A robot for repairing hollow exterior walls of high-rise buildings

Abstract

This invention discloses a robot for repairing hollow exterior walls of high-rise buildings, belonging to the field of high-altitude operation robot technology. It includes a steel support fixed to the top of the building wall, a horizontal guide rail mounted on the steel support, a trolley slidably mounted on the guide rail, a repair robot body suspended below the trolley by two steel cables, and a fall-prevention safety rope positioned between the trolley and the repair robot body. This invention completely replaces manual high-altitude work. The robot ensures its safety through a safety rope, multiple redundant adsorption and automatic locking systems, fundamentally eliminating the risk of personnel falling from heights.

Description

Technical Field

[0001] This invention relates to the field of high-altitude operation robot technology, and more specifically to the field of robot technology for repairing hollow exterior walls of high-rise buildings. Background Technology

[0002] With the acceleration of urbanization, the number of high-rise buildings has increased dramatically. Exterior wall finishes (especially ceramic tiles and stone cladding) are prone to losing adhesion to the base wall under long-term exposure to wind, sun, rain, and temperature stress, resulting in "hollow spots." These hollow spots are not easily detected in their early stages, but as they develop, they can lead to cracking and peeling of the finish, seriously threatening pedestrian safety and causing waterproofing failure.

[0003] Currently, the detection and repair of hollow areas in the exterior walls of high-rise buildings mainly rely on manual methods. During inspection, workers need to ride in suspended baskets or be suspended by safety belts, using hammers to tap each section of the wall, relying on sound experience to determine the location of the hollow areas. This method is extremely inefficient, labor-intensive, and carries the risk of falls from heights. For identified hollow areas, the traditional repair method involves drilling holes in the hollow area, filling the gaps with pressure grout, and then flattening it with a heavy object or manually compacting it. This process often requires multiple people working together, and the repair quality is greatly affected by the worker's experience, easily leading to insufficient or excessive grouting, causing secondary damage.

[0004] In recent years, although some studies have attempted to use drones equipped with infrared cameras for hollow area detection, they can only provide a rough location and cannot perform precise positioning and repair operations. Existing wall-climbing robots are mostly used for cleaning or spraying operations, and there is still a lack of integrated robots that can simultaneously complete the entire process of "precise detection - autonomous positioning - grouting repair - compaction and leveling".

[0005] Therefore, there is an urgent need for a robotic system that can autonomously operate on the exterior walls of high-rise buildings, integrate multi-source detection technology, and achieve accurate identification and automated repair of hollow areas, in order to solve the problems of poor safety, low efficiency, and unstable repair results in existing technologies. Summary of the Invention

[0006] The purpose of this invention is to provide a robot for repairing hollow exterior walls of high-rise buildings in order to solve the above-mentioned technical problems.

[0007] To achieve the above objectives, the present invention specifically adopts the following technical solution: This invention provides a robot for repairing hollow exterior walls of high-rise buildings, including a steel bracket fixed to the top of the building wall, a horizontal guide rail set on the steel bracket, a mobile trolley slidably set on the guide rail, a repair robot body suspended below the mobile trolley by two steel wire ropes, and a fall prevention safety rope set between the mobile trolley and the repair robot body. The main body of the repair robot includes a mobile chassis, a negative pressure or magnetic attraction system installed at the bottom of the mobile chassis for lifting the mobile chassis to adhere to and stably adhere to the exterior wall surface, a detection and positioning system, a repair execution system, and a control system; The detection and positioning system includes a knock echo detection module and an infrared thermal imaging module, which are used to detect the location, boundary and depth of hollow areas in the exterior wall and generate a three-dimensional distribution map of the hollow areas. The repair execution system includes a grouting unit and a compaction unit. The grouting unit is used to inject repair grout into the identified hollow areas, and the compaction unit is used to flatten and reset the exterior wall finish layer in the hollow areas after grouting. The control system is electrically connected to the mobile chassis, adsorption system, detection and positioning system, and repair execution system, respectively, and is used to control the autonomous movement, hollow drum identification, and repair actions of the main body of the repair robot.

[0008] In one embodiment, the mobile trolley includes wheels, a drive shaft that drives the wheels, and a power outlet that supplies power to the drive shaft. The wheels and a horizontal guide rail form a rolling engagement to achieve horizontal displacement of the main body of the repair robot.

[0009] In one embodiment, the adsorption system includes a propeller disposed on the front of the mobile chassis for generating a thrust toward the wall and an electric suction cup disposed on the back of the mobile chassis for vacuum adsorption onto the wall. The propeller's thrust axis is perpendicular to the wall, and the thrust it generates points towards the wall to overcome the swing of the wire rope and assist the electric suction cup in adhering to the wall. The electric suction cup includes a suction cup head, a telescopic joint, and a receiver connected in sequence. After receiving the control signal from the control system, the receiver controls the telescopic joint to extend and causes the suction cup head to evacuate and maintain vacuum contact with the wall.

[0010] In one embodiment, the grouting unit includes an actuator for outputting drilling or grouting power, a telescopic rod connected to one end of the actuator, a multi-functional injector connected to the telescopic rod, a needle connected to the multi-functional injector, and a material storage tank connected to the other end of the actuator via a hose. The actuator drives the needle, causing it to precisely pierce the gap beneath the finish layer in the hollow area; The needle is a composite needle with a miniature pressure sensor and a flow sensor, used to monitor grouting pressure and grouting volume in real time, and automatically stop grouting when the pressure drops suddenly; the needle can be used for grouting / glue injection and drilling. The clamping unit includes a pneumatic clamping head and an elastic pressure plate. After grouting is completed, the pneumatic clamping head pushes the elastic pressure plate to apply a set pressure and hold pressure for a set time to the surface of the outer wall, so that the finishing layer is re-adhered to the wall.

[0011] In one embodiment, the needle tip is provided with a carbide cutting edge, and the actuator is an electric push rod or a hydraulic cylinder. Its telescopic end is connected to a multi-functional syringe through an actuator telescopic joint to apply a linear thrust to the needle tip.

[0012] In one embodiment, the storage tank is located at the bottom of the mobile chassis and has a heating and insulation layer and stirring blades inside to maintain the fluidity of the repair slurry. It also includes a feeding system, which is set on the ground and connected to the storage tank through a feeding pipe. The feeding pipe is equipped with a spiral conveyor shaft and a cleaning circuit to continuously transport the slurry and prevent blockage.

[0013] In one embodiment, the rated breaking strength of the fall arresting safety rope is not less than the breaking strength of either of the two wire ropes, and its length is set to be in a slack state under normal tension of the wire rope.

[0014] Each of the two steel wire ropes is also equipped with a fall protection safety system, which includes a tension sensor and an automatic locking device installed on the corresponding steel wire rope. When the robot stalls or the tension is abnormal, the automatic locking device will brake in an emergency.

[0015] In one implementation, the control system includes a path planning module, a hollow area repair decision module, a remote communication module, and a power distribution box for providing power. The path planning module uses a pre-set building exterior wall model to plan a full-coverage detection and repair path for the robot. The hollow area repair decision module automatically matches the grouting pressure, grouting volume, and pressure holding time based on the hollow area and depth. The remote communication module is used to exchange data with the ground control station in real time and receive remote commands.

[0016] The power distribution box is equipped with a voltage conversion module and a wireless signal receiving module, which are used to receive control commands from the ground control station and distribute power to the propeller, electric suction cup and actuator.

[0017] In one embodiment, the main body of the repair robot also includes a GPS locator and a camera for observing the operation process; both the GPS locator and the camera are electrically connected to the control system.

[0018] Specifically, the automatic control mode automatically executes the following steps based on the altitude data from the GPS locator and the image data from the camera: horizontal movement → vertical descent → propeller thrust to adhere to the wall → electric suction cup adsorption → drilling → changing the syringe → quantitative grouting → desorption → lifting and resetting.

[0019] In one embodiment, the impact echo detection module includes an automatic hammer and a sound wave sensor. The automatic hammer strikes the exterior wall surface at a set frequency, and the sound wave sensor collects the echo signal. The presence of hollow areas is determined by analyzing the echo frequency characteristics. The infrared thermal imaging module includes an infrared thermal imager and a heating unit. The heating unit locally heats the wall surface, and the infrared thermal imager collects the temperature field distribution of the wall surface and identifies the location of the hollow area based on the temperature difference. The detection and positioning system also includes a data fusion unit, which performs spatial coordinate matching and confidence-weighted fusion of the detection results from the impact echo detection module and the infrared thermal imaging module to output a probability map of the hollow area.

[0020] The beneficial effects of this invention are as follows: 1. Significantly improve safety: Completely replaces manual high-altitude operations. The robot ensures its own safety through safety ropes, multiple redundant adsorption and automatic locking systems, fundamentally eliminating the risk of people falling from heights.

[0021] 2. Improve detection accuracy and efficiency: It integrates two physical principle detection methods, namely, impact echo and active infrared thermal imaging, and verifies each other to avoid misjudgment by a single method (such as infrared cannot identify deep hollows and impact cannot distinguish the boundaries of large hollows). The detection accuracy rate is over 95%, and the detection speed can be up to 10 times that of manual detection.

[0022] 3. High and stable repair quality: The grouting volume is controlled by a closed loop of pressure and flow to avoid insufficient grout or excessive bulging in hollow areas; the compaction unit provides standardized pressure and duration, and the smoothness of the repaired surface meets the specifications.

[0023] 4. Fully automated process: From movement, detection, positioning, grouting to leveling, the entire process is completed autonomously by robots, requiring only ground personnel for monitoring, which greatly reduces labor costs.

[0024] 5. High adaptability: It can be applied to various finishes such as ceramic tiles, stone, and paint, and can adapt to different wall materials by changing the adsorption method.

[0025] 6. Remote monitoring and data traceability: The robot generates a hollow distribution map and repair records, forming a health record for the exterior wall, providing data support for subsequent maintenance. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is an overall schematic diagram of the front of the robot for repairing concealed hollow defects in exterior walls; Figure 2 This is an overall schematic diagram of the back of the robot used to repair concealed hollow spots on exterior walls; Figure 3 This is a schematic diagram of the steel support frame; Figure 4 This is a schematic diagram of a mobile cart; Figure 5 This is a schematic diagram from one perspective of the hollow drum repair robot; Figure 6 This is a schematic diagram from another perspective of the hollow drum repair robot; Figure 7 This is a schematic diagram of the distribution box and the propeller; Figure 8 This is a schematic diagram of an electric suction cup; Figure 9 This is a schematic diagram of an actuator and a multi-functional injector; Attached reference numerals: 1-Steel frame; 2-Mobile trolley; 3-Main body of repair robot; 4-Steel wire rope; 5-Safety rope for falling; 6-Storage bin; 7-Power distribution box; 8-Propeller; 9-Ear buckle; 10-Electric suction cup; 11-Actuator; 12-Multi-functional syringe; 13-Camera; 14-Wall; 101-Guide rail; 201 - Wheel; 202 - Drive shaft; 203 - Power socket; 701-GPS locator; 1001 - Suction cup telescopic joint; 1002 - Suction cup head; 1003 - Receiver; 1101 - Actuator expansion joint; 1201 - Needle. Detailed Implementation

[0028] To make the technical problems, technical solutions, and technical effects of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0030] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] In the description of the embodiments of the present invention, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present 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 limiting the present invention.

[0032] This invention provides a robot for repairing hollow exterior walls of high-rise buildings, including a steel bracket 1 fixed to the top of the building wall 14, a horizontal guide rail 101 set on the steel bracket 1, a mobile trolley 2 slidably set on the guide rail 101, a repair robot body 3 suspended below the mobile trolley 2 by two steel wire ropes 4, and a fall prevention safety rope 5 set between the mobile trolley 2 and the repair robot body 3. The main body 3 of the repair robot includes a mobile chassis, a negative pressure or magnetic attraction system installed at the bottom of the mobile chassis for lifting the mobile chassis to adhere to and stably adhere to the surface of the exterior wall, a detection and positioning system, a repair execution system, and a control system; The detection and positioning system includes a knock echo detection module and an infrared thermal imaging module, which are used to detect the location, boundary and depth of hollow areas in the exterior wall and generate a three-dimensional distribution map of the hollow areas. The repair execution system includes a grouting unit and a compaction unit. The grouting unit is used to inject repair grout into the identified hollow areas, and the compaction unit is used to flatten and reset the exterior wall finish layer in the hollow areas after grouting. The control system is electrically connected to the mobile chassis, adsorption system, detection and positioning system and repair execution system, respectively, and is used to control the autonomous movement, hollow drum identification and repair actions of the repair robot body 3.

[0033] In one embodiment, the mobile trolley 2 includes wheels 201, a drive shaft 202 that drives the wheels, and a power outlet 203 that supplies power to the drive shaft 202. The wheels 201 and the horizontal guide rail 101 form a rolling engagement to achieve horizontal displacement of the repair robot body 3.

[0034] In one embodiment, the adsorption system includes a propeller 8 disposed on the front of the mobile chassis for generating a thrust toward the wall and an electric suction cup 10 disposed on the back of the mobile chassis for vacuum adsorption of the wall. The thrust axis of the propeller 8 is perpendicular to the wall, and the thrust it generates is directed towards the wall to overcome the swing of the wire rope 4 and assist the electric suction cup 10 in adhering to the wall. The electric suction cup 10 includes a suction cup head 1002, a suction cup telescopic joint 1001, and a receiver 1003 connected in sequence. After receiving the control signal from the control system, the receiver 1003 controls the suction cup telescopic joint 1001 to extend and causes the suction cup head 1002 to evacuate and maintain vacuum contact with the wall.

[0035] In one embodiment, the grouting unit includes an actuator 11 for outputting drilling or grouting power, a telescopic rod connected to one end of the actuator 11, a multi-functional injector 12 connected to the telescopic rod, a needle 1201 connected to the multi-functional injector 12, and the other end of the actuator 11 connected to the storage tank 6 via a hose. Actuator 11 drives needle 1201 to move in the XYZ direction, so that needle 1201 accurately pierces the gap under the decorative layer in the hollow area; Needle 1201 is a composite needle with a miniature pressure sensor and a flow sensor, used to monitor grouting pressure and grouting volume in real time, and automatically stop grouting when the pressure drops suddenly; Needle 1201 can be used for grouting / glue injection and drilling. The clamping unit includes a pneumatic clamping head and an elastic pressure plate. After grouting is completed, the pneumatic clamping head pushes the elastic pressure plate to apply a set pressure and hold pressure for a set time to the surface of the outer wall, so that the finishing layer is re-adhered to the wall.

[0036] In one embodiment, the needle 1201 has a carbide cutting edge at its front end, and the actuator 11 is an electric push rod or a hydraulic cylinder. Its telescopic end is connected to the multifunctional syringe 12 through the actuator telescopic joint 1101 to apply a linear thrust to the needle 1201.

[0037] In one embodiment, the storage tank 6 is located at the bottom of the mobile chassis, and its interior is provided with a heating and insulation layer and stirring blades to maintain the fluidity of the repair slurry. It also includes a feeding system 700, which is set on the ground and connected to the storage box 6 through a feeding pipe 710. The feeding pipe 710 is equipped with a spiral conveying shaft 711 and a cleaning circuit 712 for continuously conveying slurry and preventing blockage.

[0038] In one embodiment, the rated breaking strength of the fall arrest safety rope 5 is not less than the breaking strength of any one of the two wire ropes 4, and its length is set to be in a slack state under normal tension of the wire ropes 4.

[0039] The two steel wire ropes 4 are also equipped with fall protection safety systems. The fall protection safety systems include tension sensors and automatic locking devices installed on the corresponding steel wire ropes 4. When the robot stalls or the tension is abnormal, the automatic locking device will brake in an emergency.

[0040] In one embodiment, the control system includes a path planning module, a hollow drum repair decision module, a remote communication module, and a power distribution box 7 for providing power. The path planning module uses a pre-set building exterior wall model to plan a full-coverage detection and repair path for the robot. The hollow area repair decision module automatically matches the grouting pressure, grouting volume, and pressure holding time based on the hollow area and depth. The remote communication module is used to exchange data with the ground control station in real time and receive remote commands.

[0041] The power distribution box 7 is equipped with a voltage conversion module and a wireless signal receiving module, which are used to receive control commands from the ground control station and distribute power to the propeller 8, the electric suction cup 10 and the actuator 11.

[0042] In one embodiment, the repair robot body 3 also includes a GPS locator 701 and a camera 13 for observing the operation process; both the GPS locator 701 and the camera 13 are electrically connected to the control system.

[0043] Specifically, the automatic control mode automatically executes the following steps based on the altitude data of the GPS locator 701 and the image data of the camera 13: horizontal movement → vertical descent → propeller thrust to adhere to the wall → electric suction cup adsorption → drilling → changing the syringe → quantitative grouting → desorption → lifting and resetting.

[0044] In one embodiment, the impact echo detection module includes an automatic hammer and a sound wave sensor. The automatic hammer strikes the exterior wall surface at a set frequency, and the sound wave sensor collects the echo signal. The presence of hollow areas is determined by analyzing the echo frequency characteristics. The infrared thermal imaging module includes an infrared thermal imager and a heating unit. The heating unit locally heats the wall surface, and the infrared thermal imager collects the temperature field distribution of the wall surface and identifies the location of the hollow area based on the temperature difference. The detection and positioning system also includes a data fusion unit, which performs spatial coordinate matching and confidence-weighted fusion of the detection results from the impact echo detection module and the infrared thermal imaging module to output a probability map of the hollow area.

[0045] Example 1 This embodiment discloses the assembly and initial positioning of the robot system, as detailed below: First, secure the steel bracket 1 to the parapet wall or top structural beam of the target high-rise building using pre-embedded bolts or expansion bolts. Ensure that the steel bracket 1 is tightly connected to the wall 14 without any shaking. Lay high-precision guide rails 101 on the top horizontal extension of the steel bracket 1.

[0046] Place the mobile trolley 2 on the guide rail 101, ensuring that the wheels 201 are accurately engaged in the grooves of the guide rail 101. Connect a temporary power supply through the power port 203 and test the smoothness of the drive shaft 202 driving the wheels 201 to slide horizontally along the guide rail 101.

[0047] Two steel wire ropes 4, each with a rated load of no less than 500 kg, are used. One end is fixed to the bottom hook of the mobile trolley 2, and the other end passes through the two ear loops 9 on the top of the repair robot body 3 and is locked. Simultaneously, a separate fall arresting safety rope 5 is used, with one end independently connected to the safety anchor point of the mobile trolley 2 and the other end connected to the main load-bearing frame of the robot body 3. The fall arresting safety rope 5 is slightly longer than the steel wire ropes 4, and is not under stress under normal conditions, only providing protection in the event of a breakage of the steel wire ropes.

[0048] Inject the pre-mixed epoxy resin hollow repair slurry into the storage tank 6 and connect it to the rear feed tube of the multi-functional injector 12. Depending on the material of the wall to be repaired (such as facing brick), install a drilling needle with a carbide drill bit at the multi-functional adapter.

[0049] Example 2 This embodiment discloses the robot's positioning and wall-adhesion process, as detailed below: The operator, via a ground control console, uses the altitude data fed back by the GPS locator 701 to control the forward and reverse rotation of the motor of the mobile trolley 2, moving the robot body 3 horizontally along the guide rail 101 to directly above the hollow area. Then, the steel cable 4 is released, allowing the robot body 3 to descend to the height of the defect by gravity.

[0050] Once the set height is reached, the descent stops. The drive motor of propeller 8 is activated, and the high-speed rotation of propeller 8 generates thrust towards the wall 14, propelling the robot body 3 to overcome the rope's swing and gradually bring it closer to the wall. During this process, the miniature camera 13 located on the front of the robot transmits images of the wall in real time.

[0051] When the robot body 3 is approximately 5-10 cm from the wall, the ground control console sends a start command wirelessly to the receiver 1003 of the electric suction cup 10. The receiver 1003 controls the solenoid valve to release air, driving the suction cup extension joint 1001 to extend forward until the suction cup head 1002 is fully attached to the exterior wall surface. Subsequently, the vacuum generator activates, extracting the air between the suction head 1002 and the wall, creating a vacuum of over -70 kPa. The four electric suction cups 10 work together to firmly adhere the robot body 3 to the wall. At this point, the propeller 8 can slow down or stop to save energy.

[0052] Example 3 This embodiment discloses the process of precise drilling and grouting repair for hollow areas, as detailed below: After the robot has stably adsorbed the air, the operator uses the high-definition image transmitted by camera 13 to accurately identify the boundary of the hollow area (or combines it with the coordinates of the previous infrared image). The actuator 11 is then activated remotely.

[0053] Actuator 11 (which can be an electric push rod or a hydraulic cylinder) pushes actuator telescopic joint 1101, causing the drill bit 1201, which is in a retracted state, to slowly advance and touch the center of the hollow area. Increasing the driving force of actuator 11, the drill bit 1201 drills through the exterior wall finish layer using high-frequency impact or rotation, forming a grouting hole with a diameter of approximately 3-5 mm. Camera 13 monitors the drilling depth in real time to prevent penetration of the insulation layer or interior wall.

[0054] After drilling is completed, the multi-functional converter head is automatically (or manually) replaced with a grouting injector. The operator sets the grouting pressure to 0.3-0.6 MPa and starts the grouting program. The actuator 11 advances the injector piston at a constant low speed, precisely injecting the repair grout from the storage tank 6 into the hollow cavity through the hose. During the grouting process, the camera 13 observes whether grout overflows from the surrounding gaps. When grout continuously flows from adjacent vent holes or gaps, it is determined that the filling is dense, and grouting is stopped.

[0055] After grouting is completed, maintain the suction cup in an adsorbed state for 1-2 minutes until the grout initially sets. Then, control the electric suction cup 10 to release the vacuum, the telescopic joint 1001 to retract, and the propeller 8 to push slightly in the opposite direction or release, causing the suction head to detach from the wall. Finally, use the steel wire rope 4 to lift the robot to the next work point or retrieve it to the rooftop, completing one repair operation.

Claims

1. A high-rise building outer wall hollowing repairing robot, characterized in that, Includes a steel bracket (1) fixed to the top of the building wall (14), a horizontal guide rail (101) set on the steel bracket (1), a mobile trolley (2) slidably set on the guide rail (101), a repair robot body (3) suspended below the mobile trolley (2) by two steel wire ropes (4), and a fall prevention safety rope (5) set between the mobile trolley (2) and the repair robot body (3); The main body of the repair robot (3) includes a mobile chassis, an adsorption system installed at the bottom of the mobile chassis for lifting the mobile chassis to adhere to and stably adsorb onto the surface of the exterior wall using negative pressure or magnetic attraction, a detection and positioning system, a repair execution system, and a control system; The detection and positioning system includes a knock echo detection module and an infrared thermal imaging module, which are used to detect the location, boundary and depth of hollow areas in the exterior wall and generate a three-dimensional distribution map of the hollow areas. The repair execution system includes a grouting unit and a pressing unit. The grouting unit is used to inject repair grout into the identified hollow areas, and the pressing unit is used to press and reset the exterior wall finish layer of the hollow areas after grouting. The control system is electrically connected to the mobile chassis, the adsorption system, the detection and positioning system and the repair execution system respectively, and is used to control the autonomous movement, hollow drum identification and repair actions of the repair robot body (3).

2. The high-rise building outer wall hollowing repairing robot according to claim 1, characterized in that, The mobile trolley (2) includes wheels (201), a drive shaft (202) for driving the wheels, and a power outlet (203) for supplying power to the drive shaft (202). The wheels (201) and the horizontal guide rail (101) form a rolling fit to realize the horizontal displacement of the main body (3) of the repair robot.

3. The robot for repairing hollow exterior walls of high-rise buildings according to claim 1, characterized in that, The adsorption system includes a propeller (8) on the front of the mobile chassis for generating thrust toward the wall and an electric suction cup (10) on the back of the mobile chassis for vacuum adsorption of the wall. The thrust axis of the propeller (8) is perpendicular to the wall, and the thrust it generates is directed toward the wall to overcome the swing of the wire rope (4) and assist the electric suction cup (10) in adhering to the wall. The electric suction cup (10) includes a suction cup head (1002), a suction cup telescopic joint (1001), and a receiver (1003) connected in sequence. After receiving the control signal from the control system, the receiver (1003) controls the suction cup telescopic joint (1001) to extend and causes the suction cup head (1002) to be vacuumed and maintain vacuum contact with the wall.

4. The high-rise building outer wall hollowing repairing robot according to claim 3, characterized in that, The grouting unit includes an actuator (11) for outputting drilling or grouting power, a telescopic rod connected to one end of the actuator (11), a multi-functional syringe (12) connected to the telescopic rod, a needle (1201) connected to the multi-functional syringe (12), and the other end of the actuator (11) connected to the storage tank (6) via a hose. The actuator (11) drives the needle (1201) to move in the XYZ direction, so that the needle (1201) accurately pierces the gap under the decorative layer in the hollow area; The needle (1201) is a composite needle with a miniature pressure sensor and a flow sensor, used to monitor the grouting pressure and grouting volume in real time, and automatically stop grouting when the pressure drops suddenly; The clamping unit includes a pneumatic clamping head and an elastic pressure plate. After grouting is completed, the pneumatic clamping head pushes the elastic pressure plate to apply a set pressure and hold pressure for a set time to the surface of the outer wall, so that the finishing layer is re-adhered to the wall.

5. A robot for repairing hollow exterior walls of high-rise buildings according to claim 4, characterized in that, The needle (1201) has a carbide cutting edge at the front end. The actuator (11) is an electric push rod or a hydraulic cylinder. Its telescopic end is connected to the multifunctional syringe (12) through the actuator telescopic joint (1101) to apply a linear thrust to the needle (1201).

6. The robot for repairing hollow exterior walls of high-rise buildings according to claim 5, characterized in that, The storage tank (6) is located at the bottom of the mobile chassis and has a heating and insulation layer and stirring blades inside to maintain the fluidity of the repair slurry. It also includes a feeding system (700), which is set on the ground and connected to the storage box (6) through a feeding pipe (710). The feeding pipe (710) is equipped with a spiral conveying shaft (711) and a cleaning circuit (712) for continuously conveying slurry and preventing blockage.

7. A robot for repairing hollow exterior walls of high-rise buildings according to claim 1, characterized in that, The rated breaking strength of the safety rope (5) is not lower than the breaking strength of any one of the two wire ropes (4), and its length is set to be in a slack state under the normal tension of the wire rope (4). The two steel wire ropes (4) are also equipped with fall protection safety systems. The fall protection safety systems include tension sensors and automatic locking devices installed on the corresponding steel wire ropes (4). When the robot stalls or the tension is abnormal, the automatic locking device brakes in an emergency.

8. The high-rise building outer wall hollowing repairing robot according to claim 6, characterized in that, The control system includes a path planning module, a hollow drum repair decision module, a remote communication module, and a power distribution box (7) for providing power. The path planning module plans a full-coverage detection and repair path for the robot based on a pre-set building exterior wall model. The hollow repair decision module automatically matches the grouting pressure, grouting volume, and pressure holding time based on the hollow area and depth. The remote communication module is used to interact with the ground control station in real time and receive remote commands. The power distribution box (7) is equipped with a voltage conversion module and a wireless signal receiving module, which are used to receive control commands from the ground control station and distribute power to the propeller (8), the electric suction cup (10) and the actuator (11).

9. The high-rise building outer wall hollowing repairing robot according to claim 8, characterized in that, The main body (3) of the repair robot also includes a GPS locator (701) and a camera (13) for observing the operation process; both the GPS locator (701) and the camera (13) are electrically connected to the control system.

10. A robot for repairing hollow exterior walls of high-rise buildings according to claim 8, characterized in that, The impact echo detection module includes an automatic hammer and a sound wave sensor. The automatic hammer strikes the exterior wall surface at a set frequency, and the sound wave sensor collects the echo signal. The presence of hollow areas is determined by analyzing the echo frequency characteristics. The infrared thermal imaging module includes an infrared thermal imager and a heating unit. The heating unit locally heats the wall surface, and the infrared thermal imager collects the temperature field distribution of the wall surface and identifies the location of hollow areas based on the temperature difference. The detection and positioning system also includes a data fusion unit, which is used to perform spatial coordinate matching and confidence-weighted fusion of the detection results from the impact echo detection module and the infrared thermal imaging module, and output a probability map of the hollow area.

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