Automating tile surface inspection is critically needed to reduce human error when using traditional hammer test, which relies on subjective assessment. Furthermore, infrastructure in Latin America suffers from aging, seismic activity, and humidity, which accelerate adhesion failures. This work presents an early-stage prototype based on the HeRo 2.0 platform for automated acoustic inspection using swarm robotics principles. Key developments include the integration of a low-cost percussion mechanism, acoustic sensing, and wireless charging to enable scalable autonomous operation. A custom PCB was designed to support sensor integration and power management, alongside a conceptual mechanical design for the hammering device. Preliminary acoustic tests validated the feasibility of defect detection with a low power percussion system, establishing a proof of concept for future swarm-based inspection systems. This approach offers a scalable, low-cost solution for non-destructive testing in urban infrastructure.