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.
本发明公开了一种基于Kresling结构变形的壁面修复清洁机器人,所述壁面修复清洁机器人包括Kresling双层桁架纵向收展结构、运动系统、控制系统以及修复清洁一体化模组。本发明提出了一种结合Kresling折纸结构的新型机械变形结构,实现了纵向体积可变形;提出了一种结合可变直径轮的壁面作业清洁修复机械,实现了作业机器人快速运输和移动;将足式爬壁机械腿和可变直径轮结合,在壁面作业机器人领域提出了一种轮腿结合的新型运动结构;将计算机视觉识别技术用于壁面裂痕检测,以数字孪生技术实现壁面作业机器人可视化和实时化;设计了可调节清洗修复一体化模块,实现了壁面修补、清洁、涂抹一体化,可自由调节角度密度。
Wall surface repairing and cleaning robot based on Kresling structure deformation
一种基于Kresling结构变形的壁面修复清洁机器人
2025-01-14
Patent
Electronic Resource
Chinese
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