Concrete wall surface polishing device based on wall-climbing robot

Abstract

The application relates to the technical field of building concrete wall surface polishing, in particular to a concrete wall surface polishing device based on a wall-climbing robot, which comprises a wall-climbing robot body, an L-shaped mounting bracket, a wall surface data detection module, a self-adaptive polishing assembly and a dust in-situ recovery assembly. The L-shaped mounting bracket is detachably fixedly connected to the front end outer wall of the wall-climbing robot body, the wall surface data detection module is fixedly installed at the upper end of the L-shaped mounting bracket, the self-adaptive polishing assembly is fixedly installed at the bottom end of the side of the L-shaped mounting bracket far from the wall-climbing robot body, the self-adaptive polishing assembly is used for self-adaptive adjustment of polishing pressure and polishing rotating speed according to wall surface flatness data and hardness data detected by the wall surface data detection module, and the dust in-situ recovery assembly is connected to the wall-climbing robot body and is used for solidification recovery treatment of dust generated by the self-adaptive polishing assembly in polishing the concrete wall surface. The application provides an environment-friendly concrete wall surface polishing device with good polishing effect.

Description

Technical Field

[0001] This invention relates to the field of concrete wall grinding technology, and in particular to a concrete wall grinding device based on a wall-climbing robot. Background Technology

[0002] Concrete wall grinding is a crucial preliminary step in building construction and renovation, as its smoothness and surface quality directly determine the subsequent wall finishing and overall aesthetics. Currently, the mainstream wall grinding equipment in the industry is mainly divided into two categories: handheld portable grinders and simple robotic arm grinders. When grinding walls at higher elevations, handheld portable grinders require scaffolding or aerial work platforms, which are unsafe and require significant manpower and resources. Simple robotic arm grinders are often limited to grinding single-layer interior walls or lower-lying exterior walls, and both types of equipment have significant technical limitations.

[0003] Therefore, some wall-climbing sanding robots have appeared on the market. These robots carry sanding equipment and are remotely controlled to sand walls. However, existing wall-climbing sanding robots have the following shortcomings: Regarding wall adaptability, existing wall-climbing grinding robots mostly use a single spring buffer structure for their grinding heads, which can only achieve small-scale passive buffering at the millimeter level. When facing complex concrete walls with significant differences in depth and unevenness, the buffer stroke is insufficient, which can easily lead to two extreme problems: First, the raised parts of the wall may be scratched or damaged due to hard contact, thus damaging the wall base; second, the recessed parts of the wall may be incompletely ground and have residual laitance due to insufficient grinding pressure. Ultimately, this results in a low rate of wall surface flatness that meets the standards, requiring secondary grinding and significantly reducing construction efficiency.

[0004] Regarding the matching of grinding parameters, existing wall-climbing grinding robots lack the ability to detect and dynamically adjust the characteristics of the wall surface in real time. They mostly rely on operators to preset parameters such as grinding speed and contact pressure, and complete the grinding operation using a fixed parameter mode. However, the characteristics of concrete wall substrates vary greatly. For example, the concrete hardness in the beam-column joint area is high, while the corner areas of the wall may have a loose substrate. Grinding with fixed parameters can easily lead to insufficient grinding of high-hardness areas and over-grinding of loose areas, further affecting the quality of wall grinding.

[0005] In terms of dust handling, existing wall-climbing grinding robots are not designed with dust collection components. The dust generated during the grinding process will fall directly from the air onto the bottom surface or the surface of other objects near the building. This will pollute the environment near the building and will also be detrimental to subsequent collection and cleaning work. Summary of the Invention

[0006] The purpose of this invention is to provide a concrete wall grinding device based on a wall-climbing robot to solve the technical problems existing in the background art.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows: A concrete wall grinding device based on a wall-climbing robot includes: a wall-climbing robot body, an L-shaped mounting bracket, a wall data detection module, an adaptive grinding component, and an in-situ dust recovery component. The L-shaped mounting bracket is detachably and fixedly connected to the front outer wall of the wall-climbing robot body. The wall data detection module is fixedly installed on the upper end of the L-shaped mounting bracket for real-time detection of the flatness and hardness data of the concrete wall. The adaptive grinding component is fixedly installed on the bottom end of the L-shaped mounting bracket on the side away from the wall-climbing robot body. The adaptive grinding component adaptively adjusts the grinding pressure and grinding speed according to the wall flatness and hardness data detected by the wall data detection module. The in-situ dust recovery component is connected to the wall-climbing robot body for solidifying and recovering the dust generated by the adaptive grinding component during the grinding of the concrete wall.

[0008] Furthermore, it also includes a control module, which is mounted on the wall-climbing robot body. The wall data detection module includes a visual detection module and an ultrasonic detection module, which are used to detect the flatness data and hardness data of the concrete wall surface, respectively. The visual detection module and the ultrasonic detection module are electrically connected to the control module.

[0009] Furthermore, the adaptive grinding assembly includes: a mounting base, a buffer support, a pressure feedback telescopic component, a grinding motor, a grinding disc mounting base, and a grinding disc. The mounting base is fixedly installed at the bottom end of the L-shaped mounting bracket on the side away from the wall-climbing robot body. The buffer support is located directly below the mounting base. The grinding motor is fixedly installed at the top center of the buffer support and electrically connected to the control module. The rotation speed of the grinding motor is adjustable. The output shaft of the grinding motor moves vertically downward through the buffer support and is coaxially fixedly connected to the grinding disc mounting base directly below the buffer support. The grinding disc is coaxially and detachably fixedly installed at the bottom end of the grinding disc mounting base. Several pressure feedback telescopic components are provided, and the fixed end and telescopic end of the several pressure feedback telescopic components are respectively connected to the mounting base and the buffer support.

[0010] Furthermore, the pressure feedback telescopic assembly includes: an electric telescopic rod, a connecting rod, a nut, a ring plate, a pressure spring, and a pressure sensor. The fixed end of the electric telescopic rod is fixedly installed at the bottom of the mounting base. The telescopic end of the electric telescopic rod is coaxially threaded to the connecting rod. A vertical through-hole is provided on the buffer support. The connecting rod slides vertically through the through-hole and is threaded to the nut below the buffer support. The ring plate is coaxially fixedly connected to the upper end of the outer wall of the connecting rod. The pressure sensor is annular and coaxially arranged with the through-hole, and is fixedly installed at the top of the buffer support. The inner ring diameter of the pressure sensor is larger than the diameter of the through-hole. The pressure spring is sleeved on the connecting rod, and its two ends press against the bottom end of the ring plate and the top end of the pressure sensor, respectively. The electric telescopic rod and the pressure sensor are electrically connected to the control module.

[0011] Furthermore, the adaptive grinding assembly also includes: a slide cylinder, a slide rod, and a buffer spring. Several slide cylinders, slide rods, and buffer springs are provided, each corresponding to one another. One axial end of each slide cylinder is uniformly and vertically fixedly connected to the bottom end of the mounting base. One axial end of each slide rod is uniformly and vertically fixedly connected to the top end of the buffer support. Several slide rods are vertically and slidably connected inside several slide cylinders. Several buffer springs are respectively sleeved on several slide cylinders and several slide rods, with both ends pressing against the bottom end of the mounting base and the top end of the buffer support.

[0012] Furthermore, the adaptive grinding assembly also includes a flange and bearings. The flange is fixedly installed at the bottom center of the buffer support. Two bearings are provided, and the outer rings of the two bearings are coaxially fixedly connected to the inner wall of the flange. The output shaft of the grinding motor passes through and is fixedly connected to the inner rings of the two bearings.

[0013] Furthermore, the adaptive grinding assembly also includes: a dust cover, a flexible skirt, a flexible isolation pad, and an annular protective cover. The dust cover is coaxially fixedly mounted on the flange. The bottom end of the dust cover is provided with a flexible skirt, which is composed of several bristles arranged in a circumferential array. An annular protective cover is fixedly connected to the outer wall of the mounting base. The flexible isolation pad is annular in shape. The inner annular end of the flexible isolation pad is fixedly connected to the outer wall of the dust cover, and the outer annular end of the flexible isolation pad is fixedly connected to the lower part of the inner wall of the annular protective cover.

[0014] Furthermore, the in-situ dust recovery assembly includes: a dust recovery unit, a dust collection unit, a spraying unit, and a fixing rod. The dust recovery unit includes: a dust collection hood and a sealing base. The dust collection hood has an open bottom structure, and the sealing base is threaded to the bottom end of the dust collection hood. The dust collection hood is fixedly installed on the wall-climbing robot body by the fixing rod. The dust collection unit is used to suck the dust generated by the grinding discs grinding the concrete wall surface into the dust collection hood. The spraying unit is used to spray water mist or water-based curing liquid into the dust collection hood.

[0015] Furthermore, the vacuuming unit includes a vacuum pipe and a negative pressure pump. One end of the vacuum pipe is connected to a dust cover, and the other end is connected to a dust collection cover. The negative pressure pump is connected to the vacuum pipe and fixedly installed at the top of the L-shaped mounting bracket. The negative pressure pump is electrically connected to the control module.

[0016] Furthermore, the spraying unit includes: a water tank, a water pump, a water pipe, and a nozzle. The water tank stores water or a water-based curing liquid. The water pump is located at the bottom of the inner cavity of the water tank and is electrically connected to the control module. One end of the water pipe is connected to the output port of the water pump, and the other end is sealed through the water tank and connected to the nozzle. The nozzle is located at the top of the inner wall of the dust collection hood.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention, by incorporating an adaptive sanding component, achieves precise adaptation to wall surface unevenness depths of 0.1-5 cm, balancing wall protection with sanding pressure requirements. This significantly improves the smoothness of complex wall surfaces and effectively avoids secondary sanding. Furthermore, the adaptive sanding component exhibits enhanced stability and wear resistance, making it suitable for long-term, high-intensity sanding operations and extending the equipment's lifespan.

[0018] 2. By using the wall data detection module in conjunction with the adaptive sanding component, the sanding pressure and speed can be optimized and adjusted in real time based on the flatness and hardness data of the wall surface, avoiding the problems of insufficient sanding in high-hardness areas and over-sanding of soft substrates.

[0019] 3. By incorporating on-site dust recovery components, a closed loop is constructed from collection to solidification to resource recovery, solving the traditional dust treatment problem. The device sprays water mist or water-based solidifying liquid into the dust collection hood through a spray unit. Fine dust particles are moistened, captured, and agglomerated under the action of the water mist or liquid, gradually transforming from a suspended state into moist particles or mud-like agglomerates. The agglomerated dust settles to the bottom of the dust collection hood under gravity and further accumulates and solidifies. The solidified material is dust-free, easy to transport, and can be directly recycled as brick aggregate. This avoids the pollution and resource waste of traditional dust landfill, achieving the reduction and resource recovery of construction waste, while eliminating the need for additional processing equipment, balancing environmental protection and economic benefits, and adapting to the needs of automated construction.

[0020] 4. This invention adopts modular assembly and lightweight design, making it easy to assemble and disassemble each functional component. The wall-climbing robot body is stable in adsorption and flexible in movement, adaptable to complex working scenarios such as confined spaces and high walls. Compared with traditional equipment, it eliminates the need for manual parameter adjustment and dust cleaning, achieving automated grinding, dust removal, and recycling operations, reducing labor costs and safety risks. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a cross-section of the adaptive grinding component in this invention. Figure 1 ; Figure 3 This is a cross-section of the adaptive grinding component in this invention. Figure 2 ; Figure 4 This is a cross-section of the adaptive grinding component in this invention. Figure 3 ; Figure 5 This is a schematic diagram of the internal structure of the dust recovery unit and the spraying unit in this invention.

[0022] The labels in the attached diagram are as follows: 1-Wall-climbing robot body, 2-L-shaped mounting bracket, 3-Wall data detection module, 4-Adaptive grinding component, 401-Mounting base, 402-Buffer support, 403-Electric telescopic rod, 404-Connecting rod, 405-Nut, 406-Ring plate, 407-Compression spring, 408-Compression sensor, 409-Slide cylinder, 410-Slide rod, 411-Buffer spring, 412-Grinding motor, 413-Grinding... 414-Grinding disc, 415-Flange, 416-Bearing, 417-Dust cover, 418-Flexible skirt, 419-Flexible isolation pad, 420-Annular protective cover, 5-Dust recovery unit, 501-Dust collection cover, 502-Sealing base, 6-Dust suction unit, 601-Dust suction pipe, 602-Negative pressure pump, 7-Spraying unit, 701-Water tank, 702-Water pump, 703-Water pipe, 704-Spray head, 8-Fixing rod. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0024] See Figures 1-5As shown, a concrete wall grinding device based on a wall-climbing robot includes: a wall-climbing robot body 1, an L-shaped mounting bracket 2, a wall data detection module 3, an adaptive grinding component 4, and an in-situ dust recovery component. The L-shaped mounting bracket 2 is detachably and fixedly connected to the front outer wall of the wall-climbing robot body 1. The wall data detection module 3 is fixedly installed on the upper end of the L-shaped mounting bracket 2 for real-time detection of the flatness and hardness data of the concrete wall. The adaptive grinding component 4 is fixedly installed on the bottom end of the L-shaped mounting bracket 2 on the side away from the wall-climbing robot body 1. The adaptive grinding component 4 adaptively adjusts the grinding pressure and grinding speed according to the wall flatness and hardness data detected by the wall data detection module 3. The in-situ dust recovery component is connected to the wall-climbing robot body 1 for solidifying and recovering the dust generated by the adaptive grinding component 4 during the grinding of the concrete wall. The wall-climbing robot body 1 uses an Oakford wall-climbing robot, but other robots with wall-climbing functions can also be used.

[0025] The concrete wall grinding device based on the wall-climbing robot also includes: a control module, which is set on the wall-climbing robot body 1. The control module is a microcontroller, or the main control unit built into the wall-climbing robot body 1 can be used directly; the wall data detection module 3 includes: a visual detection module and an ultrasonic detection module, which are used to detect the flatness data and hardness data of the concrete wall respectively; the visual detection module and the ultrasonic detection module are electrically connected to the control module respectively.

[0026] The visual inspection module specifically includes a line laser projection unit, an image acquisition unit, an image processing unit, and a data transmission unit. The line laser projection unit projects a laser line onto the concrete wall to be polished. The image acquisition unit captures the image of the laser line on the wall. When the laser line illuminates a smooth wall, the laser line in the camera image appears as a straight line. When the wall has bumps, depressions, or uneven areas, the laser line will bend, shift, or distort. The image processing unit extracts the laser line from the acquired image and compares it with a preset baseline to calculate the laser line offset, thereby estimating the local height difference and flatness changes of the wall. The data transmission unit transmits the processing results from the image processing unit to the control module. The ultrasonic testing module includes an ultrasonic transmitting unit, an ultrasonic receiving unit, an ultrasonic data processing unit, and an ultrasonic data transmission unit. The ultrasonic transmitting unit emits ultrasonic waves toward the concrete wall to be polished, the ultrasonic receiving unit receives the reflected ultrasonic waves, and the ultrasonic data processing unit processes the emitted ultrasonic waves to calculate the hardness of the concrete wall and transmits the processing results to the control module through the ultrasonic data transmission unit. The control module controls the sanding pressure and speed of the adaptive sanding component 4 based on wall flatness and hardness data, avoiding insufficient sanding of high-hardness areas and over-sanding of soft substrates.

[0027] The adaptive grinding component 4 includes: a mounting base 401, a buffer support 402, a pressure feedback telescopic component, a grinding motor 412, a grinding disc mounting base 413, and a grinding disc 414. The mounting base 401 is fixedly mounted on the bottom end of the L-shaped mounting bracket 2 away from the wall-climbing robot body 1. The buffer support 402 is located directly below the mounting base 401. The grinding motor 412 is fixedly mounted on the top center of the buffer support 402 and electrically connected to the control module. The speed of the grinding motor 412 is adjustable. The output shaft of the grinding motor 412 moves vertically downward through the buffer support 402 and is coaxially fixedly connected to the grinding disc mounting base 413 directly below the buffer support 402. The grinding disc 414 is coaxially and detachably fixedly mounted on the bottom end of the grinding disc mounting base 413. Several pressure feedback telescopic components are provided, and the fixed end and telescopic end of the several pressure feedback telescopic components are respectively connected to the mounting base 401 and the buffer support 402.

[0028] The pressure feedback telescopic assembly includes: an electric telescopic rod 403, a connecting rod 404, a nut 405, a ring plate 406, a pressure spring 407, and a pressure sensor 408. The fixed end of the electric telescopic rod 403 is fixedly installed at the bottom end of the mounting base 401. The telescopic end of the electric telescopic rod 403 is coaxially threaded to the connecting rod 404. A vertical through-hole is opened on the buffer support 402. The connecting rod 404 slides vertically through the through-hole and is threaded to the nut 405 below the buffer support 402. The ring plate 406 is coaxially fixedly connected to the upper end of the outer wall of the connecting rod 404. The pressure sensor 408 is annular and coaxially arranged with the through-hole, and is fixedly installed at the top of the buffer support 402. The inner ring of the pressure sensor 408... The diameter is larger than the diameter of the connecting hole; the pressure spring 407 is sleeved on the connecting rod 404 and its two ends press against the bottom end of the contact ring 406 and the top end of the pressure sensor 408 respectively; the electric telescopic rod 403 and the pressure sensor 408 are electrically connected to the control module respectively; the pressure sensor 408 is set to detect the grinding pressure of the grinding disc in real time and feed it back to the control module; the electric telescopic rod 403 is set to adjust the contact pressure (i.e., grinding pressure) between the grinding disc and the concrete wall surface. When the grinding disc contacts the raised area of ​​the wall surface, the electric telescopic rod 403 retracts to reduce the instantaneous impact load. When the grinding disc passes through the concave area of ​​the wall surface, the electric telescopic rod 403 extends to compensate for the gap between the grinding disc and the wall surface, thereby maintaining the stable contact between the grinding disc and the wall surface.

[0029] The adaptive grinding assembly 4 also includes: a slide cylinder 409, a slide rod 411, and a buffer spring 411. Several slide cylinders 409, slide rods 411, and buffer springs 411 are provided and correspond one-to-one. One axial end of each slide cylinder 409 is uniformly and vertically fixedly connected to the bottom end of the mounting base 401. One axial end of each slide rod 411 is uniformly and vertically fixedly connected to the top end of the buffer support 402. The slide rods 411 are vertically slidably connected inside the slide cylinders 409. The buffer springs 411 are respectively sleeved on the slide cylinders 409 and slide rods 411, with both ends pressing against the bottom end of the mounting base 401 and the top end of the buffer support 402. The combined use of the slide cylinders 409 and slide rods 411 ensures the strength and stability of the entire device, and the buffer springs 411 ensure that the grinding disc remains in contact with the wall surface during the grinding process.

[0030] The adaptive grinding assembly 4 also includes a flange 415 and a bearing 416. The flange 415 is fixedly installed at the bottom center of the buffer support 402. There are two bearings 416, and the outer rings of the two bearings 416 are coaxially fixedly connected to the inner wall of the flange 415. The output shaft of the grinding motor 412 passes through and is fixedly connected to the inner rings of the two bearings 416. The flange 415 and the bearings 416 ensure the stability of the output shaft of the grinding motor 412.

[0031] The adaptive grinding assembly 4 also includes: a dust cover 417, a flexible skirt 418, a flexible isolation pad 419, and an annular cover 420. The dust cover 417 is coaxially fixedly mounted on the flange 415. The bottom end of the dust cover 417 is provided with a flexible skirt 418, which is composed of several bristles arranged in a circumferential array. The annular cover 420 is fixedly connected to the outer wall of the mounting base 401. The flexible isolation pad 419 is annular, with the inner end of the annular pad 419 fixedly connected to the outer wall of the dust cover 417, and the outer end of the annular pad 419 fixedly connected to the lower part of the inner wall of the annular cover 420. The combined use of the dust cover 417 and the flexible skirt 418 can reduce the amount of dust escaping from the dust cover 417. The flexible isolation pad 419 and the annular cover 420 can minimize the contact between dust and the grinding motor body, the electric telescopic rod 403, and other components.

[0032] The in-situ dust recovery assembly includes: a dust recovery unit 5, a dust collection unit 6, a spray unit 7, and a fixing rod 8. The dust recovery unit 5 includes: a dust collection hood 501 and a sealing base 502. The dust collection hood 501 is a hood structure with an open bottom, and the sealing base 502 is threadedly connected to the bottom end of the dust collection hood 501. The dust collection hood 501 is fixedly installed on the wall-climbing robot body 1 by the fixing rod 8. The dust collection unit 6 is used to suck the dust generated by the grinding disc 414 grinding the concrete wall into the dust collection hood 501. The spray unit 7 is used to spray water mist or water-based curing liquid into the dust collection hood 501.

[0033] The vacuuming unit 6 includes a vacuum pipe 601 and a negative pressure pump 602. One end of the vacuum pipe 601 is connected to the dust cover 417, and the other end is connected to the dust collection cover 501. The negative pressure pump 602 is connected to the vacuum pipe 601 and fixedly installed at the top of the L-shaped mounting bracket 2. The negative pressure pump 602 is electrically connected to the control module. When the negative pressure pump 602 works, the dust in the internal cavity of the dust cover 417 is sucked into the dust collection cover 501 by the vacuum pipe 601.

[0034] The spray unit 7 includes a water tank 701, a water pump 702, a water pipe 703, and a nozzle 704. The water tank 701 stores water or water-based curing liquid. The water pump 702 is located at the bottom of the inner cavity of the water tank 701 and is electrically connected to the control module. One end of the water pipe 703 is connected to the output port of the water pump 702, and the other end is sealed through the water tank 701 and connected to the nozzle 704. The nozzle 704 is located at the top of the inner wall of the dust collection hood 501. Water mist or water-based curing liquid is sprayed into the dust collection hood through the spray unit. Fine dust particles are moistened, captured, and agglomerated under the action of water mist or water-based curing liquid, gradually changing from a suspended state to a moist particle or mud-like agglomerate. The agglomerated dust settles to the bottom of the dust collection hood under the action of gravity and further accumulates and solidifies. The solidified material is dust-free, easy to transport, and can be directly recycled as brick aggregate. It avoids the pollution and resource waste of traditional dust landfill, realizes the reduction and resource utilization of construction waste, and does not require additional processing equipment, thus balancing environmental protection and economic benefits and adapting to the needs of automated construction.

[0035] Working principle: After the entire device is started, the wall-climbing robot body 1, with its built-in wall-climbing walking mechanism, firmly attaches itself to the concrete wall surface through negative pressure adsorption. The control module simultaneously activates all functional components. The visual inspection module and ultrasonic inspection module detect the flatness and hardness data of the concrete wall surface to be polished, respectively, and transmit them to the control module. The control module controls the polishing pressure and speed of the polishing disc 414 based on the set targeted polishing parameters. Simultaneously, the polishing pressure is detected in real time by the pressure sensor 408 in the adaptive polishing component 4. When the polishing disc 414 contacts a raised area of ​​the wall surface, the electric telescopic rod 403 retracts to reduce the instantaneous impact load; when the polishing disc 414 passes through a recessed area of ​​the wall surface, the electric telescopic rod 403 extends... To compensate for the gap between the sanding pad and the wall surface, thus maintaining a stable fit between the sanding pad and the wall surface; during the sanding process, the dust generated is sucked into the dust collection hood 501 by the dust suction unit 6, and at the same time, water mist or water-based curing liquid is sprayed into the dust collection hood 501 through the spray unit 7. The fine dust particles are moistened, captured and agglomerated under the action of water mist or water-based curing liquid, and gradually change from a suspended state to a moist particle or mud-like agglomerate; the agglomerated dust settles to the bottom of the dust collection hood 501 under the action of gravity, and further accumulates and solidifies.

[0036] In the description of this invention, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", "top / bottom", 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 limiting this invention.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent substitutions, and improvements made by those skilled in the art to the above embodiments without departing from the scope of the technical solution of the present invention, based on the technical essence of the present invention, shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A concrete wall surface polishing device based on a wall-climbing robot, characterized by, include: The wall-climbing robot body (1), L-shaped mounting bracket (2), wall data detection module (3), adaptive grinding component (4), and dust in-situ recovery component are provided. The L-shaped mounting bracket (2) is detachably fixedly connected to the outer wall of the front end of the wall-climbing robot body (1). The wall data detection module (3) is fixedly installed on the upper end of the L-shaped mounting bracket (2) for real-time detection of the flatness and hardness data of the concrete wall. The adaptive grinding component (4) is fixedly installed on the bottom end of the L-shaped mounting bracket (2) away from the wall-climbing robot body (1). The adaptive grinding component (4) adaptively adjusts the grinding pressure and grinding speed according to the wall flatness and hardness data detected by the wall data detection module (3). The dust in-situ recovery component is connected to the wall-climbing robot body (1) for solidifying and recovering the dust generated by the adaptive grinding component (4) grinding the concrete wall.

2. The concrete wall grinding device based on a wall-climbing robot according to claim 1, characterized in that: Also includes: The control module is set on the wall-climbing robot body (1). The wall data detection module (3) includes a visual detection module and an ultrasonic detection module. The visual detection module and the ultrasonic detection module are used to detect the flatness data and hardness data of the concrete wall respectively. The visual inspection module and the ultrasonic inspection module are electrically connected to the control module, respectively.

3. A concrete wall grinding device based on a wall-climbing robot according to claim 2, characterized in that: The adaptive grinding component (4) includes: a mounting base (401), a buffer support (402), a pressure feedback telescopic component, a grinding motor (412), a grinding disc mounting base (413), and a grinding disc (414). The mounting base (401) is fixedly installed on the bottom end of the L-shaped mounting bracket (2) away from the wall-climbing robot body (1). The buffer support (402) is located directly below the mounting base (401). The grinding motor (412) is fixedly installed at the top center of the buffer support (402) and electrically connected to the control module. The rotational speed of the grinding motor (412) is adjustable. The output shaft of the grinding motor (412) moves vertically downward through the buffer support (402) and is coaxially fixedly connected to the grinding disc mounting base (413) directly below the buffer support (402). The grinding disc (414) is coaxially and detachably fixedly mounted on the bottom end of the grinding disc mounting base (413). Several pressure feedback telescopic components are provided, and the fixed end and telescopic end of the several pressure feedback telescopic components are respectively connected to the mounting base (401) and the buffer support (402).

4. A concrete wall grinding device based on a wall-climbing robot according to claim 3, characterized in that: The pressure feedback telescopic assembly includes: an electric telescopic rod (403), a connecting rod (404), a nut (405), a ring plate (406), a pressure spring (407), and a pressure sensor (408). The fixed end of the electric telescopic rod (403) is fixedly installed at the bottom end of the mounting base (401). The telescopic end of the electric telescopic rod (403) is coaxially threaded with the connecting rod (404). A vertical through-hole is opened on the buffer support (402). The connecting rod (404) slides vertically through the through-hole and is threaded below the buffer support (402). The connecting nut (405) is attached, and the ring plate (406) is coaxially fixedly connected to the upper end of the outer wall of the connecting rod (404). The pressure sensor (408) is circular and coaxially arranged with the connecting hole, and is fixedly installed at the top of the buffer support (402). The inner ring diameter of the pressure sensor (408) is larger than the diameter of the connecting hole. The pressure spring (407) is sleeved on the connecting rod (404) and its two ends are respectively pressed against the bottom end of the contact ring plate (406) and the top end of the pressure sensor (408). The electric telescopic rod (403) and the pressure sensor (408) are electrically connected to the control module.

5. A concrete wall grinding device based on a wall-climbing robot according to claim 3, characterized in that: The adaptive grinding assembly (4) further includes: a slide cylinder (409), a slide rod (411), and a buffer spring (411). Each slide cylinder (409), slide rod (411), and buffer spring (411) is provided in multiple and correspond to each other. One axial end of each slide cylinder (409) is uniformly and vertically fixedly connected to the bottom end of the mounting base (401). One axial end of each slide rod (411) is uniformly and vertically fixedly connected to the top end of the buffer support (402). Each slide rod (411) is vertically and slidably connected inside the slide cylinder (409). Each buffer spring (411) is sleeved on the slide cylinder (409) and the slide rod (411), and both ends are pressed against the bottom end of the mounting base (401) and the top end of the buffer support (402).

6. A concrete wall grinding device based on a wall-climbing robot according to claim 3, characterized in that: The adaptive grinding assembly (4) further includes a flange (415) and a bearing (416). The flange (415) is fixedly installed at the bottom center of the buffer support (402). There are two bearings (416). The outer rings of the two bearings (416) are coaxially fixedly connected to the inner wall of the flange (415). The output shaft of the grinding motor (412) passes through and is fixedly connected to the inner rings of the two bearings (416).

7. A concrete wall grinding device based on a wall-climbing robot according to claim 6, characterized in that: The adaptive grinding assembly (4) further includes: a dust cover (417), a flexible skirt (418), a flexible isolation pad (419), and an annular cover (420). The dust cover (417) is coaxially fixedly mounted on the flange (415). The bottom end of the dust cover (417) is provided with a flexible skirt (418). The flexible skirt (418) is composed of several bristles arranged in a circumferential array. The annular cover (420) is fixedly connected to the outer wall of the mounting base (401). The flexible isolation pad (419) is annular. The inner annular end of the flexible isolation pad (419) is fixedly connected to the outer wall of the dust cover (417), and the outer annular end of the flexible isolation pad (419) is fixedly connected to the lower part of the inner wall of the annular cover (420).

8. A concrete wall grinding device based on a wall-climbing robot according to claim 7, characterized in that: The dust in-situ recovery assembly includes: a dust recovery unit (5), a dust suction unit (6), a spray unit (7), and a fixing rod (8). The dust recovery unit (5) includes: a dust collection hood (501) and a sealing base (502). The dust collection hood (501) is a hood structure with an open bottom. The sealing base (502) is threaded to the bottom end of the dust collection hood (501). The dust collection hood (501) is fixedly installed on the wall-climbing robot body (1) by the fixing rod (8). The dust suction unit (6) is used to suck the dust generated by the grinding disc (414) grinding the concrete wall into the dust collection hood (501). The spray unit (7) is used to spray water mist or water-based curing liquid into the dust collection hood (501).

9. A concrete wall grinding device based on a wall-climbing robot according to claim 8, characterized in that: The vacuum unit (6) includes a vacuum pipe (601) and a negative pressure pump (602). One end of the vacuum pipe (601) is connected to a dust cover (417), and the other end is connected to a dust collection cover (501). The negative pressure pump (602) is connected to the vacuum pipe (601) and fixedly installed on the top of the L-shaped mounting bracket (2). The negative pressure pump (602) is electrically connected to the control module.

10. A concrete wall grinding device based on a wall-climbing robot according to claim 8, characterized in that: The spray unit (7) includes: a water tank (701), a water pump (702), a water pipe (703), and a nozzle (704). The water tank (701) stores water or water-based curing liquid. The water pump (702) is located at the bottom of the inner cavity of the water tank (701) and is electrically connected to the control module. One end of the water pipe (703) is connected to the output port of the water pump (702), and the other end is sealed through the water tank (701) and connected to the nozzle (704). The nozzle (704) is located at the top of the inner wall of the dust collection hood (501).

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