Wall surface repairing and cleaning robot based on Kresling structure deformation

Abstract

The invention discloses a wall surface repairing and cleaning robot based on Kresling structure deformation. The wall surface repairing and cleaning robot comprises a Kresling double-layer truss longitudinal folding and unfolding structure, a movement system, a control system and a repairing and cleaning integrated module. The invention provides a novel mechanical deformation structure combined with a Kresling paper folding structure, so that the longitudinal volume is deformable; according to the wall surface operation cleaning and repairing machine combined with the variable-diameter wheels, rapid transportation and movement of the operation robot are achieved; foot-type wall-climbing mechanical legs and variable-diameter wheels are combined, and a novel wheel-leg combined movement structure is provided in the field of wall surface operation robots. A computer vision identification technology is used for wall surface crack detection, and visualization and real-time performance of a wall surface operation robot are achieved through a digital twinning technology. And an adjustable cleaning and repairing integrated module is designed, so that wall surface repairing, cleaning and smearing are integrated, and the angle density can be freely adjusted.

Description

Technical Field

[0001] The invention belongs to the technical field of wall cleaning and repair operation auxiliary mechanical design, and relates to a structural design based on a Kresling origami structure applied to an intelligent deformable robot to assist manual operations. Background Art

[0002] With the acceleration of modernization, high-rise buildings emerge in an endless stream. While providing a place for human beings to live, they also bring troubles to safety and sanitation, and need to be inspected, maintained and cleaned. Since these tasks are very dangerous and complicated, research on wall-climbing robots has been widely carried out. Commonly used wall-working robot movement modes include crawler negative pressure type, magnetic suction type, wheel type and bionic foot type. However, the crawler type movement mode must rely on pressure on the wall to keep hanging, which is easy to cause irreversible damage to the wall, and the magnetic suction type movement is only applicable to magnetic iron walls, and the scope of application is small. Compared with other wall-climbing movement modes, the four-limb crawling of multi-legged robots has a strong adaptability to the wall, and the research on its related theories and technologies has always attracted attention in the scientific and technological community. In current research, more attention is paid to the gait planning, path planning, controller design and adsorption principle of multi-legged robots, while less research is done on the proportion of robot legs, so that the current wall-climbing robots are not very practical. Since the purpose of developing multi-legged robots is to apply them to vertical wall work. Under the same conditions, the body structure proportion affects the robot's travel speed, obstacle surmounting ability and safety performance. Therefore, studying the robot's body ratio and its adaptive changes is the key to realizing the practical application of multi-legged wall-climbing robots. Summary of the invention

[0003] In order to solve the problem that traditional wall-working robots are bulky and difficult to adapt to complex terrain and various wall-working requirements, the present invention takes multi-legged wall-working robots as the research object, explores the impact of working efficiency and practicality from the perspectives of mechanical structure, kinematic analysis, and mechanical structure research, and provides a wall repair and cleaning robot based on Kresling structural deformation. The present invention adopts a leg-wheel interactive motion scheme and replaces the Kresling truss structure with a hydraulic pipe to realize a variable volume wall-working robot structure with lateral deformation and longitudinal expansion.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] A wall repair and cleaning robot based on Kresling structural deformation includes four parts: a Kresling double-layer truss longitudinal retractable structure, a motion system, a control system, and a repair and cleaning integrated module, wherein:

[0006] The Kresling double-layer truss longitudinal retractable structure serves as the trunk connection part of the robot. The Kresling metal truss is replaced by a rotatable truss plunger rod and a hydraulic cylinder. A hydraulic drive machine and an oil distribution plate are arranged between the two-layer Kresling truss structures. The hydraulic drive machine is connected to the oil inlet of the oil distribution plate, and the oil outlet of the oil distribution plate is connected to the input end of the hydraulic cylinder. The output end of the hydraulic cylinder is provided with a truss plunger rod. The top plate and the bottom plate of the single-layer Kresling truss structure are both provided with rotatable bevel gears for controlling the rotation of the truss.

[0007] The motion system adopts a leg wheel structure combining a variable diameter wheel and a wall-climbing mechanical leg. The variable diameter wheel is composed of a support rod, a push rod, and a coupling. One end of the push rod is connected to the support rod, and the other end is connected to a sleeve extending from the middle coupling. The sleeve has a built-in spring that pushes the push rod to push or retract in six directions at the same time to realize the expansion or folding of the support rod; the wall-climbing mechanical leg is composed of a freely movable three-axis commutator and a suction palm designed in the style of an octopus suction cup. One end of the three-axis commutator is connected to the suction palm, and the other end is connected to the coupling of the variable diameter wheel. The coupling is connected to a rotatable helical gear on the bottom plate of the Kresling double-layer truss longitudinal expansion and contraction structure through a spherical universal shaft structure;

[0008] The repair and cleaning integrated module is attached to the outside of the Kresling double-layer truss longitudinal retractable structure in a ring shape, and is composed of three identical integrated cleaning operation modules and rotatable iron rings at both ends of the repair and cleaning integrated module that move with the trunk. The three identical integrated cleaning operation modules are arranged in a triangular symmetrical manner, and the rotatable iron rings are located at both ends of the integrated cleaning operation module, and are respectively connected to the integrated cleaning operation module and the top plate and bottom plate of the single-layer Kresling truss structure through rigid rods;

[0009] The control system uses OpenCV+YOLO computer vision to identify wall cracks and stains and determine the working area. The external camera module is used to capture real-time images. The STM32 chip and industrial PLC are used as controllers to control the Kresling double-layer truss longitudinal extension and retraction structure, the motion system, and the repair and cleaning integrated module structure operation.

[0010] Compared with the prior art, the present invention has the following advantages:

[0011] 1. The present invention proposes a novel mechanical deformation structure combined with the Kresling origami structure, which realizes longitudinal volume deformation;

[0012] 2. The present invention proposes a wall cleaning and repair machine combined with a variable diameter wheel, which realizes the rapid transportation and movement of the working robot;

[0013] 3. The present invention combines foot-type wall-climbing mechanical legs with variable diameter wheels, and proposes a new type of motion structure combining wheels and legs in the field of wall-working robots;

[0014] 4. The present invention uses computer vision recognition technology for wall crack detection and digital twin technology to realize the visualization and real-time operation of wall operation robots;

[0015] 5. The present invention designs an adjustable cleaning and repair integrated module, which realizes the integration of wall repair, cleaning and painting, and can freely adjust the angle density;

[0016] 6. The present invention can be applied to many complex terrains such as slopes, roads, bridges, pipelines, walls, high-rise buildings, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The overall structure diagram of the wall repair robot based on Kresling structural deformation is shown in the figure, 1-adsorption palm, 2-three-axis commutator, 3-coupling, 4-variable diameter wheel, 5-repair and cleaning integrated module, 6-rotatable iron ring, 7-balance frame, 8-truss plunger rod, 9-hydraulic drive machine and oil distribution plate;

[0018] Figure 2 This is the overall stereogram of the wall repair robot based on Kresling structural deformation;

[0019] Figure 3 The Kresling double-layer truss longitudinal retractable structure of the wall repair robot based on the Kresling structural deformation. In the figure, 1-hydraulic plunger rod, 2-hydraulic cylinder, 3-oil distribution plate, 4-slide rail, 5-external camera;

[0020] Figure 4 This is the motion system of the wall repair robot based on Kresling structural deformation. In the figure, 1-adsorption palm, 2-support rod, 3-spherical universal shaft structure, 4-push rod;

[0021] Figure 5 This is an integrated repair and cleaning module for a wall repair robot based on Kresling structural deformation. In the figure, 1-cylindrical cleaning brush, 2-paint nozzle, 3-scraper, 4-rotatable iron ring, 5-paint injection hole, 6-retractable paint tube. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is further described below in conjunction with the accompanying drawings, but is not limited thereto. Any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention should be included in the protection scope of the present invention.

[0023] The present invention provides a wall repair and cleaning robot based on Kresling structure deformation, such as Figure 1 As shown, the wall repair and cleaning robot includes a hydraulically driven Kresling double-layer truss longitudinal extension and retraction structure, a motion system of mechanical legs combined with variable diameter wheels, a control system that uses computer vision to identify cracks and stains, uses sensors for feedback and uses digital models for real-time image feedback, and an integrated repair and cleaning module that can adjust the cleaning range by changing the mechanical horizontal and vertical diameters.

[0024] like Figure 3 As shown, the Kresling double-layer truss longitudinal retractable structure is replaced by a rotatable truss plunger rod 1 and a hydraulic cylinder 2 to replace the commonly used Kresling metal truss. A hydraulic drive machine and an oil distribution plate 3 are arranged between the two layers of the Kresling truss structure. The hydraulic drive machine is connected to the oil inlet of the oil distribution plate 3, and the oil outlet of the oil distribution plate 3 is connected to the input end of the hydraulic cylinder 2. The output end of the hydraulic cylinder 2 is provided with a truss plunger rod 1. The top plate and the bottom plate of the single-layer Kresling truss structure are both provided with rotatable bevel gears to control the rotation of the truss. In the present invention, the Kresling double-layer truss longitudinal retractable structure is used as the trunk connection part of the robot, and a hydraulic drive machine is used to longitudinally fold and unfold, and the torsional deformation of the Kresling truss drives the mechanical extension to achieve volume deformation in the longitudinal direction.

[0025] like Figure 4As shown, the motion system adopts a leg wheel structure combining a variable diameter wheel and a wall-climbing mechanical leg. The variable diameter wheel is composed of a support rod 2, a push rod 4, and a coupling. A connecting joint is arranged inside the coupling. The connecting part of the support rod 2 has a threaded hole. The front end of the push rod 4 is a threaded rod. The front end of the push rod 4 is threadedly connected to the support rod 2. The rear end of the push rod 4 is connected to the sleeve extending from the middle coupling. The spring built into the sleeve pushes the push rod to push or retract in six directions at the same time to realize the expansion or folding of the support rod, thereby realizing different modes of diameter change of the variable diameter wheel. The variable diameter wheel is driven by a spring and a push rod 4 to deform. The diameter is variable, and the machine can be horizontally contracted as a whole. When the support rod is expanded, the outer edge is a hexagon, and when it is folded, the outer edge is a cylindrical curved edge. A rubber layer is attached to the outside, and a turning can be realized by deformation of a single wheel. The wall-climbing mechanical leg is composed of a freely movable three-axis commutator and an adsorption palm 1 designed in the style of an octopus suction cup. One end of the three-axis commutator is connected to the adsorption palm 1, and the other end is connected to the coupling in the center of the variable diameter wheel. The coupling is connected to the rotatable bevel gear on the bottom plate of the Kresling double-layer truss longitudinal retractable structure through a spherical universal shaft structure 3. In the present invention, the motion system has two motion modes: mechanical leg mode and wheel mode. It moves in a wheeled manner on planes, steps and irregular slopes, and climbs on walls in a mechanical leg mode. When the climbing movement is carried out in the mechanical leg mode, the variable diameter wheel retracts toward the inside of the wall-climbing mechanical leg. When the movement is in a wheeled manner, the wall-climbing mechanical leg retracts along the direction of the wheel center axis cavity of the variable diameter wheel, and the suction palm is outward in the same direction as the variable diameter wheel.

[0026] like Figure 5 As shown, the repair and cleaning integrated module is attached to the outside of the Kresling double-layer truss longitudinal expansion and contraction structure in an annular shape, and is composed of three identical integrated cleaning operation modules and a rotatable iron ring 4 located at both ends of the repair and cleaning integrated module that changes with the trunk. The three identical integrated cleaning operation modules are arranged in a triangular symmetric manner, and the rotatable iron ring 4 is located at both ends of the integrated cleaning operation module, and is connected to the integrated cleaning operation module, the top plate and the bottom plate of the single-layer Kresling truss structure through a rigid rod. A retractable paint tube 6 is arranged at the center of each integrated cleaning operation module, and the inner layer of the retractable paint tube 6 is a cavity for storing paint, and the outer layer is connected to multiple slider layers. Each slider layer has four faces, and the three clockwise faces are respectively connected to the paint nozzle 2, the cylindrical cleaning brush 1, and the scraper 3. The fourth face of the first slider layer is connected to the paint injection hole, and the paint enters the retractable paint tube 6 after injection. In the present invention, each integrated cleaning operation module can be longitudinally expanded and contracted with the machine trunk, and can also be controlled by the rotatable iron ring to achieve a surrounding rotation, and the angle and density of the paint nozzle, the cylindrical cleaning brush and the scraper on the slider layer can be adjusted as needed.

[0027] In the present invention, the control system uses OpenCV+YOLO computer vision to identify wall cracks and stains and determine the working area. The STM32 chip and industrial PLC are used as the controller. The controller body is located in the pump body area in the middle of the trunk. The external camera module is used to capture real-time images. The controller receives and processes the information of the sensor, and transmits the digital signal to the Kresling double-layer truss longitudinal expansion and contraction structure, the motion system, and the repair and cleaning integrated module structure. The corresponding sensors control the operation of the machine, and synchronously feed back to the operator. The model animation is output by the unity software and the python language is used to write the sensor and the controller, so as to realize the digitalization, visualization, and real-time synchronous operation of the machine operation.

[0028] The present invention also provides a method for wall repair and cleaning using the wall repair and cleaning robot structure based on Kresling structure deformation, which can be selected according to the type and environment of the working wall object, and different movement modes and cleaning densities, angles and tool usage types can be determined, specifically including the following steps:

[0029] Step 1: When the cleaning or repair object is a relatively flat wall with a slope greater than 60 degrees, the wall-climbing mechanical legs are used as the main movement mode, and the variable diameter wheel retracts to the inside of the wall-climbing mechanical legs. The wall-climbing mechanical legs climb in the target direction, and the pressure applied to the adsorption palm is determined by the pressure sensor and level meter feedback. The computer vision module is used to assist in identifying the gaps that need to be repaired or the stains and area that need to be cleaned, and the corresponding module tools are selected for cleaning and repair. After the work is completed, the wall correction is identified. The working condition of the machine uses digital twin technology, and the sensor feeds back to the model animation in real time. The machine can be manually operated through Bluetooth and the network.

[0030] Step 2: When the cleaning or repair object is a wall with a slope of less than 60 degrees, or there are multiple obstacles on the route that are less than half of the maximum opening height of the variable diameter wheel, the variable diameter wheel is used as the main movement mode, and the wall climbing mechanical leg is retracted from the center of the variable diameter wheel axle into the inner cavity, and the suction palm is in the same direction as the variable diameter wheel. Start the wall cleaning and repair work, the specific process is the same as step 1.

[0031] In the present invention, when the robot passes through a pipe or a gap whose maximum inscribed circle is not less than the minimum diameter of the variable diameter wheel or the maximum longitudinal length, the robot passes through the pipe in a unidirectional or bidirectional diameter changing manner.

[0032] In the present invention, when the robot needs to operate in a space environment such as a pipeline, a tunnel, or a circular roof surface, the three integrated cleaning operation modules can be activated simultaneously to perform circular cleaning.

Claims

1. A wall repair and cleaning robot based on Kresling structural deformation, characterized in that The wall repair and cleaning robot includes four parts: a Kresling double-layer truss longitudinal retractable structure, a motion system, a control system, and a repair and cleaning integrated module, wherein: The Kresling double-layer truss longitudinal retractable structure serves as the trunk connection part of the robot. The Kresling metal truss is replaced by a rotatable truss plunger rod and a hydraulic cylinder. A hydraulic drive machine and an oil distribution plate are arranged between the two-layer Kresling truss structures. The hydraulic drive machine is connected to the oil inlet of the oil distribution plate, and the oil outlet of the oil distribution plate is connected to the input end of the hydraulic cylinder. The output end of the hydraulic cylinder is provided with a truss plunger rod. The top plate and the bottom plate of the single-layer Kresling truss structure are both provided with rotatable bevel gears for controlling the rotation of the truss. The motion system adopts a leg wheel structure combining a variable diameter wheel and a wall-climbing mechanical leg. The variable diameter wheel is composed of a support rod, a push rod, and a coupling. One end of the push rod is connected to the support rod, and the other end is connected to a sleeve extending from the middle coupling. The sleeve has a built-in spring that pushes the push rod to push or retract in six directions at the same time to realize the expansion or folding of the support rod; the wall-climbing mechanical leg is composed of a freely movable three-axis commutator and a suction palm designed in the style of an octopus suction cup. One end of the three-axis commutator is connected to the suction palm, and the other end is connected to the coupling of the variable diameter wheel. The coupling is connected to a rotatable helical gear on the bottom plate of the Kresling double-layer truss longitudinal expansion and contraction structure through a spherical universal shaft structure; The repair and cleaning integrated module is attached to the outside of the Kresling double-layer truss longitudinal retractable structure in a ring shape, and is composed of three identical integrated cleaning operation modules and rotatable iron rings at both ends of the repair and cleaning integrated module that move with the trunk. The three identical integrated cleaning operation modules are arranged in a triangular symmetrical manner, and the rotatable iron rings are located at both ends of the integrated cleaning operation module, and are respectively connected to the integrated cleaning operation module and the top plate and bottom plate of the single-layer Kresling truss structure through rigid rods; The control system uses OpenCV+YOLO computer vision to identify wall cracks and stains and determine the working area. The external camera module is used to capture real-time images. The STM32 chip and industrial PLC are used as controllers to control the Kresling double-layer truss longitudinal extension and retraction structure, the motion system, and the repair and cleaning integrated module structure operation.

2. The wall repair and cleaning robot based on Kresling structure deformation according to claim 1 is characterized in that The support rod has a hexagonal outer edge when unfolded and a cylindrical curved outer edge when folded, and is covered with a rubber layer, so that turning can be achieved through deformation of a single wheel.

3. The wall repair and cleaning robot based on Kresling structure deformation according to claim 1 is characterized in that described.

4. The wall repair and cleaning robot based on Kresling structure deformation according to claim 1 is characterized in that The motion system has two motion modes: mechanical leg mode and wheel mode. It moves in wheel mode on planes, steps and irregular slopes, and climbs walls in mechanical leg mode. When climbing motion is carried out in mechanical leg mode, the variable diameter wheel retracts toward the inside of the wall-climbing mechanical leg. When moving in wheel mode, the wall-climbing mechanical leg is retracted along the direction of the wheel center axis cavity of the variable diameter wheel, and the suction palm is outward in the same direction as the variable diameter wheel.

5. The wall repair and cleaning robot based on Kresling structure deformation according to claim 1 is characterized in that A retractable paint tube is arranged at the center of the integrated cleaning operation module. The inner layer of the retractable paint tube is a cavity for storing paint, and the outer layer is connected to multiple slider layers. Each slider layer has four surfaces. The three clockwise surfaces are respectively connected to the paint nozzle, the cylindrical cleaning brush, and the scraper. The fourth surface of the first slider layer is connected to the paint injection hole. After the paint is injected, it enters the retractable paint tube.

6. A method for wall repair and cleaning using the wall repair and cleaning robot structure based on Kresling structure deformation according to any one of claims 1 to 5, characterized in that The method comprises the following steps: Step 1: When the cleaning or repair object is a relatively flat wall with a slope greater than 60 degrees, the wall-climbing robot legs are used as the main movement mode, the variable diameter wheels are retracted to the inside of the wall-climbing robot legs, and the wall-climbing robot legs climb in the target direction. The pressure applied to the adsorption palm is determined through pressure sensors and level gauge feedback. The computer vision module is used to assist in identifying the gaps that need to be repaired or the stains that need to be cleaned and the area, and the corresponding module tools are selected for cleaning and repair. After the work is completed, the wall correction status is identified; Step 2: When the cleaning or repair object is a wall with a slope less than 60 degrees, or there are multiple obstacles on the route that are less than half of the maximum opening height of the variable diameter wheel, the variable diameter wheel is used as the main movement mode, and the wall-climbing mechanical leg is retracted into the inner cavity from the center of the wheel axle of the variable diameter wheel. The suction palm is in the same direction as the variable diameter wheel, and the wall cleaning and repair work begins. The specific process is the same as step 1.

7. The method for wall repair and cleaning based on the wall repair and cleaning robot structure of Kresling structure deformation according to claim 6 is characterized in that When the robot passes through a pipe or a gap whose maximum inscribed circle is not less than the minimum diameter of the variable diameter wheel or the maximum longitudinal length, the robot passes through the pipe or gap by a one-way or two-way diameter changing method.

8. The method for wall repair and cleaning based on the wall repair and cleaning robot structure of Kresling structure deformation according to claim 6 is characterized in that When the robot needs to operate in a pipeline, tunnel, or circular roof curved surface space environment, the three integrated cleaning operation modules are simultaneously activated to perform circular cleaning.

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