Plastering or brick hollowing detection robot for building and detection method of plastering or brick hollowing detection robot

Abstract

The invention discloses a plastering or brick hollowing detection robot for building and a detection method thereof, and relates to the technical field of building robotics.The plastering or brick hollowing detection robot comprises a control vehicle, a multi-axis mechanical arm arranged at the top of the control vehicle and a detection head arranged at the output end of the multi-axis mechanical arm; a knocking assembly used for hollowing detection is slidably arranged at the bottom of the limiting sliding groove, and a sound frequency recognizer is arranged at the top of the detection head. The first servo motor drives the transmission structure to enable the hollowing hammer head to knock the to-be-detected position back and forth, the problems that traditional manual detection is low in efficiency and large in difficulty, and high-altitude detection safety is difficult to guarantee are solved, the knocking strength can be adaptively adjusted according to requirements during detection, the situation that a detection surface and a detection structure are damaged due to too large strength is avoided, and the detection efficiency is improved. And hollowing signal fuzziness caused by insufficient force is prevented, the detection safety, efficiency and precision are ensured, and the practical effect is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building robots, in particular to a mortar or brick hollow detection robot for building and a detection method thereof. BACKGROUND

[0002] As a major pillar industry of the national economy, the construction industry, intelligent construction is one of the effective ways to solve the low efficiency, high pollution and high energy consumption of the construction industry. At present, with the rapid development of robot technology, robots are more and more widely used in the construction field. The construction robot solves the problem of the construction industry that needs a large number of labor workers, low construction efficiency and long construction period. In the construction engineering construction and acceptance process, the hollow detection of the mortar layer and the brick of the wall surface and the ground is the key link to ensure the engineering quality. If the hollow phenomenon is not found in time, it will lead to the falling of the mortar layer and the loosening of the brick, affecting the stability of the building structure and the service life. The existing hollow detection method mainly relies on manual operation of traditional manual hollow hammer or simple electric hollow hammer, but the manual detection needs a lot of manual time investment, the safety of the detection of the edge high place is poor, the full coverage detection cannot be guaranteed, and quality hidden dangers are easily left, which cannot meet the requirements of large-area mortar hollow detection. The existing hollow detection robot is generally placed directly at the detection position, and the detection structure of the detection robot is mainly fixed or can only be roughly adjusted in position, so it is difficult to accurately control the distance between the detection surface. If the distance is too small, the mortar layer and the brick surface are easily scratched or the knocking component is deformed and damaged due to excessive knocking force. If the distance is too large, the knocking force is insufficient, the acoustic characteristics of the detection surface cannot be effectively excited, the hollow signal is blurred, and even the detection is missed, so it is difficult to guarantee the detection effect. SUMMARY

[0003] The present application relates to the technical field of building robots, in particular to a mortar or brick hollow detection robot for building and a detection method thereof.

[0004] In order to achieve the above object, the present application provides the following technical scheme: a building plastering or brick hollow detection robot, comprising a control vehicle, a multi-axis mechanical arm arranged on the top of the control vehicle, and a detection head arranged on the output end of the multi-axis mechanical arm, the top of the detection head is provided with a limiting sliding groove, the bottom of the limiting sliding groove is slidably provided with a knocking assembly for hollow detection, the top of the detection head is provided with a sound frequency identifier, the knocking assembly comprises a driving assembly arranged in the inner cavity of the detection head for driving, a buffer assembly for buffering when knocking, and a hollow hammer head for knocking, the driving assembly comprises a sliding frame, a servo motor one, an eccentric wheel, a connecting rod and a transmission rod, the sliding frame is slidably arranged at the bottom of the limiting sliding groove, the servo motor one is connected to the inner cavity of the sliding frame on both sides, the eccentric wheel is connected to the power output end of the servo motor one, the connecting rod is connected to the surface of the eccentric wheel, the transmission rod is connected to one end of the connecting rod relative to the eccentric wheel, and is connected to one side of the hollow hammer head, the surface of the detection head is provided with a limiting through hole for limiting sliding of the transmission rod, and the top of the limiting sliding groove is provided with an adjusting assembly for adjusting the distance between the knocking assembly and the detected object.

[0005] Preferably, the adjusting assembly comprises a fixed plate, a servo motor two and an adjusting screw, the fixed plate is fixedly connected to the top of the limiting sliding groove on both sides, the servo motor two is arranged on one side of the fixed plate, and the adjusting screw is rotatably arranged on the inner side of the fixed plate, and one side of the adjusting screw is connected to the power output end of the servo motor two.

[0006] Preferably, the top of the sliding frame is connected with a connecting sliding block, the connecting sliding block penetrates through the limiting sliding groove and extends to the top end of the limiting sliding groove, a threaded connection hole is formed in the connecting sliding block, and the connecting sliding block is threadedly connected to the surface of the adjusting screw through the threaded connection hole.

[0007] Preferably, the buffer assembly comprises a telescopic rod, a spring and a pressure sensor, the telescopic rod is connected to the outer side of the transmission rod, the spring is arranged around the surface of the telescopic rod, and the pressure sensor is connected to the outer side end of the telescopic rod, and the outer side wall of the pressure sensor is connected with the hollow hammer head.

[0008] Preferably, a connecting thread is formed in the surface of one end of the telescopic rod, a resisting plate is threadedly connected to the surface of the telescopic rod through the connecting thread, and the outer side wall of the resisting plate abuts against the spring.

[0009] Preferably, the detection head is provided with a through groove on both sides for movement of the servo motor one.

[0010] Preferably, the surface of the control vehicle is provided with a control console, the control console is built-in AI signal analysis module and wireless communication module, the AI signal analysis module pre-stores the sound frequency characteristic library of hollow and solid area, can compare and analyze the signal collected by the sound frequency identifier, and the wireless communication module can transmit the detection data to the mobile terminal or the cloud server in real time.

[0011] Preferably, the hollowing hammer head adopts wear-resistant alloy steel material, and the end of the hollowing hammer head is provided with a circular arc transition surface.

[0012] Preferably, the application also provides a method for detecting the hollowing of plaster or brick, comprising the following specific steps: S1, first, the control vehicle, the control console and the detection head connected by the multi-axis mechanical arm are synchronously moved to the place to be detected; during detection, the eccentric wheel is driven to rotate by the servo motor I, and then the transmission rod is driven to move back and forth under the limitation of the limiting through hole to drive the hollowing hammer head to move back and forth to knock the place to be detected, and the knocking frequency is recognized and analyzed and marked by the sound frequency recognizer; S2, during knocking, the telescopic rod and the spring can play a buffering effect during knocking, avoiding hard contact of the hollowing hammer head during knocking, and the pressure sensor arranged at the end of the hollowing hammer head detects the pressure received during knocking, when the pressure exceeds the set range value, the servo motor II drives the adjusting screw to rotate counterclockwise, and then drives the connecting sliding block and the slide fixed at the bottom to move backward, and then drives the knocking assembly to move backward, and then makes the hollowing hammer head away from the place to be knocked, so as to avoid the force generated during knocking being too large, effectively protecting the knocking structure and the object to be knocked, and the reverse operation can reduce the distance, and then improve the knocking force, so that the knocking force is controlled within an effective range, ensuring the knocking effect and the protection effect, and then improving the detection effect and the service life; S3, when the spring elasticity decreases after long-term use, the abutting plate is twisted according to the requirement, so that the abutting plate moves forward along the surface of the telescopic rod, and then the spring is compressed to improve the elasticity effect, ensuring the buffering effect during use; Compared with the prior art, the application has the following advantages: The hollowing hammer head is continuously knocked by the servo motor I driving the eccentric wheel to rotate and the connecting rod and the transmission rod, and the telescopic rod and the surrounding spring combination can instantly absorb the counter shock force during knocking, avoiding hard collision of the hollowing hammer head with the plaster layer and the brick, effectively protecting the integrity of the detection surface, and the pressure sensor monitors the knocking pressure in real time, when the pressure exceeds the set range, the servo motor II can be automatically triggered to drive the adjusting screw to rotate, and the connecting sliding block drives the slide and the knocking assembly to move back and forth, realizing self-adaptive fine adjustment of the knocking distance and the force, ensuring that the force is always within the effective detection range, ensuring the detection effect, and effectively protecting the detection structure and the object to be detected, effectively improving the service life and the detection effect.

[0013] The present application can twist the abutting plate on the surface of the telescopic rod when the spring is elastically lowered, so as to extrude the spring and restore the buffering performance, avoid the problems of reverse shock force transmission, knocking force fluctuation and the like caused by insufficient elasticity, prevent the equipment parts from loosening and the hammer head from wearing caused by excessive knocking force, and prevent the detection signal from being blurred caused by insufficient force, thereby prolonging the service life and ensuring the stability and reliability of long-term detection. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present application; Figure 2 It is a schematic diagram of the structure of the detection head of the present application; Figure 3 It is a sectional view of the detection head of the present application; Figure 4 It is a schematic diagram of the structure of the knocking assembly of the present application; Figure 5 It is a schematic diagram of the transmission structure of the knocking assembly of the present application; Figure 6 It is a schematic diagram of the structure of the driving rod of the present application; Figure 7 It is a schematic diagram of the structure of the buffer assembly of the present application.

[0015] In the figure: 1, control vehicle; 2, control console; 3, multi-axis mechanical arm; 4, detection head; 5, driving assembly; 501, sliding carriage; 502, servo motor one; 503, eccentric wheel; 504, connecting rod; 505, transmission rod; 506, connecting sliding block; 507, threaded connection hole; 6, adjusting assembly; 601, fixed plate; 602, servo motor two; 603, adjusting screw; 7, buffer assembly; 701, telescopic rod; 702, spring; 703, pressure sensor; 704, connecting thread; 705, abutting plate; 8, hollowing hammer head; 9, sound frequency identifier; 10, limiting through hole; 11, limiting sliding groove; 12, through groove. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0017] Please refer to Figures 1 to 7As shown, the present application provides a technical solution: a building plastering or brick hollow detection robot, which comprises a control vehicle 1, a multi-axis mechanical arm 3 arranged on the top of the control vehicle 1, and a detection head 4 arranged at the output end of the multi-axis mechanical arm 3. The detection head 4 is provided with a limiting sliding groove 11 at the top, and a knocking assembly for hollow detection is slidingly arranged at the bottom of the limiting sliding groove 11. The detection head 4 is provided with a sound frequency identifier 9 at the top. The knocking assembly comprises a driving assembly 5 arranged in the inner cavity of the detection head 4 for driving, a buffer assembly 7 for buffering when knocking, and a hollow hammer head 8 for knocking. The driving assembly 5 comprises a sliding frame 501, a servo motor one 502, an eccentric wheel 503, a connecting rod 504, and a transmission rod 505. The sliding frame 501 is slidingly arranged at the bottom of the limiting sliding groove 11. The servo motor one 502 is connected to the inner cavity of the sliding frame 501 on both sides. The eccentric wheel 503 is connected to the power output end of the servo motor one 502. The connecting rod 504 is connected to the surface of the eccentric wheel 503. The transmission rod 505 is connected to one end of the connecting rod 504 relative to the eccentric wheel 503, and is connected to one side of the hollow hammer head 8. The surface of the detection head 4 is provided with a limiting through hole 10 for limiting sliding of the transmission rod 505. The top of the limiting sliding groove 11 is provided with an adjusting assembly 6 for adjusting the distance between the knocking assembly and the detected object. The spatial position and angle of the detection head 4 can be flexibly adjusted within a certain range by the control vehicle 1 cooperating with the multi-axis mechanical arm 3. The detection head 4 provides stable sliding guidance for the knocking assembly through the limiting sliding groove 11. The driving assembly 5 realizes high-frequency stable reciprocating knocking of the hollow hammer head 8 by the cooperative transmission of the servo motor one 502, the eccentric wheel 503, the connecting rod 504, and the transmission rod 505. The limiting through hole 10 ensures the accurate movement of the transmission rod 505. The adjusting assembly 6 can flexibly adapt the knocking distance within a certain range, and cooperate with the sound frequency identifier 9 to accurately collect signals, so as to effectively realize comprehensive coverage and accurate knocking detection of the to-be-detected area, and further effectively improve the efficiency and accuracy of hollow detection.

[0018] According to Figure 2 、 Figure 3 、 Figure 4 and Figure 5As shown, the adjusting assembly 6 includes a fixed plate 601, a second servo motor 602, and an adjusting screw 603. The fixed plate 601 is fixedly connected to the top of both sides of the limiting sliding groove 11. The second servo motor 602 is arranged on one side of the fixed plate 601. The adjusting screw 603 is rotatably arranged on the inner side of the fixed plate 601. One side of the adjusting screw 603 is connected with the power output end of the second servo motor 602. The top of the sliding frame 501 is connected with a connecting sliding block 506. The connecting sliding block 506 penetrates through the limiting sliding groove 11 and extends to the top end of the limiting sliding groove 11. A threaded connection hole 507 is arranged on the connecting sliding block 506. The connecting sliding block 506 is threadedly connected to the surface of the adjusting screw 603 through the threaded connection hole 507. The second servo motor 602 and the adjusting screw 603 are stably supported by the fixed plate 601. The adjusting screw 603 is driven to rotate by the second servo motor 602. The stable and accurate translation of the sliding frame 501 and the knocking assembly is realized by the threaded connection of the connecting sliding block 506 and the adjusting screw 603 and the guiding effect of the limiting sliding groove 11. The knocking distance and force can be adaptively adjusted according to the feedback of the pressure sensor 703. The knocking effect is ensured while the equipment and the detection surface are prevented from being damaged. The accuracy and stability of the detection are effectively improved.

[0019] According to Figure 1 , Figure 6 and Figure 7 , the buffer assembly 7 includes a telescopic rod 701, a spring 702, and a pressure sensor 703. The telescopic rod 701 is connected to the outer side of the transmission rod 505. The spring 702 is arranged around the surface of the telescopic rod 701. The pressure sensor 703 is connected to the outer side end of the telescopic rod 701. The outer side wall of the pressure sensor 703 is connected with the hammer head 8. A connecting thread 704 is arranged on the surface of one end of the telescopic rod 701. The effective buffer of the knocking and rebound force is realized by the cooperation of the telescopic rod 701 and the spring 702 arranged around the surface of the telescopic rod 701. The pressure sensor 703 monitors the knocking pressure in real time and feeds back data. The connecting thread 704 at one end of the telescopic rod 701 can be flexibly adjusted in combination with the abutting plate 705 to adjust the compression amount of the spring 702. The cooperation of the three can not only prevent hard collision during knocking to protect the detection surface and the knocking structure, but also accurately control the knocking force to ensure the stability and reliability of the detection.

[0020] According to Figure 1 , Figure 6 and Figure 7 , the surface of the telescopic rod 701 is threadedly connected with the abutting plate 705 through the connecting thread 704. The outer side wall of the abutting plate 705 abuts against the spring 702. The surface of the telescopic rod 701 is connected with the spring 702 through the abutting plate 705 connected by the connecting thread 704. The position of the abutting plate 705 can be adjusted by rotation to extrude or release the spring 702. The elastic attenuation of the spring 702 after long-term use can be flexibly compensated within a certain range. The stability of the buffer effect is ensured. The consistency of the knocking force is maintained. The detection structure is protected. The service life of the device is prolonged.

[0021] According to Figure 1 and Figure 2 It is shown that the detection head 4 is provided with a through slot 12 for the movement of the servo motor one 502 on both sides, and the control car 1 is provided with a control console 2, and the control console 2 is built-in AI signal analysis module and wireless communication module, the AI signal analysis module pre-stores the sound frequency characteristic library of hollow and solid area, and can compare and analyze the signal collected by the sound frequency identifier 9, and the wireless communication module can transmit the detection data to the mobile terminal or cloud server in real time, and the servo motor one 502 moving through slot 12 on both sides of the detection head 4 ensures the flexibility and smoothness of the knocking component adjustment, and the control console 2 on the surface of the control car 1 compares the pre-stored sound frequency characteristic library of hollow and solid area through the built-in AI signal analysis module, realizes the accurate analysis and judgment of the signal collected by the sound frequency identifier 9, and the wireless communication module can transmit the detection data to the mobile terminal or cloud server in real time, which improves the flexibility and accuracy of detection, realizes real-time management and traceability of detection data, and effectively improves the accuracy of detection. According to Figure 1 、 Figure 6 and Figure 7 It is shown that the hollow hammer head 8 is made of wear-resistant alloy steel, and the end of the hollow hammer head 8 is provided with a circular arc transition surface, the hollow hammer head 8 is made of wear-resistant alloy steel and the end is provided with a circular arc transition surface, which effectively improves the wear resistance of the hammer head to prolong the service life, and avoids hard scratching with the plaster layer and the brick during knocking, and effectively protects the integrity of the detection surface.

[0022] The application also provides a building plaster or brick hollow detection method, comprising the following specific steps: S1, first, the control car 1, the control console 2 and the detection head 4 connected by the multi-axis mechanical arm 3 are synchronously moved to the place to be detected, during detection, the eccentric wheel 503 is driven to rotate by the servo motor one 502, and then the transmission rod 505 is driven to move back and forth under the limitation of the limiting through hole 10 by the connecting rod 504, so as to drive the hollow hammer head 8 to move back and forth to knock the place to be detected, and the knocking frequency is recognized and marked by the sound frequency identifier 9; S2, when knocking, the telescopic rod 701 and the spring 702 can play a buffering effect when knocking, avoiding hard contact of the hollow hammer head 8 when knocking, and the pressure sensor 703 arranged at the end of the hollow hammer head 8 detects the pressure received when knocking, when the pressure exceeds the set range value, the servo motor two 602 drives the adjusting screw 603 to rotate counterclockwise, thereby driving the connecting slide block 506 and the slide 501 fixed at the bottom to move backward, thereby driving the knocking assembly to move backward, thereby making the hollow hammer head 8 away from the knocking place, so as to avoid the force generated when knocking being too large, effectively protecting the knocking structure and the object being knocked, and the reverse operation can reduce the distance, thereby improving the knocking force, making the knocking force control within the effective range, ensuring the knocking effect while ensuring the protection effect, thereby improving the detection effect and service life; S3, when the spring 702 is elastically decreased after long-term use, twist the contact plate 705 according to the demand, so that the contact plate 705 moves forward along the surface of the telescopic rod 701, thereby extruding the spring 702, so that the spring 702 is compressed to improve the elastic effect, ensuring the buffering effect of use; It should be noted that: the multi-axis mechanical arm 3 can select the existing mechanical arm on the market that meets the demand without being fixed to a specific model, the sound frequency identifier 9 works, its built-in high-sensitivity microphone is opposite to the knocking direction of the hollow hammer head 8, real-time captures the sound wave signal generated by knocking and converts it into an analog electric signal, the signal is preprocessed through band-pass filtering, analog-digital conversion, etc., and then transmitted to the AI signal analysis module built in the control console 2, the module extracts the main frequency peak value, attenuation rate and other key acoustic characteristics through fast Fourier transform and other spectrum analysis algorithms to form a feature vector, and then matches the similarity with the pre-stored hollow drum and solid area standard acoustic characteristic library, when the matching degree exceeds the preset threshold, the detection result is determined and fed back to the control console 2, and the detection record is generated by combining related data, the technology is the prior art, and will not be described too much here; Working principle and use steps: first, move the control vehicle 1 to the building area to be detected, adjust the position and angle of the detection head 4 flexibly through the multi-axis mechanical arm 3, align the hollow hammer head 8 with the surface of the mortar layer or brick to be detected and maintain a suitable initial spacing, then start the device through the control console 2 on the control vehicle 1, the eccentric wheel 503 is driven to rotate by the servo motor 1 502, the transmission structure composed of the connecting rod 504 and the transmission rod 505 converts the circular motion into linear reciprocating motion, and drives the hollow hammer head 8 to continuously and stably knock the detection surface, in the process of knocking, the buffer mechanism composed of the telescopic rod 701 and the surrounding spring 702 can instantaneously absorb the counter shock force generated by the knocking, avoid hard collision between the hollow hammer head 8 and the detection surface, effectively protect the integrity of the detection surface, and the pressure sensor 703 monitors the knocking pressure data in real time and synchronously feeds back to the control console 2, when the pressure exceeds the preset effective detection range, the system automatically triggers the servo motor 2 602 to start, drives the adjusting screw 603 to rotate accurately, drives the sliding block 506 to drive the sliding frame 501 and the whole knocking assembly to move forward and backward along the limiting sliding groove 11, realizes the self-adaptive fine adjustment of the knocking distance and force, ensures that the knocking force is always in the optimal detection interval, and takes into account the detection effect, the detection structure and the protection of the detected object; When the spring 702 loses elasticity due to long-term use of the device, the abutting plate 705 on the surface of the telescopic rod 701 can be twisted to move forward and press the spring 702 through the connecting thread 704, so as to restore the buffering performance of the spring 702, avoid problems such as transmission of counter shock force and fluctuation of knocking force caused by insufficient elasticity, prevent loosening of device parts, wear of hammer head and blurring of detection signal, ensure stability and reliability in long-term detection process, and effectively prolong the service life of the device; The effect of the whole mechanism is: the eccentric wheel 503 is driven to rotate by the servo motor 1 502, the transmission structure composed of the connecting rod 504 and the transmission rod 505 drives the hollow hammer head 8 to continuously knock the detection surface, the telescopic rod 701 and the surrounding spring 702 can instantaneously absorb the counter shock force to avoid hard collision between the hollow hammer head 8 and the mortar layer or brick, effectively protect the integrity of the detection surface, and the pressure sensor 703 monitors the knocking pressure in real time, when the pressure exceeds the set range, the servo motor 2 602 drives the adjusting screw 603 to rotate, the connecting sliding block 506 drives the sliding frame 501 and the knocking assembly to move forward and backward to realize the self-adaptive fine adjustment of the knocking distance and force, ensure that the force is always in the effective detection interval, and the abutting plate 705 on the surface of the telescopic rod 701 can be twisted to press the spring 702 when the spring 702 loses elasticity, so as to restore the buffering performance of the spring 702, thereby effectively protecting the detection structure and the detected object, prolonging the service life of the device, and ensuring the detection effect, stability and reliability in long-term detection.

[0023] Although the present application has been described in detail with reference to the foregoing embodiments, the technical solutions recorded in the foregoing embodiments can be modified, or some of the technical features can be replaced by equivalent features, by those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot for detecting hollow spots in plaster or bricks used in construction, characterized in that: The device includes a control vehicle (1), a multi-axis robotic arm (3) located on the top of the control vehicle (1), and a detection head (4) located at the output end of the multi-axis robotic arm (3). The detection head (4) has a limit groove (11) on its top, and a striking component for detecting hollow sounds is slidably provided at the bottom of the limit groove (11). The detection head (4) has a sound frequency identifier (9) on its top. The striking component includes a drive component (5) for driving, a buffer component (7) for buffering during striking, and a hollow sound hammer (8) for striking, all located inside the detection head (4). The drive component (5) includes a carriage (501), a servo motor (502), an eccentric wheel (503), a connecting rod (504), and a transmission rod. (505), the slide (501) is slidably disposed at the bottom of the limiting slide groove (11), the servo motor (502) is connected to both sides of the inner cavity of the slide (501), the eccentric wheel (503) is connected to the power output end of the servo motor (502), the connecting rod (504) is connected to the surface of the eccentric wheel (503), the transmission rod (505) is connected to one end of the connecting rod (504) relative to the eccentric wheel (503) and is connected to one side of the hollow hammer head (8), the surface of the detection head (4) is provided with a limiting through hole (10) for limiting the sliding of the transmission rod (505), and the top of the limiting slide groove (11) is provided with an adjustment component (6) for adjusting the distance between the striking component and the detection object.

2. The building plastering or brick hollow detection robot according to claim 1, characterized in that: The adjustment assembly (6) includes a fixed plate (601), a second servo motor (602), and an adjustment screw (603). The fixed plate (601) is fixedly connected to both sides of the top of the limiting slide groove (11). The second servo motor (602) is located on one side of the fixed plate (601). The adjustment screw (603) is rotatably located inside the fixed plate (601), and one side of the adjustment screw (603) is connected to the power output end of the second servo motor (602).

3. The building plastering or brick hollow detection robot according to claim 1, characterized in that: The top of the slide (501) is connected to a connecting slider (506), which passes through the limiting slide groove (11) and extends to the top of the limiting slide groove (11). The connecting slider (506) is provided with a threaded connecting hole (507), and the connecting slider (506) is threadedly connected to the surface of the adjusting screw (603) through the threaded connecting hole (507).

4. The building plastering or brick hollow detection robot according to claim 1, characterized in that: The buffer assembly (7) includes a telescopic rod (701), a spring (702) and a pressure sensor (703). The telescopic rod (701) is connected to the outside of the transmission rod (505). The spring (702) surrounds the surface of the telescopic rod (701). The pressure sensor (703) is connected to the outer end of the telescopic rod (701), and the outer wall of the pressure sensor (703) is connected to the hollow hammer head (8).

5. A robot for detecting hollow spots in plaster or bricks in construction, as described in claim 4, is characterized in that: The telescopic rod (701) has a connecting thread (704) on one end surface. The telescopic rod (701) is threaded with an abutment plate (705) through the connecting thread (704), and the outer wall of the abutment plate (705) abuts against the spring (702).

6. The building plastering or brick hollow detection robot according to claim 1, characterized in that: Both sides of the detection head (4) are provided with through slots (12) for the movement of the servo motor (502).

7. A robot for detecting hollow spots in plaster or bricks in construction according to claim 1, characterized in that: The control vehicle (1) is equipped with a control console (2). The control console (2) has a built-in AI signal analysis module and a wireless communication module. The AI ​​signal analysis module has a pre-stored sound frequency feature library of hollow and solid areas, which can compare and analyze the signals collected by the sound frequency recognizer (9). The wireless communication module can transmit the detection data to a mobile terminal or cloud server in real time.

8. The building plastering or brick hollow detection robot according to claim 1, characterized in that: The hollow hammer head (8) is made of wear-resistant alloy steel, and the end of the hollow hammer head (8) is provided with a rounded transition surface.

9. A method for detecting hollow spots in building plaster or bricks, comprising the following specific steps: S1. First, the control vehicle (1), the control console (2) and the detection head (4) connected by the multi-axis robotic arm (3) are moved synchronously to the place to be detected. During the detection, the eccentric wheel (503) is driven to rotate by the servo motor (502), and then the transmission rod (505) is driven to move back and forth under the limit of the limit through hole (10) to drive the hollow hammer head (8) to move back and forth to strike the place to be detected. The sound frequency recognition device (9) is used to identify and analyze the striking frequency. S2. When striking, the telescopic rod (701) and spring (702) can buffer the impact, preventing the hollow hammer head (8) from making hard contact. The pressure sensor (703) at the end of the hollow hammer head (8) will detect the pressure during the strike. When the pressure exceeds the set range, the servo motor (602) drives the adjusting screw (603) to rotate counterclockwise, thereby driving the connecting slider (506) and the slide (501) fixed at the bottom to move backward, thereby driving the striking assembly to move backward, so that the hollow hammer head (8) is far away from the striking point, thus avoiding excessive force during the strike and effectively protecting the striking structure and the struck object. The reverse operation can reduce the distance, thereby increasing the striking force and keeping the striking force within the effective range, ensuring the striking effect while ensuring the protective effect, thereby improving the detection effect and service life. S3. When the elasticity of the spring (702) decreases after long-term use, the contact plate (705) is twisted as needed, so that the contact plate (705) moves forward along the surface of the telescopic rod (701), thereby squeezing the spring (702) and compressing the spring (702) to improve the elasticity effect and ensure the cushioning effect of use.

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