materials (adhesives, anchors, etc.) fixed to the outer surface of the exterior wall. After a certain number of years of use, the exterior wall cladding system often faces the problem of falling off. This is mainly due to the following reasons: (1) Material quality problems: for example, the thickness of the exterior wall insulation system deviates from the design value, the adhesive is low-cost and of poor quality, and the fiberglass mesh has poor alkali resistance and low tensile strength; (2) Construction process defects: for example, the exterior wall insulation system is not firmly bonded to the base layer, the amount of adhesive is insufficient, and the bonding surface does not meet the requirements; (3) Wind load: the wind on the leeward and crosswind sides acts on the exterior wall cladding system, which will generate outward wind suction. This phenomenon has laid a major hidden danger for urban safety.

[0003] Currently, there are various methods for inspecting external wall cladding systems: manual inspection is costly and unsafe, and is prone to accidents. Furthermore, manual inspection methods are susceptible to operational errors due to the operator's skill level and individual ability, making it impossible to guarantee the accuracy of manual inspection and to achieve standardization of external insulation system inspection, thus affecting the inspection results. As for current machine inspection, drones equipped with infrared detection are commonly used, but this method has limited shooting distance, high requirements for inspection environment conditions, and a certain rate of missed detection. Summary of the Invention

[0004] In view of this, the present invention provides a wall-climbing robot and detection method for mechanical testing of external wall cladding systems, so as to at least solve one of the above problems.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A wall-climbing robot for mechanical testing of external wall cladding systems, comprising: A wall-climbing robot body is used to walk on an exterior wall, and a robotic arm is connected to the wall-climbing robot body; A pull-out testing device is connected to the wall-climbing robot body via the robotic arm. It is used to perform mechanical testing on the bonding strength of the external insulation system on the wall to be tested. The pull-out testing device is equipped with a communication antenna. A laser rangefinder is mounted on the wall-climbing robot body and is used to locate the positions of the wall-climbing robot body and the pull-out detection device on the outer wall. A controller is mounted on the wall-climbing robot body and is electrically connected to the wall-climbing robot body, the pull-out detection device, and the robotic arm. A remote controller, wherein the remote controller is signal-connected to the controller via the communication antenna.

[0006] Furthermore, the wall-climbing robot body includes: The chassis has walking mechanisms on both sides, and the robotic arm, the laser rangefinder, and the controller are all mounted on the chassis. A vacuum adsorption mechanism is installed on the chassis and is used to adsorb the chassis onto the exterior wall; The controllers are all electrically connected to the walking mechanism and the vacuum adsorption mechanism.

[0007] Furthermore, each of the walking mechanisms includes: A drive motor is fixed to the rear side of the chassis and electrically connected to the controller. A drive gear is fixed on the drive end of the drive motor. A drive wheel is mounted on one side of the chassis via a drive shaft. A driven gear is fixed on the drive shaft, and the drive gear meshes with the driven gear for transmission. The driven wheel is mounted on the other side of the chassis via a driven shaft, and the driven wheel and the drive wheel are connected by a crawler track.

[0008] Furthermore, a supporting outer shell is fixed to the top of the chassis, and the vacuum adsorption mechanism includes: A suction fan is fixed to the top of the supporting housing and is electrically connected to the controller. An impeller is placed inside the supporting housing and is fixedly connected to the drive end of the suction fan; A vacuum suction cup is fixed to the base plate. The top and bottom of the vacuum suction cup have a vacuum chamber and an adsorption chamber, respectively. The vacuum chamber and the adsorption chamber are connected through a connecting hole. The vacuum chamber is located inside the supporting shell, and the impeller is located inside the vacuum chamber. A sealing skirt is fixed to the bottom surface of the adsorption chamber.

[0009] Furthermore, the pull-out detection device includes: A support plate, one side of which is hinged to the end of the robotic arm; A drive electric cylinder is fixed on the support plate and electrically connected to the controller. The telescopic end of the drive electric cylinder passes through the support plate. A pull rod, one end of which is fixed to the telescopic end of the drive electric cylinder; An external wall connector is provided, wherein the external wall connector is connected to the other end of the tie rod via a tension sensor, the tension sensor is electrically connected to the controller, and the external wall connector can be combined with or separated from the external insulation system on the wall to be tested.

[0010] Furthermore, the external wall connector is an electric suction cup or an adhesive plate.

[0011] This invention also provides a method for mechanical testing of an external wall cladding system, which uses a wall-climbing robot for mechanical testing of external wall cladding systems to perform the following testing steps: S1: The remote controller sends the robot's positioning command to the controller, and the controller controls the movement of the wall-climbing robot to achieve the positioning of the wall-climbing robot on the wall. S2: The remote controller sends a positioning command for the pull-out detection device to the controller, and the controller controls the robotic arm to position the pull-out detection device on the wall to be tested. S3: According to the test load requirements of the wall to be tested, the remote controller sends a test command to the controller. The controller controls the pull-out test device to apply a tensile force to the external insulation system on the wall to be tested for mechanical testing. The test data is stored in the controller in real time and interacts with the remote controller in real time through the communication antenna.

[0012] Furthermore, in S1, the laser rangefinder on the wall-climbing robot body detects in real time the first distance d1 of the left and right boundaries of the wall where the wall-climbing robot body is located relative to the center of the robot, and the second distance d2 of the upper boundary of the wall relative to the center of the robot. The controller adjusts the position of the wall-climbing robot body according to the above distance information, so that the wall-climbing robot body is positioned to the expected position. In S2, the third distance d3 between the center of the pull-out detection device and the center of the robot is detected in real time by the laser rangefinder on the wall-climbing robot body. Based on the above distance information, the controller controls the robotic arm to adjust the position of the pull-out detection device so that the pull-out detection device is positioned at the expected position.

[0013] Furthermore, in S1, let the length of the outer wall be a, and continuously adjust the left and right movement direction of the robot so that the first distance d1 is adjusted to a / 2; let the distance between the upper boundary of the wall and the center of the robot be a threshold T, and continuously adjust the up and down movement direction of the robot so that the second distance d2 is adjusted to T, so that the robot is near the upper edge of the outer wall. In S2, let the width of the outer wall be b. Continuously adjust the extension and retraction length of the robotic arm so that the third distance d3 is adjusted to b / 2+T, so that the pull-out detection device is located at the center of the external insulation system to be inspected.

[0014] Furthermore, the specific steps in S3 are as follows: S31: Determine the test load on the wall to be tested based on the common wind speed rating table; S32: Based on the test load, the operator sends a pull-out test command to the controller via a remote controller. The controller, based on the command, controls the pull-out test device to connect with the external insulation system on the wall to be tested. Then, the pull-out test device provides a certain pull-out force. S33: The tensile force information of the pull-out testing device is exchanged with the remote controller in real time. If the tensile force data of the pull-out testing device can be maintained after reaching the test load, it indicates that the external insulation system has not fallen off and can withstand this level of load, and passes the test under this level of load. However, if the tensile force data of the pull-out testing device fails to reach the required test load, or drops rapidly after reaching the test load, it indicates that the external insulation system has fallen off the base wall, and the external insulation system under test fails the test.

[0015] This application discloses a wall-climbing robot and method for inspecting external wall cladding systems. The robot, along with a pull-out detection device, is positioned using a laser rangefinder and a walking mechanism mounted on it. A vacuum adsorption mechanism then securely attaches the robot to the external wall surface. The pull-out detection device then performs pull-out tests on the external wall cladding system under a specific load level. The test data is stored and exchanged between a controller and a remote control, enabling automated inspection of the external wall cladding system. This improves the inspection accuracy and efficiency, providing a highly efficient and precise technical method for the safety inspection of external insulation systems. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 This is a structural schematic diagram of a wall-climbing machine for mechanical testing of an external wall cladding system, provided by the present invention.

[0018] Figure 2 This is a schematic diagram of the wall-climbing robot.

[0019] Figure 3 This is a schematic diagram of the walking mechanism.

[0020] Figure 4 This is a schematic diagram of the vacuum adsorption mechanism.

[0021] Figure 5 This is a schematic diagram of the pull-out testing device.

[0022] Figure 6 This is a schematic diagram of a robot working scenario. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] The wall-climbing robot for mechanical testing of the external wall cladding system of this invention is mainly used to inspect the bonding strength of the external thermal insulation system adhered to the external wall. The surface of the building exterior wall is generally a flat surface with a large surface area, and the robot needs to have strong adsorption force and high load capacity for pull-out testing. Therefore, the wall-climbing robot in the embodiments of the invention is preferably a tracked negative pressure adsorption wall-climbing robot.

[0025] The specific implementation method is as follows: This invention discloses a wall-climbing robot for mechanical testing of external wall cladding systems, comprising: The wall-climbing robot body 1 is used to walk on the outer wall, and the wall-climbing robot body 1 is connected to the robotic arm 2; Pull-out testing device 3 is connected to the wall-climbing robot body 1 via a robotic arm 2. It is used to perform mechanical testing on the bonding strength of the external insulation system on the wall to be tested. The pull-out testing device 3 is equipped with a communication antenna 4. The robotic arm 2 adopts existing technology to control the spatial attitude of the pull-out testing device 3 from multiple angles to ensure its accurate positioning. Laser rangefinder 5 is installed on the wall-climbing robot body 1 and is used to locate the positions of the wall-climbing robot body 1 and the pull-out detection device 3 on the outer wall. Controller 6 is mounted on the wall-climbing robot body 1 and is electrically connected to the wall-climbing robot body 1, the pull-out detection device 3, and the robotic arm 2. Remote controller 7 is connected to controller 6 via communication antenna 4.

[0026] In this embodiment, the laser rangefinder 5 contains a laser transmitter and a receiver. The transmitter emits a laser beam at a fixed angle, and the light spot hits the edge of the wall. The receiver receives the scattered light spot. Based on the geometric relationship of triangles, the signal processing unit inside the rangefinder can calculate the first distance d1 of the left and right boundaries of the wall where the wall-climbing robot is located relative to the center of the robot, the second distance d2 of the upper boundary relative to the center of the robot, and the third distance d3 of the center of the pull-out detection device relative to the center of the robot. Based on the above distance information, the controller controls and adjusts the spatial posture of the robot body and controls the robotic arm to adjust the spatial posture of the pull-out detection device, thus completing the positioning of the two on the outer wall.

[0027] In some embodiments, the wall-climbing robot body 1 includes: The chassis 11 is used to load the main structural components of the robot. For example, the chassis 11 has walking mechanisms 12 on both sides, and the robotic arm 2, laser rangefinder 5, and controller 6 are all mounted on the chassis 11. Vacuum adsorption mechanism 13 is mounted on chassis 11 and is used to adsorb chassis 11 onto the outer wall to ensure the stability of the detection process. The controller 6 is electrically connected to the walking mechanism 12 and the vacuum adsorption mechanism 13.

[0028] Each side of the walking mechanism 12 includes: The drive motor 121 is fixed to the rear side of the chassis 11. The drive motor 121 is electrically connected to the controller 6. A drive gear 122 is fixed on the drive end of the drive motor 121. The drive wheel 123 is mounted on one side of the chassis 11 via the drive shaft 1231. A driven gear 124 is fixed on the drive shaft. The drive gear 122 meshes with the driven gear 124 for transmission. Driven wheel 125 is mounted on the other side of chassis 11 via driven shaft 1251. Driven wheel 125 and drive wheel 123 are connected by crawler track 126.

[0029] The drive motor 121 in the walking mechanism 12 can drive the drive gear 122 to rotate, the drive gear 122 drives the driven gear 124 to rotate, and then drives the drive wheel 123 to rotate. The drive wheel 123 drives the driven wheel 125 to rotate through the climbing track 126, and thus the robot can walk on the outer wall by climbing the track. Moreover, the power of the drive motor 121 can be controlled to control the speed of the robot. Of course, by controlling the different power of the drive motors 121 on both sides of the chassis 11, the two drive motors 121 can have a speed difference, thus enabling the robot to turn.

[0030] The top of the chassis 11 is fixed with a supporting outer shell 8, and the vacuum adsorption mechanism 13 includes: The suction fan 131 is fixed to the top of the support housing 8 and is electrically connected to the controller 6. Impeller 132 is placed inside the support housing 8 and is fixedly connected to the drive end of the suction fan 131. Vacuum suction cup 133 is fixed on the base 11. The top and bottom of the vacuum suction cup 133 have a vacuum chamber 1331 and an adsorption chamber, respectively. The vacuum chamber 1331 and the adsorption chamber are connected through a connecting hole 1332. The vacuum chamber 1331 is located inside the supporting shell 8, and the impeller 132 is located inside the vacuum chamber 1331. A sealing skirt 134 is fixed to the bottom surface of the adsorption cavity 1332.

[0031] See Figure 4 The suction fan 131 receives an external signal and outputs power to drive the impeller 132 to rotate at high speed (up to 25,000 r / min or more), thereby expelling the air from the adsorption chamber and generating adsorption force by creating a pressure difference through the airflow. The sealing skirt is made of rubber and tightly surrounds the adsorption chamber, which can both block the external atmosphere to maintain a stable negative pressure in the suction cup and fit tightly against the wall to fill the gaps in the wall and adapt to various curved surfaces of the wall.

[0032] See Figure 5 The pull-out testing device 3 includes: Support plate 31, one side of support plate 31 is hinged to the end of robotic arm 2; Drive electric cylinder 32 is fixed on support plate 31. Drive electric cylinder 32 is electrically connected to controller 6. The telescopic end of drive electric cylinder 32 is arranged through support plate 31. Pull rod 33, one end of which is fixed to the telescopic end of the drive electric cylinder 32; The external wall connector 34 is connected to the other end of the tie rod 33 via a tension sensor 35. The tension sensor 35 is electrically connected to the controller 6. The external wall connector 34 can be combined with or separated from the external insulation system on the wall to be tested.

[0033] The external wall connector 34 is an electric suction cup or an adhesive plate.

[0034] Specifically, the drive electric cylinder 32 and the communication antenna 4 are mounted on the support plate 51. The support plate 51 and the robotic arm 2 can be connected by screws. The robotic arm 2 positions the pull-out detection device and completes the bonding operation between the electric suction cup or adhesive plate and the enclosure system to be inspected. Subsequently, the drive electric cylinder 32 receives a start signal and provides the required pulling force to the pull rod 33 to complete the detection process. The tension sensor 35 collects the tension data and transmits it in real time to the remote controller 7 via the communication antenna 4, allowing the operator to record and observe the entire detection process in real time.

[0035] This invention relates to a wall-climbing robot for mechanical testing of exterior wall cladding systems. This invention enables precise positioning of the testing device on the exterior wall surface. A controller centrally manages the testing execution, data storage, and human-machine interaction processes, effectively eliminating errors introduced by human operation, ensuring the consistency and reliability of test results, and laying the foundation for standardizing the testing process. Furthermore, the robot is stably attached to the building exterior wall via an adsorption mechanism, replacing the traditional high-altitude manual operation mode and fundamentally avoiding the corresponding safety risks. This invention significantly improves the testing efficiency of exterior wall cladding systems, reduces labor costs, and provides an efficient solution for intelligent testing of the mechanical properties of exterior walls.

[0036] Of course, to prevent the robot from falling from a height and causing danger, an anti-fall rope can be equipped on the robot during monitoring to improve safety.

[0037] The present invention provides a mechanical testing method for an external wall cladding system, which utilizes a wall-climbing robot for mechanical testing of external wall cladding systems to perform the following testing steps: S1: The remote controller 7 sends the robot's positioning command to the controller 6, and the controller 6 controls the movement of the wall-climbing robot body 1 to achieve the positioning of the wall-climbing robot body 1 on the wall. S2: The remote controller 7 sends a positioning command for the pull-out detection device 3 to the controller 6. The controller 6 controls the robotic arm 2 to position the pull-out detection device 3 on the wall to be tested. S3: According to the test load requirements of the wall to be tested, the remote controller 7 sends a test command to the controller 6. The controller 6 controls the pull-out test device 3 to apply a tensile force to the external insulation system on the wall to be tested for mechanical testing. The test data is stored in the controller 6 in real time and interacts with the remote controller 7 in real time through the communication antenna 4.

[0038] Before starting the inspection of the exterior wall cladding system, the operator places the wall-climbing robot on the surface of the lowest exterior wall, and places it in the center of the exterior wall as much as possible. Then, the operator uses a remote controller to operate the wall-climbing robot to start the inspection of the exterior wall cladding system.

[0039] To ensure standardized inspection of the wall-climbing robot and that each inspection follows a prescribed route, a laser rangefinder is used to locate the robot body and its pull-out inspection device before inspection. Specifically, in S1, the laser rangefinder 5 on the wall-climbing robot body 1 detects in real time the first distance d1 between the left and right boundaries of the wall where the robot body 1 is located and the robot center, and the second distance d2 between the upper boundary of the wall and the robot center. The controller 6 adjusts the position of the wall-climbing robot body 1 based on the above distance information, positioning the robot body 1 to the expected position. In S2, the laser rangefinder 5 on the wall-climbing robot body 1 detects the third distance d3 between the center of the pull-out detection device 3 and the center of the robot in real time. Based on the distance information, the controller 6 controls the robotic arm 2 to adjust the position of the pull-out detection device 3 so that the pull-out detection device 3 is positioned at the expected position.

[0040] In this embodiment, the first distance d1, the second distance d2, and the third distance d3 are then synchronously transmitted to the robot's controller. Based on the distance information, the operator adjusts the robot's movement direction through the controller so that the robot and its pull-out detection device are positioned at the expected location.

[0041] See Figure 6 This is a schematic diagram of a wall-climbing robot in operation. Initially, the robot is placed near the center of an outer wall by the operator. Then, a laser rangefinder detects the first distance d1 between the left and right boundaries of the wall and the robot's center. Assuming the length of the outer wall is a, the robot's left and right movement is continuously adjusted until the first distance d1 is adjusted to a / 2, placing the robot at the center horizontally relative to the outer wall. Next, the second distance d2 between the upper boundary and the robot's center is detected. A threshold T is set, and the robot's up and down movement is continuously adjusted until the second distance d2 is adjusted to T, placing the robot near the upper edge of the outer wall. In S2, the pull-out detection device is positioned. (Reference) Figure 2The third distance d3 between the center of the pull-out detection device and the center of the robot is detected using a laser rangefinder. During the external insulation system testing process, the external insulation system to be tested is set to be bonded to the layer of wall above the wall to which the robot is attached. After positioning the robot body, the robot extends the pull-out detection device towards the external insulation system to be tested and detects the third distance d3 between the center of the pull-out detection device and the center of the robot. Assuming the width of the external wall is b, the extension and retraction length of the robotic arm in the pull-out detection device is continuously adjusted so that the third distance d3 is adjusted to b / 2 + T. At this point, the pull-out detection device is located at the center of the external wall enclosure system to be tested.

[0042] Before S3, the wall-climbing robot enters the inspection state. After determining that the wall-climbing robot body and the pull-out detection device have completed positioning, the operator increases the power of the robot's vacuum adsorption mechanism via the controller to increase its adsorption force, thus stabilizing the wall-climbing robot on the exterior wall. Subsequently, the pull-out detection device is connected to the exterior wall enclosure system to be inspected.

[0043] In one embodiment of this application, the wall-climbing robot is equipped with a pull-out detection device. During the detection process, the wall-climbing robot mainly performs mechanical pull-out tests on the external wall enclosure system under inspection based on the pull-out detection device.

[0044] The purpose of testing the external wall cladding system is to check whether the adhesion between the cladding system materials and the base wall, as well as between the various structural layers of the cladding system, meets the requirements. The advantage of a pull-out testing device is that it can provide a certain pull-out force to the system under test to determine whether the adhesion is firm. Therefore, this embodiment also equips the wall-climbing robot with a pull-out testing device to perform mechanical pull-out testing on the external insulation system under test.

[0045] After securing the wall-climbing robot, connect the pull-out detection device to the external insulation system to be tested. The adhesive plate of the pull-out detection device has adhesive applied to the side closest to the wall. Once the robot enters the testing state, the adhesive plate facilitates a firm bond with the external insulation system, preparing for subsequent pull-out testing. Alternatively, the device can be directly attached to the wall to be tested via an electric suction cup on its surface.

[0046] The specific steps in S3 are as follows: S31: Determine the test load on the wall to be tested based on the common wind speed rating table; S32: According to the test load, the operator sends a pull-out test command to the controller 6 through the remote controller 7. The controller 6 controls the pull-out test device 3 to connect with the external insulation system on the wall to be tested according to the command. Then, the pull-out test device 3 provides a certain pull-out force. S33: The tensile force information of the pull-out detection device 3 is exchanged with the remote controller 7 in real time. If the tensile force data of the pull-out detection device 3 can be maintained after reaching the test load, it indicates that the external insulation system has not detached and can withstand this level of load, thus passing the test under this level of load. However, if the tensile force data of the pull-out detection device 3 fails to reach the required test load, or drops rapidly after reaching the test load, it indicates that the external insulation system has detached from the base wall, and the external insulation system under test fails the test. The tensile force data is synchronously and wirelessly transmitted to the data storage unit of the wall-climbing robot controller.

[0047] S31: Determine the test load level based on a common wind speed rating table. For example, the inspector wants the external insulation system under test to withstand a level 6 wind speed according to the Beaufort scale, which is 13.8 m / s at a height of 10 meters. In this case, the inspector can set the test wind speed v to 13.8 m / s, then calculate the test load using the following formula, and set the pull-out test device to apply the corresponding tensile force to the enclosure system under test according to this test load:

[0048]

[0049] Where A represents the area of ​​the external insulation system to be inspected. This indicates air density, with a value of 1.25 kg / m³. 3 , This represents the gust speed at height z. This represents the local shape coefficient under wind load. The wind pressure height coefficient at height z is indicated. All of the above coefficients can be found in the "Code for Design of Building Structures" GB50009-2012.

[0050] S32: During the inspection operation, the drive electric cylinder 32 provides a certain pulling force to the pull rod 33, which corresponds to the inspection load and is then applied to the external wall enclosure system to be inspected.

[0051] In some embodiments, reference Figure 6 The testing process can be carried out in columns. First, the external insulation systems to be tested are divided into rows and columns on the building's exterior wall. The operator places the wall-climbing robot near the center of the first row of external insulation systems in the first column, and then controls the robot to move to the second row of external insulation systems for testing. After the first row is tested, the robot moves to the second row of the exterior wall and attaches itself to it, and begins positioning the robot body and pull-out detection device, and then proceeds to test the third row of external insulation systems. This process is repeated until all external insulation systems to be tested have been tested.

[0052] Therefore, the pull-out testing device and method of this application realize mechanical pull-out testing of the external insulation system, reducing the error and danger of manual testing. The wall-climbing robot can move flexibly on the external wall and adjust the testing position, and is firmly fixed to the external wall by a vacuum adsorption mechanism to ensure the safety of the testing. Through the controller, the storage and transmission of testing information and human-machine interaction are realized, improving the standardization and efficiency of external insulation system testing.

[0053] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0054] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wall-climbing robot for mechanical testing of an external wall cladding system, characterized in that, include: A wall-climbing robot body (1) is used to walk on the outer wall, and a mechanical arm (2) is connected to the wall-climbing robot body (1). Pull-out testing device (3), the pull-out testing device (3) is connected to the wall-climbing robot body (1) through the mechanical arm (2), and is used to perform mechanical testing of the bonding strength of the external insulation system on the wall to be tested. The pull-out testing device (3) is equipped with a communication antenna (4). A laser rangefinder (5) is installed on the wall-climbing robot body (1) to locate the positions of the wall-climbing robot body (1) and the pull-out detection device (3) on the outer wall. The controller (6) is mounted on the wall-climbing robot body (1), and the controller (6) is electrically connected to the wall-climbing robot body (1), the pull detection device (3), and the robotic arm (2); The remote controller (7) is connected to the controller (6) via the communication antenna (4).

2. The wall-climbing robot for mechanical testing of an external wall cladding system according to claim 1, characterized in that, The wall-climbing robot body (1) includes: The chassis (11) has walking mechanisms (12) on both sides, and the robotic arm (2), the laser rangefinder (5), and the controller (6) are all mounted on the chassis (11). Vacuum adsorption mechanism (13), which is mounted on the chassis (11) and is used to adsorb the chassis (11) onto the outer wall; The controller (6) is electrically connected to the walking mechanism (12) and the vacuum adsorption mechanism (13).

3. The wall-climbing robot for mechanical testing of an external wall cladding system according to claim 2, characterized in that, Each of the walking mechanisms (12) on each side includes: A drive motor (121) is fixed to the rear side of the chassis (11). The drive motor (121) is electrically connected to the controller (6). A drive gear (122) is fixed on the drive end of the drive motor (121). A drive wheel (123) is mounted on one side of the chassis (11) via a drive shaft (1231). A driven gear (124) is fixed on the drive shaft. The drive gear (122) meshes with the driven gear (124) for transmission. Driven wheel (125) is mounted on the other side of the chassis (11) via driven shaft (1251), and driven wheel (125) and drive wheel (123) are connected by crawling track (126).

4. The wall-climbing robot for mechanical testing of an external wall cladding system according to claim 2, characterized in that, The chassis (11) has a supporting shell (8) fixed to its top, and the vacuum adsorption mechanism (13) includes: A suction fan (131) is fixed to the top of the support housing (8) and is electrically connected to the controller (6). Impeller (132), the impeller (132) is placed inside the support housing (8) and is fixedly connected to the drive end of the suction fan (131); A vacuum suction cup (133) is fixed on the chassis (11). The top and bottom ends of the vacuum suction cup (133) have a vacuum chamber (1331) and an adsorption chamber, respectively. The vacuum chamber (1331) and the adsorption chamber are connected through a connecting hole (1332). The vacuum chamber (1331) is located inside the supporting shell (8), and the impeller (132) is located inside the vacuum chamber (1331). A sealing skirt (134) is fixed to the bottom surface of the adsorption cavity (1332).

5. A wall-climbing robot for mechanical testing of an external wall cladding system according to any one of claims 1-4, characterized in that, The pull-out testing device (3) includes: Support plate (31), one side of which is hinged to the end of the robotic arm (2); Drive electric cylinder (32), the drive electric cylinder (32) is fixed on the support plate (31), the drive electric cylinder (32) is electrically connected to the controller (6), and the telescopic end of the drive electric cylinder (32) is arranged through the support plate (31); A pull rod (33), one end of which is fixed to the telescopic end of the drive electric cylinder (32); The external wall connector (34) is connected to the other end of the pull rod (33) via a tension sensor (35). The tension sensor (35) is electrically connected to the controller (6). The external wall connector (34) can be combined with or separated from the external insulation system on the wall to be tested.

6. The wall-climbing robot for mechanical testing of an external wall cladding system according to claim 5, characterized in that, The external wall connector (34) is an electric suction cup or an adhesive plate.

7. A method for mechanical testing of an external wall cladding system, characterized in that, The following testing steps are performed using the wall-climbing robot for mechanical testing of external wall cladding systems as described in any one of claims 1-6: S1: The remote controller (7) sends the robot's positioning command to the controller (6), and the controller (6) controls the movement of the wall-climbing robot body (1) to achieve the positioning of the wall-climbing robot body (1) on the wall. S2: The remote controller (7) sends a positioning command for the pull-out detection device (3) to the controller (6), and the controller (6) controls the robotic arm (2) to position the pull-out detection device (3) on the wall to be tested. S3: According to the test load requirements of the wall to be tested, the remote controller (7) sends a test command to the controller (6). The controller (6) controls the pull-out test device (3) to apply a pull force to the external insulation system on the wall to be tested for mechanical testing. The test data is stored in the controller (6) in real time and interacts with the remote controller (7) in real time through the communication antenna (4).

8. The method for mechanical testing of an external wall cladding system according to claim 7, characterized in that, In S1, the laser rangefinder (5) on the wall-climbing robot body (1) detects in real time the first distance d1 of the left and right boundaries of the wall where the wall-climbing robot body (1) is located relative to the center of the robot and the second distance d2 of the upper boundary of the wall relative to the center of the robot. The controller (6) adjusts the position of the wall-climbing robot body (1) according to the above distance information so that the wall-climbing robot body (1) is positioned to the expected position. In S2, the laser rangefinder (5) on the wall-climbing robot body (1) detects the third distance d3 between the center of the pull-out detection device (3) and the center of the robot in real time. The controller (6) controls the robotic arm (2) to adjust the position of the pull-out detection device (3) according to the above distance information, so that the pull-out detection device (3) is positioned at the expected position.

9. The method for mechanical testing of an external wall cladding system according to claim 8, characterized in that, In S1, let the length of the outer wall be a, and continuously adjust the left and right movement direction of the robot so that the first distance d1 is adjusted to a / 2; let the distance between the upper boundary of the wall and the center of the robot be a threshold T, and continuously adjust the up and down movement direction of the robot so that the second distance d2 is adjusted to T, so that the robot is near the upper edge of the outer wall. In S2, let the width of the outer wall be b. Continuously adjust the extension and retraction length of the robotic arm so that the third distance d3 is adjusted to b / 2+T, so that the pull-out detection device is located at the center of the external insulation system to be inspected.

10. A method for mechanical testing of an external wall cladding system according to claim 7, characterized in that, The specific steps in S3 are as follows: S31: Determine the test load on the wall to be tested based on the common wind speed rating table; S32: According to the test load, the operator sends a pull-out test command to the controller (6) through the remote controller (7). The controller (6) controls the pull-out test device (3) to connect with the external insulation system on the wall to be tested according to the command. Then, the pull-out test device (3) provides a certain pull-out force. S33: The tensile information of the pull-out testing device (3) is exchanged with the remote controller (7) in real time. If the tensile data of the pull-out testing device (3) can still be maintained after reaching the test load, it indicates that the external insulation system has not fallen off and can withstand this level of load. The test is passed under this level of load. However, if the tensile data of the pull-out testing device (3) fails to reach the required test load, or drops rapidly after reaching the test load, it indicates that the external insulation system has fallen off the base wall and the external insulation system under test has failed the test.

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