High-altitude facade operation mechanism

Abstract

The invention provides a high-altitude vertical face operation mechanism. The high-altitude vertical face operation mechanism comprises a long rod, an execution piece arranged at one end of the long rod, an adjusting assembly arranged in the middle of the long rod, an electric control box arranged at the other end of the long rod and a self-adaptive section connected between the long rod and the execution piece. The execution part is used for performing contact operation on a high-altitude vertical face; the self-adaptive section can be passively deformed so as to buffer the stress at the moment when the execution piece is in contact with the high-altitude vertical face, and the pose of the execution piece relative to the long rod can be changed, so that the execution piece is at an angle adaptive to the high-altitude vertical face; the self-adaptive section is arranged between the long rod and the execution piece, so that the high-altitude vertical face operation mechanism is in flexible contact with the high-altitude vertical face, violent collision between the high-altitude operation device and the high-altitude vertical face is effectively avoided, the high-altitude operation device can operate stably, and the flexible deformation of the flexible side wall is achieved. And the execution piece can adaptively change the pose relative to the long rod.

Description

Technical Field

[0001] The present application belongs to the technical field of high-altitude operations, and more specifically, relates to a high-altitude facade operation mechanism. Background Art

[0002] At present, there are many high-altitude work scenarios in the global infrastructure inspection industry, most of which are inspection scenarios for buildings and facilities. Since manual high-altitude work has great safety risks and will cause high manpower costs, most high-altitude work will be completed by choosing high-altitude work devices such as drones. It is common to use drones to carry probes or cameras and other actuators for remote inspection.

[0003] However, information that requires contact operations to obtain, such as surface humidity, temperature, strength and other information, is difficult to complete through drones and other high-altitude work devices assisted by detectors and other actuators. The main reason is that drones and detectors are rigid structures, and the connection structure between the detector and the drone is also a rigid structure. The drone itself also requires a very high level of force control to operate smoothly and normally. At the moment when the detector is in rigid contact with the high-altitude facade, the force between the drone and the high-altitude facade will change dramatically in a very short time, that is, there will be a violent collision between the drone and the high-altitude facade, which can easily destroy the smooth and normal operation of the drone and increase the risk of the drone exploding. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a high-altitude facade operating mechanism to solve the technical problem in the prior art that when a drone-assisted detector is used to detect a high-altitude facade, a violent collision will occur between the drone and the high-altitude facade at the moment when the detector is in rigid contact with the high-altitude facade, which can easily destroy the smooth and normal operation of the drone and increase the risk of the drone exploding.

[0005] To achieve the above objectives, in a first aspect, the present application provides a high-altitude facade operation mechanism, comprising:

[0006] Long pole;

[0007] An actuator disposed at one end of the long rod, the actuator being used to perform contact operations on the high-altitude facade;

[0008] An adjustment assembly disposed in the middle of the long pole, the adjustment assembly being used to connect the long pole to the aerial work device and adjust the position of the long pole relative to the aerial work device;

[0009] An electric control box provided at the other end of the long rod, the electric control box being used to install electric controls for controlling the operation of the actuator and / or the regulating assembly;

[0010] An adaptive section connected between the long rod and the actuator, the adaptive section can be passively deformed to buffer the force applied to the actuator at the moment of contact with the high-altitude facade, and can change the posture of the actuator relative to the long rod so that the actuator is at an angle that adapts to the high-altitude facade; the adaptive section includes an adaptive driving member, the adaptive driving member includes a first end wall, a second end wall and a deformable flexible side wall connected between the first end wall and the second end wall, the first end wall, the second end wall and the flexible side wall enclose a closed cavity for accommodating a fluid.

[0011] In one embodiment, the adaptive section includes a fixed seat fixedly connected to the long rod, a movable seat for mounting the actuator, and at least three adaptive driving members, the first end wall of each of the adaptive driving members is fixed on the fixed seat, and the second end wall of each of the adaptive driving members is movably connected to the movable seat.

[0012] In one embodiment, the fixed seat includes a first fixed plate and a second fixed plate arranged at an interval, and a fixed column fixedly connecting the first fixed plate and the second fixed plate, the adaptive driving member is arranged between the first fixed plate and the second fixed plate, and the first end wall of the adaptive driving member is fixed and / or integrally formed on the first fixed plate, the adaptive section also includes a plurality of connecting rods, one end of the connecting rod is fixedly connected to the second end wall of the adaptive driving member, the other end of the connecting rod is universally connected to the movable seat, the connecting rod passes through the second fixed plate, and is universally connected to the second fixed plate.

[0013] In one embodiment, a first elastic member is sleeved on the connecting rod, one end of the first elastic member abuts against the connection between the connecting rod and the fixed seat, and the other end of the first elastic member abuts against the connection between the connecting rod and the movable seat.

[0014] In one embodiment, the adaptive segment includes two rotational adaptive structures connected in series, the two rotational adaptive structures are respectively a first rotational adaptive structure and a second rotational adaptive structure, the first rotational adaptive structure and the second rotational adaptive structure are arranged orthogonally to each other, and in a natural state, the rotational center axes of the first rotational adaptive structure and the second rotational adaptive structure are both deviated from the center axis of the long rod, the rotational adaptive structure has a rotational fixed end and a rotational movable end, the rotational adaptive structure includes the adaptive driving member, and when the rotational fixed end rotates, it can drive the flexible side wall of the adaptive driving member to produce flexible deformation, the rotational fixed end of the first rotational adaptive structure is fixedly connected to the long rod, the rotational movable end of the first rotational adaptive structure is fixedly connected to the rotational fixed end of the second rotational adaptive structure, and the rotational movable end of the second rotational adaptive structure is connected to the actuator.

[0015] In one embodiment, the rotation adaptive structure further comprises a fixed seat, a power push plate, a nut, and a screw threadedly connected to the nut, the nut is fixed to the power push plate, the fixed seat comprises a first end plate and a second end plate, the first end wall of the adaptive driving member is fixed and / or integrally formed with the first end plate or the second end plate, the second end wall of the adaptive driving member is fixed and / or integrally formed with the power push plate, and the two ends of the screw are respectively supported on the first end plate and the second end plate; the side portion of the fixed seat is the rotation fixed end, and one end of the screw is the rotation movable end;

[0016] The adaptive section also includes two L-shaped connecting members, and the L-shaped connecting member includes a first connecting member and a second connecting member; the two L-shaped connecting members are respectively a first L-shaped connecting member and a second L-shaped connecting member, the first connecting member of the first L-shaped connecting member is arranged orthogonally to the first connecting member of the second L-shaped connecting member, and extends along the radial direction of the first rotation adaptive structure to be connected to the rotating movable end of the first rotation adaptive structure, and the second connecting member of the first L-shaped connecting member extends along the tangential direction of the first rotation adaptive structure to be connected to the fixed seat of the second rotation adaptive structure; the first connecting member of the second L-shaped connecting member extends along the radial direction of the second rotation adaptive structure to be connected to the rotating movable end of the second rotation adaptive structure, and the second connecting member of the second L-shaped connecting member extends along the tangential direction of the second rotation adaptive structure to be connected to the actuator;

[0017] The rotation adaptive structure further comprises a power assisting member, the two ends of which are respectively connected to the first end plate and the power push plate; the power assisting member is a second elastic member, or the power assisting member is a fluid folding member that is driven to expand and contract by a fluid, and the two ends of the adaptive driving member are respectively fixed to the second end plate and the power push plate;

[0018] The rotation adaptive structure also includes at least one guide assembly, and the guide assembly includes a first guide member and a second guide member, the first guide member is arranged on the second end plate, and the second guide member is arranged on the power push plate, the first guide member and the second guide member have matching parts with mutually matching shapes, so that the power push plate moves relative to the second end plate along the axial direction of the screw rod; one of the first guide member and the second guide member is a rod parallel to the screw rod, and the other is a hole sleeved on the rod; or, one of the first guide member and the second guide member is a groove parallel to the screw rod, and the other is a lug embedded in the groove.

[0019] In one embodiment, the adaptive section also includes a bending adaptive structure, which includes a third end plate fixedly connected and / or integrally formed with the first end wall, a fourth end plate connected to the second end wall, and a hinge connected between the third end plate and the fourth end plate. There are at least two adaptive driving members, and the hinge enables the third end plate and the fourth end plate to rotate relative to each other. The hinge includes a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the first connecting rod is connected to the third end plate, and the other end of the second connecting rod is connected to the fourth end plate. In a natural state, the third end plate and the fourth end plate are arranged in parallel, and the angle between the first connecting rod and the third end plate and the angle between the second connecting rod and the fourth end plate are both less than 90°.

[0020] In one embodiment, the first connecting rod and the second connecting rod rotate in the same rotation plane, and in a natural state, the vertical sections of the hinge, the third end plate and the fourth end plate are ∑-shaped or Z-shaped, the number of the adaptive driving members is two, the number of the hinges is at least two, the two adaptive driving members are arranged between the rotation planes of the two hinges, and the rotation axes of the two hinges are collinear; the number of the bending adaptive structures is two, namely the first bending adaptive structure and the second bending adaptive structure, the first bending adaptive structure is axially connected to the second bending adaptive structure, and the rotation plane of the hinge of the first bending adaptive structure is perpendicular to the rotation plane of the hinge of the second bending adaptive structure;

[0021] And / or, the hinge is a cross hinge or a ball hinge, the projections of the rotation center of the hinge on the third end plate and the fourth end plate in a natural state are both at the center positions thereof, the number of the adaptive driving members is three, the three adaptive driving members are arranged in parallel and evenly distributed around the circumference of the hinge.

[0022] In one embodiment, the adaptive segment further includes a plurality of sensors, wherein the sensor is one of an air pressure sensor, an angle sensor and a displacement sensor, and the plurality of sensors are used to respectively detect parameter changes at different positions of the adaptive driving member or parameter changes of the plurality of adaptive driving members.

[0023] In one embodiment, the flexible side wall, the first end wall and the second end wall together form a cylindrical cavity having a central axis;

[0024] The flexible side wall is designed to include a multi-layer folding structure, each layer of the folding structure has a folding surface, the connection between two adjacent layers of the folding surfaces forms a crease surface, and the angle between the adjacent folding surfaces and the crease surface is defined as an intrusion angle θ;

[0025] The adaptive driving member has an initial intrusion angle θp in an initial state, and the intrusion angle θ varies between 0° and the initial intrusion angle θp during compression or extension of the folding structure, wherein the initial intrusion angle θp satisfies 18°≤θp≤42°;

[0026] The folds formed at the connection of the folding surfaces of two adjacent layers of the folding structure are circles with different radii, the radius of the circle at the convex part along the radial direction of the adaptive driving member is R, and the radius of the circle at the concave part is r, and the intrusion depth coefficient a of the adaptive driving member is defined as a=r / R, and 0.35≤a≤0.65;

[0027] The structural coefficient σ of the folding surface satisfies 0.02≤σ≤0.12 and σ=cosθ(1+a) / (2cosθ-1+a); an opening is provided on the flexible side wall or the first end wall or the second end wall, and the opening is used to allow fluid to enter and exit the closed cavity to change the pressure difference between the inside and outside of the closed cavity and compress or stretch the folding structure. The sensor is an air pressure sensor, and the multiple air pressure sensors are respectively used to detect pressure changes at different positions of the adaptive driving component or pressure changes of multiple adaptive driving components.

[0028] In one embodiment, the long rod includes a first rod body and a second rod body, one end of the first rod body is rotatably connected to one end of the second rod body so that the long rod has a folded state and an unfolded state, one end of the first rod body away from the second rod body is connected to the adaptive section, and the second rod body is connected to the adjustment assembly and the electrical control box.

[0029] In one of the embodiments, the actuator includes a detector and a plurality of detection contacts disposed on the detector, and the plurality of detection contacts are located on a side of the detector away from the adaptive segment.

[0030] In one embodiment, the high-altitude facade operation mechanism also includes a nozzle, a liquid pump and a liquid storage tank. The nozzle is arranged on the long rod or the adaptive section to spray liquid to the working area of ​​the actuator. The liquid pump and the liquid storage tank are arranged in the electrical control box.

[0031] In one embodiment, the adjustment assembly includes a fifth end plate, a sixth end plate, a fluid folding structure and a rotating support structure, the fifth end plate is used to connect to the aerial work device, the sixth end plate is connected to the middle part of the long rod, the two ends of the fluid folding structure are respectively connected to the fifth end plate and the sixth end plate, and the rotating support structure is connected between the fifth end plate and the sixth end plate.

[0032] In a second aspect, the present application also provides a UAV device, comprising the high-altitude facade working mechanism and the high-altitude working device as described in any of the above items, wherein the high-altitude working device is connected to the adjustment component of the high-altitude facade working mechanism.

[0033] In one embodiment, it also includes a controller and any one of the above-mentioned high-altitude facade working mechanisms including sensors. The controller is electrically connected to each of the sensors and can change the position and acceleration of the high-altitude working device relative to the actuator based on the feedback of the sensors, thereby adjusting the angle of the long rod relative to the high-altitude facade and the pressure of the contact surface.

[0034] The beneficial effect of the high-altitude facade working mechanism provided by the present application lies in that, compared with the prior art, the high-altitude facade working mechanism of the present application sets an adaptive section between the long rod and the actuator. At the moment when the high-altitude working device brings the actuator it carries into contact with the high-altitude facade to be operated, the actuator will be subjected to the force of the high-altitude facade and transmitted to the adaptive driving member, causing the flexible side wall to deform flexibly, and the fluid flows in the closed cavity to achieve a buffering function, so that the high-altitude facade working mechanism is in flexible contact with the high-altitude facade, effectively avoiding violent collisions between the high-altitude working device and the high-altitude facade, and enabling the high-altitude working device to operate smoothly. When the high-altitude working device is a drone, the risk of the drone exploding is greatly reduced, and through the flexible deformation of the flexible side wall, the actuator can adaptively change its position relative to the long rod, so that the actuator is at an angle that adapts to the high-altitude facade, which is beneficial to improving the working accuracy. In addition, by setting an adjustment component between the long pole and the aerial work device, the adjustment component can adjust the position of the long pole relative to the aerial work device so that the actuator can have a better posture close to the high-altitude facade. The electrical control box is used to install electrical controls that control the operation of the actuator and / or the adjustment component, which facilitates the control of the operation of the actuator and / or the adjustment component. The electrical control box is set at the end of the long pole away from the actuator, and can also act as a counterweight to keep the actuator balanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0036] Figure 1 A schematic diagram of the three-dimensional structure of the high-altitude facade operation mechanism provided in the embodiment of the present application;

[0037] Figure 2 A partial structural schematic diagram of a high-altitude facade operation mechanism provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of the three-dimensional structure of the adaptive segment provided in the first embodiment of the present application;

[0039] Figure 4 A schematic diagram of the three-dimensional structure of an adaptive segment provided in the second embodiment of the present application;

[0040] Figure 5 A vertical cross-sectional view of an adaptive driving member provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of the three-dimensional structure of an adaptive segment provided in the third embodiment of the present application;

[0042] Figure 7 A vertical cross-sectional view of a partial structure of an adaptive segment provided in a third embodiment of the present application;

[0043] Figure 8 A vertical cross-sectional view of a partial structure of an adaptive segment provided in a fourth embodiment of the present application;

[0044] Fig. 9 Schematic diagram of the three-dimensional structure of the adaptive segment provided in the fifth embodiment of the present application Figure 1 ;

[0045] Fig.10 A schematic structural diagram of a third end plate, a fourth end plate and a hinge assembly provided in a fifth embodiment of the present application;

[0046] Fig.11 Schematic diagram of the three-dimensional structure of the adaptive segment provided in the fifth embodiment of the present application Figure 2 ;

[0047] Fig.12 A schematic diagram of the three-dimensional structure of an adaptive segment provided in the sixth embodiment of the present application;

[0048] Fig.13A schematic diagram of the three-dimensional structure of a hinge provided in the sixth embodiment of the present application;

[0049] Fig.14 A schematic diagram of the three-dimensional structure of an actuator provided in an embodiment of the present application;

[0050] Fig.15 A schematic diagram of the three-dimensional structure of the adjustment component provided in an embodiment of the present application.

[0051] Among them, the reference numerals in the figure are:

[0052] 100, long rod; 101, first rod body; 102, second rod body; 200, actuator; 201, detector; 202, detection contact; 300, adjustment component; 301, fifth end plate; 302, sixth end plate; 303, fluid folding structure; 304, rotation support structure; 305, third connecting rod; 306, fourth connecting rod; 400, electric control box; 500, nozzle; 600, adaptive section; 10, adaptive driving member; 11, first end wall; 12, second end wall; 13, flexible side wall; 131, inner wall; 132, outer wall; 14, closed cavity; 15, folding structure; 151, folding surface; 152, crease surface; 20, fixing seat; 21, first fixing plate; 22. Second fixed plate; 23. Fixed column; 24. First end plate; 25. Second end plate; 26. Annular protrusion; 30. Movable seat; 40. Connecting rod; 41. First elastic member; 50. First rotation adaptive structure; 51. Power push plate; 52. Nut; 53. Screw rod; 54. Power assist member; 55. Guide assembly; 60. Second rotation adaptive structure; 61. First L-shaped connecting member; 62. Second L-shaped connecting member; 611. First connecting section; 612. Second connecting section; 70. First bending adaptive structure; 71. Third end plate; 72. Fourth end plate; 73. Hinge; 731. First connecting rod; 732. Second connecting rod; 80. Second bending adaptive structure; 90. Sensor. DETAILED DESCRIPTION

[0053] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0055] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0057] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0058] Please also read Figures 1 to 15 , the high-altitude facade operation mechanism provided in the embodiment of the present application is now described. The high-altitude facade operation mechanism is mainly used in conjunction with a high-altitude operation device to perform contact operations on the high-altitude facade. The high-altitude facade can be a building facade, a wind turbine blade, a photovoltaic panel, etc. The contact operation can detect the humidity, temperature, strength and other information of the high-altitude facade, or clean the high-altitude facade, etc. The high-altitude operation device can be, but is not limited to, a drone, a crane arm, a hanging basket and other suspended operation devices.

[0059] See also Figure 1The high-altitude facade operation mechanism includes a long pole 100, an actuator 200 arranged at one end of the long pole 100, an adjustment component 300 arranged in the middle of the long pole 100, an electric control box 400 arranged at the other end of the long pole 100, and an adaptive section 600 connected between the long pole 100 and the actuator 200; the actuator 200 is used to perform contact operations on the high-altitude facade; the adjustment component 300 is used to connect the long pole 100 to the high-altitude operation device and adjust the position of the long pole 100 relative to the high-altitude operation device; the electric control box 400 is used to install an electric control unit for controlling the operation of the actuator 200 and / or the adjustment component 300. The adaptive section 600 can be passively deformed to buffer the force of the actuator 200 at the moment of contact with the high-altitude facade, and can change the posture of the actuator 200 relative to the long rod 100, so that the actuator 200 is at an angle that adapts to the high-altitude facade; the adaptive section 600 includes an adaptive driving member 10, and the adaptive driving member 10 includes a first end wall 11, a second end wall 12, and a deformable flexible side wall 13 connected between the first end wall 11 and the second end wall 12. The first end wall 11, the second end wall 12 and the flexible side wall 13 enclose a closed cavity 14 for accommodating a fluid, such as Figure 5 .

[0060] Among them, the long rod 100 refers to a long strip structure with high rigidity. The long rod 100 is used to connect the actuator 200 with the aerial work device and maintain a preset distance between the actuator 200 and the aerial work device, so that when the actuator 200 moves with the aerial work device to the aerial facade to be operated for contact test operation, it can effectively prevent the aerial work device from touching the aerial facade.

[0061] The adjustment assembly 300 is disposed in the middle of the long pole 100 and between the long pole 100 and the aerial work device. The position of the long pole 100 relative to the aerial work device is adjusted by the adjustment assembly 300 so that the actuator 200 can have a better posture close to the high-altitude facade. For example, the distance between the long pole 100 and the aerial work device is adjusted by the telescopic movement of the adjustment assembly 300, and the angle between the long pole 100 and the aerial work device is adjusted by rotating the long pole 100 by the adjustment assembly 300.

[0062] The electric control box 400 is installed with electric controls for controlling the operation of the actuator 200 and / or the adjustment assembly 300. By arranging the electric control box 400 at the end of the long pole 100 away from the actuator 200, it can also play the role of a counterweight, so that the electric control box 400 and the actuator 200 can reach a relatively balanced state relative to the aerial work device.

[0063] By setting the adaptive section 600 between the long rod 100 and the actuator 200, the adaptive section 600 can be passively deformed, so that at the moment when the actuator 200 contacts the high-altitude facade, the adaptive section 600 is passively deformed to buffer the instantaneous force of the actuator 200, so as to achieve flexible contact with the high-altitude facade. In addition, the adaptive section 600 can also fine-tune the posture of the actuator 200 relative to the long rod 100, so that when the actuator 200 initially contacts the high-altitude facade and the angle of the actuator 200 fails to make all the action points of the actuator 200 contact the high-altitude facade, the adaptive section 600 can adaptively adjust its posture relative to the long rod 100 so that the actuator 200 is at an angle that adapts to the high-altitude facade, that is, the actuator 200 effectively contacts the high-altitude facade.

[0064] Specifically, the adaptive section 600 includes an adaptive driving member 10, which includes a first end wall 11, a second end wall 12, and a deformable flexible side wall 13 connected between the first end wall 11 and the second end wall 12. The first end wall 11, the second end wall 12, and the flexible side wall 13 enclose a closed cavity 14 for containing fluid. During operation, when the actuator 200 transmits the force of the high-altitude facade to the adaptive driving member 10 and causes the flexible side wall 13 to flexibly deform, the fluid flows in the closed cavity 14 to absorb part of the external force of the adaptive driving member 10, thereby realizing a buffering function, that is, the reaction force generated by the high-altitude facade on the actuator 200 will not be completely transmitted to the high-altitude working device, and by causing the flexible side wall 13 to flexibly deform, the posture of the actuator 200 relative to the long rod 100 is adaptively adjusted, that is, the adaptive posture adjustment of the actuator 200 relative to the high-altitude facade can be realized, so that the actuator 200 maintains effective contact with the high-altitude facade.

[0065] Optionally, the fluid in the sealed cavity 14 may be, but not limited to, gas, liquid, etc. It is understandable that the adaptive driving member 10 may be a structure such as an airbag that can be extended or shortened.

[0066] Compared with the prior art, the high-altitude facade working mechanism provided by the present application has an adaptive section 600 arranged between the long pole 100 and the actuator 200. At the moment when the high-altitude working device contacts the high-altitude facade to be operated with the actuator 200 carried by the high-altitude working device, the actuator 200 is subjected to the force of the high-altitude facade and transmitted to the adaptive driving member 10, so that the flexible side wall 13 is flexibly deformed, and the fluid flows in the closed cavity 14 to achieve a buffering function, so that the high-altitude facade working mechanism is in flexible contact with the high-altitude facade, effectively avoiding a violent collision between the high-altitude working device and the high-altitude facade, and enabling the high-altitude working device to operate smoothly. When the high-altitude working device is a drone, the risk of the drone exploding is greatly reduced, and through the flexible deformation of the flexible side wall 13, the actuator 200 can adaptively change its posture relative to the long pole 100, so that the actuator 200 is at an angle adapted to the high-altitude facade, which is beneficial to improving the working accuracy. In addition, by setting an adjustment component 300 between the long pole 100 and the aerial work device, the adjustment component 300 can adjust the position of the long pole 100 relative to the aerial work device so that the actuator 200 can have a better posture close to the high-altitude facade. The electrical control box 400 is used to install electrical controls that control the operation of the actuator 200 and / or the adjustment component 300, which facilitates the control of the operation of the actuator 200 and / or the adjustment component 300. The electrical control box 400 is set at the end of the long pole 100 away from the actuator 200, and can also act as a counterweight to keep the actuator 200 balanced.

[0067] exist Figure 2 In the illustrated embodiment, the adaptive section 600 includes a fixed seat 20 fixedly connected to the long rod 100, a movable seat 30 for mounting the actuator 200, and at least three adaptive driving members 10, the first end wall 11 of each adaptive driving member 10 is fixed on the fixed seat 20, the second end wall 12 of each adaptive driving member 10 is movably connected to the movable seat 30, the fixed seat 20 is connected to one end of the long rod 100, and the movable seat 30 is connected to the actuator 200.

[0068] The above technical solution, by setting at least three adaptive driving members 10, the first end wall 11 of each adaptive driving member 10 is connected to different positions of the movable seat 30. In the natural state, that is, the state where the high-altitude facade operation mechanism is not subjected to external force, each adaptive driving member 10 is arranged in parallel and spaced apart. When the displacement of the second end wall 12 of each adaptive driving member 10 is different, the posture of the movable seat 30 can be adjusted. It can be understood that in the process of the actuator 200 contacting the high-altitude facade, the buffering function is realized by the expansion and contraction deformation of each adaptive driving member 10. By controlling the expansion and contraction amount of each adaptive driving member 10, the actuator 200 can be adjusted to a position and posture that can contact the high-altitude facade, so that the actuator 200 can effectively contact the high-altitude facade.

[0069] In one embodiment of the present application, see Figure 3 The fixed seat 20 includes a first fixed plate 21 and a second fixed plate 22 arranged at intervals, and a fixed column 23 fixedly connecting the first fixed plate 21 and the second fixed plate 22. The adaptive driving member 10 is arranged between the first fixed plate 21 and the second fixed plate 22, and the second end wall 12 of the adaptive driving member 10 is fixed and / or integrally formed with the first fixed plate 21. The adaptive segment 600 also includes a plurality of connecting rods 40, one end of the connecting rod 40 is fixedly connected to the first end wall 11 of the adaptive driving member 10, and the other end of the connecting rod 40 is universally connected to the movable seat 30, and the connecting rod 40 passes through the second fixed plate 22 and is universally connected to the second fixed plate 22.

[0070] Among them, the second end wall 12 of the adaptive driving member 10 is fixed and / or integrally formed on the first fixed plate 21, which means that: the second end wall 12 of the adaptive driving member 10 and the first fixed plate 21 can be fixedly connected, such as screw connection, or the second end wall 12 of the adaptive driving member 10 and the first fixed plate 21 can be integrally formed. It can also be understood that the second end wall 12 of the adaptive driving member 10 and the first fixed plate 21 are fixedly connected by integrally forming the second end wall 12 of the adaptive driving member 10 and the first fixed plate 21.

[0071] The first fixing plate 21 and the second fixing plate 22 are arranged at intervals, and the two ends of the fixing column 23 are respectively connected to the first fixing plate 21 and the second fixing plate 22, that is, the first fixing plate 21 and the second fixing plate 22 are connected through the fixing column 23. The number of the fixing column 23 can be multiple, so that the connection between the first fixing plate 21 and the second fixing plate 22 is more stable.

[0072] The second fixed plate 22 is used to support multiple connecting rods 40. One end of the connecting rod 40 close to the adaptive driving member 10 passes through the second fixed plate 22 and is universally connected to the second fixed plate 22, so that the second fixed plate 22 only supports the connecting rod 40 and does not restrict the movement of the connecting rod 40. Multiple connecting rods 40 are universally connected to the second fixed plate 22, thereby forming support for multiple connecting rods 40 to ensure the stable movement of the movable seat 30 and the actuator 200. Specifically, at the moment when the actuator 200 contacts the high-altitude facade, the actuator 200 will be subjected to the force of the high-altitude facade and transmitted to the connecting rod 40, and then transmitted to the adaptive driving member 10 by the connecting rod 40. The connecting rod 40 can slide relative to the second fixed plate 22, and the connecting rod 40 can universally rotate relative to the second fixed plate 22, thereby driving the adaptive driving member 10 to produce flexible deformation. The arrangement of the connecting rod 40 allows a certain distance between the adaptive driving member 10 and the movable seat 30 , which facilitates the transmission of the actuator 200 and other structures, and also allows the movable seat 30 to have a larger position adjustment space.

[0073] Optionally, the connecting rod 40 and the second fixing plate 22 are universally connected via a first universal ball bearing. The first universal ball bearing can be fixed to the second fixing plate 22, and the connecting rod 40 is inserted into the spherical structure of the first universal ball bearing.

[0074] Optionally, the connecting rod 40 and the movable seat 30 are universally connected via a second universal ball bearing.

[0075] Optionally, the movable seat 30 is an annular plate structure, a plurality of adaptive driving members 10 are arranged circumferentially around the center line of the movable seat 30, a plurality of connecting rods 40 are also arranged circumferentially around the center line of the movable seat 30, and the connection positions of each connecting rod 40 and the movable seat 30 are also arranged circumferentially around the center line of the movable seat 30. In this way, the position and posture of the actuator 200 can be adjusted more accurately. The number of the adaptive driving members 10 and the movable seat 30 is not limited here, and can be three, four, etc.

[0076] In this embodiment, the number of the adaptive driving members 10 is three, and the three adaptive driving members 10 are evenly distributed around the center line of the movable seat 30 to form a virtual equilateral triangle. By providing three adaptive driving members 10 arranged in an equilateral triangle, the posture feedback modeling process of the actuator 200 can be simplified and the cost can be reduced.

[0077] The number of the connecting rods 40 is equal to the number of the adaptive driving members 10 , one connecting rod 40 is connected to one adaptive driving member 10 , and the connection positions of the connecting rods 40 and the movable seat 30 are different.

[0078] In one embodiment of the present application, see Figure 4 The connecting rod 40 is sleeved with a first elastic member 41, one end of the first elastic member 41 abuts against the connection between the connecting rod 40 and the fixed seat 20, and the other end of the first elastic member 41 abuts against the connection between the connecting rod 40 and the movable seat 30. The provision of the first elastic member 41 makes the movement of the movable seat 30 more stable, and the movable seat 30 and the actuator 200 will not shake during the adjustment process. The first elastic member 41 can be a spring.

[0079] In one embodiment of the present application, see Figure 6The adaptive section 600 includes two rotational adaptive structures connected in series, the two rotational adaptive structures are respectively a first rotational adaptive structure 50 and a second rotational adaptive structure 60, the first rotational adaptive structure 50 and the second rotational adaptive structure 60 are arranged orthogonally, and in a natural state, the rotational center axes of the first rotational adaptive structure 50 and the second rotational adaptive structure 60 are both deviated from the center axis of the long rod 100, the rotational adaptive structure has a rotational fixed end and a rotational movable end, the rotational adaptive structure includes an adaptive driving member 10, and when the rotational fixed end rotates, it can drive the flexible side wall 13 of the adaptive driving member 10 to produce flexible deformation, the rotational fixed end of the first rotational adaptive structure 50 is fixedly connected to the long rod 100, the rotational movable end of the first rotational adaptive structure 50 is fixedly connected to the rotational fixed end of the second rotational adaptive structure 60, and the rotational movable end of the second rotational adaptive structure 60 is connected to the actuator 200.

[0080] Among them, the orthogonal arrangement between the first rotation adaptive structure 50 and the second rotation adaptive structure 60 means that the rotation plane perpendicular to the rotation center axis of the first rotation adaptive structure 50 and the rotation plane perpendicular to the rotation center axis of the second rotation adaptive structure 60 are perpendicular to each other, that is, the rotation direction of the first rotation adaptive structure 50 is perpendicular to the rotation direction of the second rotation adaptive structure 60.

[0081] The rotation center axes of the first rotational adaptive structure 50 and the second rotational adaptive structure 60 both deviate from the center axis of the long rod 100, which means that the rotation center axis of the first rotational adaptive structure 50 does not intersect with the center axis of the long rod 100, and the rotation center axis of the second rotational adaptive structure 60 does not intersect with the center axis of the long rod 100, so as to ensure that the flexible buffering function is realized through the cooperation between the first rotational adaptive structure 50 and the second rotational adaptive structure 60.

[0082] The above technical solution is achieved by fixedly connecting the rotating fixed end of the first rotating adaptive structure 50 to the long rod 100, and the rotating movable end of the first rotating adaptive structure 50 to the rotating fixed end of the second rotating adaptive structure 60, and the rotating movable end of the second rotating adaptive structure 60 is connected to the actuator 200, and when the rotating fixed end rotates, it can drive the flexible side wall 13 of the adaptive driving member 10 to produce flexible deformation, so that at the moment when the actuator 200 contacts the high-altitude facade, the actuator 200 transfers the force applied by the high-altitude facade to the adaptive section 600, so that the rotating movable ends of the first rotating adaptive structure 50 and the second rotating adaptive structure 60 rotate, thereby driving the corresponding flexible side wall 13 of the adaptive driving member 10 to deform, so that part of the force is absorbed by the fluid in the closed cavity 14, so that the reaction force generated by the high-altitude facade will not be completely transmitted to the aerial working device. Furthermore, since the first rotation adaptive structure 50 and the second rotation adaptive structure 60 are orthogonally arranged, the adaptive segment 600 can adaptively fine-tune the angle of the actuator 200 so that the actuator 200 is at an angle that adapts to the high-altitude facade.

[0083] In one embodiment of the present application, see Figure 7 The rotation adaptive structure also includes a power push plate 51, a nut 52, a screw rod 53 threadedly connected to the nut 52, and a fixed seat 20. The nut 52 is fixed to the power push plate 51. The fixed seat 20 includes a first end plate 24 and a second end plate 25. The first end wall 11 of the adaptive driving member 10 is fixed and / or integrally formed with the first end plate 24 or the second end plate 25. The second end wall 12 of the adaptive driving member 10 is fixed and / or integrally formed with the power push plate 51. The two ends of the screw rod 53 are respectively supported on the first end plate 24 and the second end plate 25; the side of the fixed seat 20 is a rotation fixed end, and one end of the screw rod 53 is a rotation movable end.

[0084] The flexible side wall 13 of each adaptive driving member 10 includes an inner wall 131 and an outer wall 132. The inner wall 131 and the outer wall 132 are concentrically arranged with the screw rod 53 as the central axis. The inner wall 131, the outer wall 132, the first end wall 11 and the second end wall 12 of the adaptive driving member 10 enclose an annular closed cavity 14. The screw rod 53 passes through the center of the annular closed cavity 14, that is, the screw rod 53 is coaxially arranged with the annular closed cavity 14. The two ends of the screw rod 53 along the axial direction respectively penetrate the adaptive driving member 10 and extend to the outside of the annular closed cavity 14. The rotation of the screw rod 53 can drive the power push rod to move linearly along the axial direction of the screw rod 53 through the nut 52, thereby driving the inner wall 131 and the outer wall 132 to produce telescopic flexible deformation.

[0085] In application, the inner wall 131 and the outer wall 132 are both folding structures 15 made of flexible material. The outer wall 132 has an opening for fluid input and output. By setting the inner wall 131, the amount of fluid required to fill the closed cavity 14 can be reduced, and the cost of using the fluid is lower.

[0086] The two ends of the screw rod 53 rotate in the first end plate 24 and the second end plate 25 respectively. Specifically, a bearing is provided between the screw rod 53 and the second end plate 25 to make the screw rod 53 rotate more smoothly; a bearing can also be provided between the screw rod 53 and the first end plate 24 to make the screw rod 53 rotate more smoothly.

[0087] Optionally, the screw rod 53 is hollow. Firstly, the weight of the screw rod 53 can be lighter, which helps to achieve lightweight of the rotary adaptive structure. Secondly, the flow path can pass through the middle of the screw rod 53 without being set on the outside of the rotary adaptive structure, thus keeping the appearance of the rotary adaptive structure clean and tidy, and also playing a certain protective role on the flow path.

[0088] For further information, see Figure 6 The adaptive section 600 also includes two L-shaped connecting members, which are a first L-shaped connecting member 61 and a second L-shaped connecting member 62. The L-shaped connecting member includes a first connecting segment 611 and a second connecting segment 612. The length extension direction of the first connecting segment 611 is substantially perpendicular to the length extension direction of the second connecting segment 612. That is, the structure formed by the first connecting segment 611 and the second connecting segment 612 is substantially L-shaped. The length of the first connecting segment 611 is close to the radius of the rotation adaptive structure. The first connecting segment 611 of the first L-shaped connecting member 61 and the first connecting segment 611 of the second L-shaped connecting member 62 are orthogonally arranged. The first L-shaped connecting member 61 is arranged in a radial direction of the first rotational adaptive structure 50 and is connected to the rotationally active end of the first rotational adaptive structure 50. The second connecting segment 612 of the first L-shaped connecting member 61 is extended along the tangential direction of the first rotational adaptive structure 50 and is connected to the fixed seat 20 of the second rotational adaptive structure 60. The first connecting segment 611 of the second L-shaped connecting member 62 is extended along the radial direction of the second rotational adaptive structure 60 and is connected to the rotationally active end of the second rotational adaptive structure 60. The second connecting segment 612 of the second L-shaped connecting member 62 is extended along the tangential direction of the second rotational adaptive structure 60 and is connected to the actuator 200.

[0089] The orthogonal arrangement of the first connecting section 611 of the first L-shaped connecting member 61 and the first connecting section 611 of the second L-shaped connecting member 62 means that the length extension direction of the first connecting section 611 of the first L-shaped connecting member 61 and the length extension direction of the first connecting section 611 of the second L-shaped connecting member 62 are perpendicular to each other.

[0090] Therefore, when the rotating movable end rotates under the action of external force, it drives the entire screw rod 53 to rotate synchronously. Since the nut 52 is threadedly connected to the screw rod 53, the nut 52 cannot rotate, so that the nut 52 moves along the axial direction of the screw rod 53 under the rotational movement of the screw rod 53, and the power push plate 51 moves synchronously with the nut 52, so that the power push plate 51 drives the flexible side wall 13 of the adaptive drive member 10 to telescopic deformation.

[0091] In application, the first connecting section 611 is a C-shaped structure or a V-shaped structure. The first connecting section 611 is arranged around the outer peripheral wall of the rotational adaptive structure along the length direction of the screw rod 53. At least one end of the first connecting section 611 is respectively connected to the end of the screw rod 53. A movable gap is left between the side of the middle part of the first connecting section 611 adjacent to the rotational adaptive structure and the outer peripheral wall of the rotational adaptive structure. The side of the middle part of the first connecting section 611 facing away from the rotational adaptive structure is connected to the second connecting section 612, so that the second connecting section 612 can be easily rotated around the rotational adaptive structure.

[0092] In some embodiments of this application, please refer to Figure 7 and Figure 8 The rotation adaptive structure further includes a booster 54, which is also used to push the power push plate 51. The booster 54 cooperates with the adaptive driving member 10 to make the movement of the nut 52 more stable and the rotation of the screw rod 53 more stable. In addition, when the adaptive driving member 10 cannot automatically return to its original position, the booster 54 can be extended to allow the adaptive driving member 10 to return to its original position.

[0093] Specifically, the adaptive driving member 10 is disposed between the second end plate 25 and the power push plate 51, and the two ends of the adaptive driving member 10 are respectively fixed to the second end plate 25 and the power push plate 51, and the power member 54 is disposed between the first end plate 24 and the power push plate 51, and the two ends of the power member 54 are respectively connected to the first end plate 24 and the power push plate 51. When the screw rod 53 stops rotating, the power member 54 will push the power push plate 51 under its own elastic force, so that the adaptive driving member 10 returns to its original position, avoiding the situation that the adaptive driving member 10 cannot automatically return to its original position.

[0094] exist Figure 7In the illustrated embodiment, the assisting member 54 is a fluid folding member that is retracted and driven by a fluid, and the fluid folding member is sealed and connected to both the first end plate 24 and the power push plate 51. It can be understood that the structure of the fluid folding member can be the same as that of the adaptive driving member 10, and both the fluid folding member and the adaptive driving member 10 can move under the action of the power push plate 51. Specifically, under the joint action of the adaptive driving member 10 and the fluid folding member, the power push plate 51 moves more smoothly and plays a better buffering role. In addition, when the adaptive driving member 10 cannot return to its original position automatically, the adaptive driving member 10 can be returned to its original position by retracting and contracting the fluid folding member; when the fluid folding member cannot return to its original position automatically, the adaptive driving member 10 can also return to its original position automatically.

[0095] Furthermore, the cross-section of the adaptive driving member 10 and the fluid folding member is circular, and the screw rod 53 and the like can be arranged inside the adaptive driving member 10 and the fluid folding member, so that the space of the rotating adaptive structure is more compact.

[0096] exist Figure 8 In the illustrated embodiment, the assisting member 54 is a second elastic member, for example, the second elastic member may be a spring, and the second elastic member may be sleeved on the outer periphery of the screw rod 53. Specifically, the first end plate 24 has an annular protrusion 26, which has a positioning function for the second elastic member, and one end of the second elastic member may be sleeved on the annular protrusion 26.

[0097] In one embodiment, see Figure 7 and Figure 8 The rotation adaptive structure further includes at least one guide assembly 55, which is used to assist the power push plate 51 to move along the extension direction of the screw rod 53 to prevent the power push plate 51 from tilting or shaking. The number of guide assemblies 55 can be one, two, three, etc. Multiple guide assemblies 55 can make the movement of the power push plate 51 more stable and prevent the power push plate 51 from shaking during the movement.

[0098] Specifically, the guide assembly 55 includes a first guide member and a second guide member, wherein the first guide member is disposed on the second end plate 25, and the second guide member is disposed on the power push plate 51, and the first guide member and the second guide member have matching parts of mutually matching shapes, so that the power push plate 51 moves relative to the second end plate 25 along the axial direction of the screw rod 53. For example, the first guide member has a protrusion, and the second guide member has a groove. In this way, the power push plate 51 can move smoothly along the axial direction of the screw rod 53.

[0099] In one embodiment, one of the first guide and the second guide is a rod parallel to the screw rod 53, and the other is a hole that is sleeved on the rod. Optionally, the first guide is a rod parallel to the screw rod 53, and the second guide is a hole that is sleeved on the rod. For example, the first guide is a guide column, and the second guide is a hole opened on the power push plate 51. The guide column is arranged through the hole on the power push plate 51 to prevent the power push plate 51 from moving in a direction perpendicular to the length direction of the guide column. The two ends of the guide column are respectively fixed to the second end plate 25 and the first end plate 24, and the guide column is arranged through the power push plate 51, so that the power push plate 51 only moves along the length direction of the guide column. Optionally, the second guide is a rod parallel to the screw rod 53, and the second guide is a hole that is sleeved on the rod.

[0100] In one embodiment, one of the first guide and the second guide is a groove parallel to the screw rod 53, and the other is a lug embedded in the groove. Optionally, the first guide is a groove parallel to the screw rod 53, and the second guide is a lug embedded in the groove. For example, the second end plate 25 or other structural member extends along the axial direction of the screw rod 53 to form a positioning groove, and the power push plate 51 has a lug embedded in the positioning groove, so that the movement direction of the power push plate 51 is always parallel to the axial direction of the screw rod 53.

[0101] exist Fig. 9 In the illustrated embodiment, the adaptive section 600 further includes a bending adaptive structure, which includes a third end plate 71 fixedly connected and / or integrally formed with the first end wall 11, a fourth end plate 72 connected to the second end wall 12, and a hinge 73 connected between the third end plate 71 and the fourth end plate 72, and there are at least two adaptive drive members 10, and the hinge 73 enables the third end plate 71 and the fourth end plate 72 to rotate relative to each other.

[0102] Among them, the third end plate 71 and the fourth end plate 72 are both rigid parts. By connecting the two ends of the adaptive driving member 10 to the third end plate 71 and the fourth end plate 72 respectively, it is beneficial to improve the rigidity of the bending adaptive structure and reduce the phenomenon of sinking, collapse, dislocation and disorder during the deformation of the adaptive driving member 10. The first end wall 11 and the second end wall 12 of the adaptive driving member 10 are sealed with the first rigid part and the second rigid part respectively. The third end plate 71 and the fourth end plate 72 are connected by a hinge 73, one end of the hinge 73 is fixed to the third end plate 71, and the other end of the hinge 73 is fixed to the fourth end plate 72. In this way, when the bending adaptive structure bends in a certain direction, its movement is more stable. The hinge 73 is formed as the bending movement of the bending adaptive structure, and the lateral stiffness of the adaptive driving member 10 can be improved, so that it can have a larger operating range and will not collapse inward due to excessive bending angles. That is, the hinge 73 cooperates with the third end plate 71 and the fourth end plate 72 to provide support for the adaptive driving member 10 to prevent the adaptive driving member 10 from collapsing and failing.

[0103] Specifically, the hinge 73 includes a first link 731 and a second link 732, one end of the first link 731 is rotatably connected to one end of the second link 732, the other end of the first link 731 is connected to the third end plate 71, and the other end of the second link 732 is connected to the fourth end plate 72. The third end plate 71 and the fourth end plate 72 are rotatably connected by the first link 731 and the second link 732, and the third end plate 71 and the fourth end plate 72 are rotatably connected, and the third end plate 71 and the fourth end plate 72 rotate relative to each other to drive the flexible side wall 13 of the adaptive driving member 10 to generate flexible compression deformation. The bending adaptive structure in this embodiment can be directional bending.

[0104] It should be noted that, in the natural state, that is, when the high-altitude facade operation mechanism is not subjected to external force, the third end plate 71 and the fourth end plate 72 are arranged in parallel, and the angle a between the first connecting rod 731 and the third end plate 71 and the angle b between the second connecting rod 732 and the fourth end plate 72 are both less than 90°. Fig.10 That is, the first connecting rod 731 is not perpendicular to the third end plate 71, and the second connecting rod 732 is not perpendicular to the fourth end plate 72, so that when the actuator 200 contacts the high-altitude facade, the third end plate 71 and the fourth end plate 72 can approach each other, and the adaptive driving member 10 can undergo flexible deformation to achieve axial buffering.

[0105] In one embodiment, see Fig. 9 and Fig.10 , the first connecting rod 731 and the second connecting rod 732 rotate in the same rotation plane. In the natural state, the vertical sections of the hinge 73, the third end plate 71 and the fourth end plate 72 are ∑-shaped or Z-shaped. There are two adaptive driving members 10, and the two adaptive driving members 10 are arranged between the rotation planes of the two hinges 73. There are at least two hinges 73, and the rotation axes of the two hinges 73 are collinear. There are two bending adaptive structures, namely the first bending adaptive structure 70 and the second bending adaptive structure 80. The first bending adaptive structure 70 is axially connected to the second bending adaptive structure 80, and the rotation plane of the hinge 73 of the first bending adaptive structure 70 is perpendicular to the rotation plane of the hinge 73 of the second bending adaptive structure 80.

[0106] In actual use, by axially connecting the first bending adaptive structure 70 with the second bending adaptive structure 80, and the rotation plane of the hinge 73 of the first bending adaptive structure 70 is perpendicular to the rotation plane of the hinge 73 of the second bending adaptive structure 80, the rotation direction of the adaptive segment can be increased, and the angle adjustment performance of the actuator 200 during operation can be improved, so that the adaptive segment 600 can better adjust the angle of the actuator 200 so that the actuator 200 is at an angle that adapts to the high-altitude facade, such as Fig.11Both sides of the adaptive driving member 10 of the first bending adaptive structure 70 and both sides of the adaptive driving member 10 of the second bending adaptive structure 80 are provided with hinges 73, so that the bending deformation of the first bending adaptive structure 70 and the second bending adaptive structure 80 is more stable.

[0107] exist Fig.12 In the illustrated embodiment, the hinge 73 is a cross hinge or a ball hinge. The projections of the rotation center of the hinge 73 on the third end plate 71 and the fourth end plate 72 in a natural state are both at the center positions thereof. There are three adaptive drive members 10, which are arranged in parallel and evenly distributed around the circumference of the hinge 73, that is, the hinge 73 is arranged at the center of the space enclosed by the three adaptive drive members 10.

[0108] The rotation center of the hinge 73 refers to the rotation connection between the first connecting rod 731 and the second connecting rod 732 .

[0109] Optionally, the hinge 73 is a ball hinge, such as Fig.13 The first connecting rod 731 is universally connected with the second connecting rod 732, so that the third end plate 71 and the fourth end plate 72 are universally connected, so that the bending adaptive structure can bend in any direction. The more bending directions the adaptive structure has, the greater the adjustment range of the actuator 200 during operation.

[0110] In one embodiment of the present application, see Figure 3 The adaptive segment 600 also includes a plurality of sensors 90, which are one of an air pressure sensor, an angle sensor and a displacement sensor. The plurality of sensors 90 are used to respectively detect parameter changes at different positions of the adaptive driving member 10 or parameter changes of a plurality of adaptive driving members 10.

[0111] Specifically, when the number of the adaptive driving member 10 is one, during the contact between the actuator 200 and the high-altitude facade, the multiple sensors 90 are used to respectively detect the parameter changes of the adaptive driving member 10 at different positions in real time to obtain the force conditions at different positions of the actuator 200; when the number of the adaptive driving member 10 is multiple. The number of sensors 90 is equal to the number of the adaptive driving members 10. During the contact between the actuator 200 and the high-altitude facade, the multiple sensors 90 are used to respectively detect the parameter changes of the multiple adaptive driving members 10 at different positions in real time to obtain the force conditions at different positions of the actuator 200.

[0112] Optionally, the pressure sensor may be an air pressure sensor or a hydraulic sensor; for example, the sensor 90 is an air pressure sensor, and when the fluid contained in the closed cavity 14 is gas, during the contact between the actuator 200 and the high-altitude facade, the air pressure sensor detects the air pressure data in the closed cavity 14 at the corresponding position in real time, and feeds back the air pressure data to the controller electrically connected to the high-altitude working device. The controller can change the position and acceleration of the high-altitude working device relative to the actuator 200 based on the feedback of the air pressure sensor, thereby adjusting the angle of the long rod 100 relative to the high-altitude facade and the pressure of the contact surface, that is, adjusting the angle of the actuator 200 relative to the high-altitude facade and the pressure of the contact surface. It can be understood that the active adjustment of the angle of the actuator 200 relative to the high-altitude facade and the pressure of the contact surface can be achieved through the cooperation of the air pressure sensor and the controller.

[0113] When the sensor 90 is an angle sensor, Fig. 9 The sensor 90 can be set at the rotation center of the hinge 73. When the actuator 200 contacts the high-altitude facade, the angle sensor detects the angle change between the first link 731 and the second link 732 to detect the angle deflection data of the adaptive drive member 10, and feeds the data back to the controller electrically connected to the aerial work device.

[0114] When the sensor 90 is a displacement sensor, during the contact between the actuator 200 and the high-altitude facade, the displacement sensor detects the extension and contraction amount of the adaptive driving member 10 in real time, and feeds back the data to the controller electrically connected to the high-altitude working device.

[0115] exist Figure 3 In the illustrated embodiment, the number of the pressure sensors is equal to the number of the adaptive driving members 10 . The number of the adaptive driving members 10 is three, and thus the number of the pressure sensors is also three. The three pressure sensors are used to detect the air pressures in the three adaptive driving members 10 , respectively.

[0116] In one embodiment of the present application, please refer to Figure 5 The adaptive driving member 10 is a bellows-shaped flexible airbag structure, and the flexible side wall 13, the first end wall 11 and the second end wall 12 together form a cylindrical closed cavity 14 with a central axis.

[0117] The flexible side wall 13 is designed to include a multi-layer folding structure 15. The cross-sectional contour line shape of the multi-layer folding structure 15 in the axial direction is a cos curve shape, which can reduce the stress / strain concentration of the adaptive drive component 10 during the folding or stretching process, especially in the extreme state (compressed to the shortest and stretched to the longest), optimize the working condition of the adaptive drive component 10, reduce the requirements for the material of the adaptive drive component 10 under certain loads and strokes, and extend the service life of the adaptive drive component 10.

[0118] Each layer of the folding structure 15 has a folding surface 151 , and the connection between two adjacent layers of folding surfaces 151 forms a crease surface 152 , and the angle between adjacent folding surfaces 151 and crease surfaces 152 is defined as an intrusion angle θ;

[0119] The adaptive drive member 10 has an initial intrusion angle θp in the initial state, and the intrusion angle θ varies between 0° and the initial intrusion angle θp during compression or extension of the folding structure 15, wherein the initial intrusion angle θp satisfies 18°≤θp≤42°; by setting a favorable initial intrusion angle range, the folding structure 15 can be advantageously caused to have a smaller strain during the deformation process, or the strain distribution can be made more uniform, so that the folding structure 15 can have a telescopic and folding life of more than one million times.

[0120] Optionally, the initial intrusion angle θp is in a range of 20°≤θp≤38°.

[0121] The adaptive drive member 10 has a maximum intrusion angle θmax, and the intrusion angle θ varies between 0° and the maximum intrusion angle θmax during compression or extension of the folding structure 15, wherein the initial intrusion angle θp and the maximum intrusion angle θmax of the folding structure 15 are configured to satisfy the following relationship: 0.6θmax<θp<0.8θmax.

[0122] It should be noted that the maximum intrusion angle θmax refers to the maximum range that the folding structure 15 can reach during normal extension within the expected working conditions, and is not the limit state that the folding structure 15 can actually reach.

[0123] To ensure that the adaptive drive 10 has good folding deformation performance, in some embodiments, the material of the adaptive drive 10 is configured to satisfy the following relationship: tensile strength greater than 9Mpa, Shore hardness greater than 80, and resilience greater than 30% (under the test standard of ISO 4662-2017). The adaptive drive 10 is made of a material with greater resilience, so that the adaptive drive 10 can store a greater proportion of the energy of the fluid used to overcome the internal stress of the folding structure 15 in the form of elastic potential energy in the material during the reciprocating action of deformation, and convert it back into mechanical energy for rebounding and resetting the folding structure 15 in the subsequent process, thereby improving the energy conversion efficiency.

[0124] In some embodiments, the adaptive drive member 10 is made of thermoplastic polyurethane elastomer rubber (TPU).

[0125] In other embodiments, the adaptive driving member 10 is configured to be composed of any one or more of silicone rubber, polyethylene, polypropylene and TPU.

[0126] Optionally, when the pressure difference between the inside and outside of the sealed cavity 14 is large enough, the folded structure 15 can be flattened to 2θ=180°.

[0127] The folds formed at the connection of each folding surface 151 of the adjacent two-layer folding structure 15 are circles with different radii. The circular radius of the protrusion along the radial direction of the adaptive driving member 10 is R, and the circular radius of the recess is r. The intrusion depth coefficient a of the adaptive driving member 10 is defined as a=r / R, and 0.35≤a<0.65; since the adaptive driving member 10 has the characteristic of small strain, during the deformation process of the adaptive driving member 10, the intrusion depth coefficient a can be basically a constant.

[0128] It should be noted that when the sealed cavity 14 is annular, for example Figure 6 In the illustrated embodiment, the numerical range of the penetration depth coefficient a defined above is only applicable to the inner wall 131, but not to the outer wall 132; when the cross-sectional shape is not circular (such as an elliptical, oval, fan-shaped, etc.), the cross-sectional area in the direction of minimum cross-sectional area only needs to meet this parameter requirement, and at this time r and R are respectively the distances from the concave and convex parts of the side wall of the cross-sectional area to the center line of the cross-sectional area.

[0129] When the folding structure 15 is designed, the structural coefficient σ of the folding surface 151 satisfies 0.02≤σ≤0.12 and σ=cosθ(1+a) / (2cosθ-1+a).

[0130] An opening is provided on the flexible side wall 13 or the first end wall 11 or the second end wall 12, and the opening is used to allow fluid to enter and exit the sealed cavity 14 to change the pressure difference between the inside and outside of the sealed cavity 14 and compress or stretch the folding structure 15. Specifically, when the volume of the fluid in the sealed cavity 14 changes, the folding structure 15 folds and stretches accordingly until the pressure difference between the inside and outside of the adaptive driving member 10 and the elastic force of the folding structure 15 reach a balance, and the internal pressure of the sealed cavity 14 determines the elastic deformation of the adaptive driving member 10.

[0131] The sensor 90 is an air pressure sensor, and the plurality of air pressure sensors are respectively used to detect the pressure changes at different positions of the adaptive drive member 10 or the pressure changes of the plurality of adaptive drive members 10. In addition, according to different working conditions, the fluid can be made to enter and exit the closed cavity 14 from the opening to change the amount of fluid in the closed cavity 14, so as to change the pressure difference between the inside and outside of the closed cavity 14, thereby adjusting the elastic coefficient of the adaptive drive member 10, and then changing the buffer strength of the adaptive drive member 10, so as to better adapt to more different strength operation requirements.

[0132] Optionally, the first end wall 11 is provided with an opening.

[0133] Optionally, the shape of the fold may be, but is not limited to, circular or elliptical.

[0134] In order to make the adaptive drive member 10 produce the most uniform strain distribution during the folding deformation process, in some embodiments, in the initial state, the distance between two adjacent layers in the multi-layer crease surface 152 is h, and the wall thickness of the flexible side wall 13 is t. The distance h, the wall thickness t, and the initial intrusion angle θp can satisfy the relationship: 0.05h / sinθp<t<0.2h / sinθp. Specifically, during the folding deformation process of the adaptive drive member 10, the wall thickness t of the flexible side wall 13 remains unchanged.

[0135] In one embodiment of the present application, the high-altitude facade working mechanism also includes a controller, which is connected to the first fixed plate 21 of the fixed seat 20, and each sensor 90 is arranged on the controller. The controller is electrically connected to each sensor 90 and can change the position and acceleration of the high-altitude working device relative to the actuator 200 based on the feedback of the sensor 90, thereby adjusting the angle of the long rod 100 relative to the high-altitude facade and the pressure of the contact surface.

[0136] Specifically, after analyzing the data detected by the sensor 90, the controller changes the position and acceleration of the aerial work device relative to the actuator 200, thereby adjusting the angle of the long rod 100 relative to the aerial facade and the pressure of the contact surface, thereby adjusting the angle between the actuator 200 and the aerial facade to be operated, that is, adjusting the angle of the actuator 200 relative to the aerial facade and the pressure of the contact surface, thereby realizing the active adjustment of the angle of the actuator 200 relative to the aerial facade and the pressure of the contact surface.

[0137] In one embodiment of the present application, see Figure 1 The long rod 100 includes a first rod body 101 and a second rod body 102. One end of the first rod body 101 is rotatably connected to one end of the second rod body 102 so that the long rod 100 has a folded state and an unfolded state. The end of the first rod body 101 away from the second rod body 102 is connected to the adaptive section 600, and the second rod body 102 is connected to the adjustment component 300 and the electric control box 400.

[0138] Specifically, one end of the first rod body 101 of the long rod 100 and one end of the second rod body 102 are rotatably connected to each other, and the first rod body 101 and the second rod body 102 can rotate 180° relative to each other, thereby realizing two states of unfolding and folding. When the long rod 100 is in the unfolded state, the angle between the first rod body 101 and the second rod body 102 is approximately 180°, and when the long rod 100 is in the folded state, the angle between the first rod body 101 and the second rod body 102 is approximately 0°, so that the long rod 100 can be folded and stored when the high-altitude facade operating mechanism is not in use, effectively reducing the space occupied by the high-altitude facade operating mechanism when not in use.

[0139] In one embodiment of the present application, see Fig.14The actuator 200 includes a detector 201 and a plurality of detection contacts 202 disposed on the detector 201 . The plurality of detection contacts 202 are located on a side of the detector 201 away from the adaptive structure.

[0140] Specifically, by providing a plurality of detection contacts 202 on the detector 201, the detector 201 can perform detection at a plurality of positions on the high-altitude facade to be operated, and obtain a plurality of groups of detection data, thereby improving the accuracy of the detection data.

[0141] Optionally, a plurality of detection contacts 202 are arranged in a straight line on the detector 201. Arranging the plurality of detection contacts 202 in a straight line can increase the span of the detection range of the detector 201 and further improve the accuracy of the detection data.

[0142] Optionally, the detector 201 may be, but is not limited to, a rebound hammer.

[0143] In one embodiment of the present application, see Figure 1 and Figure 2 The high-altitude facade operation mechanism also includes a nozzle 500, a liquid pump and a liquid storage tank. The nozzle 500 is arranged on the long rod 100 or the adaptive section 600, and is used to spray liquid to the action area of ​​the actuator 200. The liquid pump and the liquid storage tank are arranged in the electric control box 400.

[0144] Specifically, the liquid storage tank is used to store liquid, and the liquid storage tank is connected and communicated with the nozzle 500 through a pipe body, and a liquid pump is arranged on the pipe body. When it is necessary to test the concrete strength of the high-altitude facade, the liquid pump is started, and the liquid pump pumps the liquid in the liquid storage tank to the nozzle 500, and the nozzle 500 atomizes the liquid and sprays it toward the high-altitude facade to be tested. Then, a rebound tester is used to perform contact testing on the high-altitude facade to be tested. Through the cooperation of the nozzle 500, the liquid pump and the liquid storage tank, the test cavity can be sprayed wet before testing, which is beneficial to improving the detection efficiency.

[0145] In one embodiment of the present application, see Figure 1 and Fig.15 The adjustment component 300 includes a fifth end plate 301, a sixth end plate 302, a fluid folding structure 15 and a rotating support structure 304. The fifth end plate 301 is used to connect to the aerial work device, the sixth end plate 302 is connected to the middle part of the long rod 100, the two ends of the fluid folding structure 15 are respectively connected to the fifth end plate 301 and the sixth end plate 302, and the rotating support structure 304 is connected between the fifth end plate 301 and the sixth end plate 302.

[0146] Specifically, the structure of the fluid folding structure 15 is the same as that of the adaptive driving member 10, and the rotation support structure 304 is used to support the fluid folding structure 15 to prevent the fluid folding structure 15 from collapsing and failing. The adjustment component 300 can be bent and deformed, that is, the fifth end plate 301 and the sixth end plate 302 can rotate relative to each other, and the rotation support structure 304 can maintain the relative rotation of the fifth end plate 301 and the sixth end plate 302, and ensure that the fluid folding structure 15 will not collapse.

[0147] Specifically, see Fig.15 , the rotation support structure 304 includes a third link 305 and a fourth link 306, one end of the third link 305 is fixedly connected to the fourth end plate 72, the other end of the third link 305 is rotationally connected to the fourth link 306, and one end of the fourth link 306 away from the third link 305 is fixedly connected to the fifth end plate 301. In this way, through the arrangement of the third link 305 and the fourth link 306, the rotation connection between the fourth end plate 72 and the fifth end plate 301 is realized, and the rotation of the fourth end plate 72 and the fifth end plate 301 is driven by the folding deformation of the fluid folding structure 15, and the adjustment component 300 in this embodiment can be directional and bent. Optionally, the rotation support structure 304 is arranged on both sides of the fluid folding structure 15, so that the bending deformation of the adjustment component 300 is more stable, or the rotation support structure 304 is arranged at the center of the fluid folding structure 15.

[0148] Optionally, the rotating support structure 304 can also be a ball joint structure or a cross hinge structure, one end of the ball joint structure is fixedly connected to the fifth end plate 301, and the other end is fixedly connected to the sixth end plate 302, so that the fifth end plate 301 and the sixth end plate 302 are universally connected, so that the flexible bending module can bend in any direction.

[0149] The present application also provides a UAV device, the UAV includes the high-altitude facade working mechanism and the high-altitude working device of any of the aforementioned embodiments, and the high-altitude working device is connected to the adjustment component 300 of the high-altitude facade working mechanism.

[0150] It should be noted that the cooperation between the high-altitude facade working mechanism and the high-altitude working device is not limited to the concrete strength test of the high-altitude facade.

[0151] Specifically, the drone equipment also includes a controller, which is electrically connected to each sensor 90 and can change the position and acceleration of the aerial work device relative to the actuator 200 based on the feedback of the sensor 90, thereby adjusting the angle of the long pole 100 relative to the high-altitude vertical surface and the pressure of the contact surface.

[0152] The UAV equipment provided in the present application adopts the high-altitude facade operating mechanism of any of the above-mentioned embodiments, and thus has at least the beneficial effects of the high-altitude facade operating mechanism of the above-mentioned embodiments, which will not be described one by one here.

[0153] The above are only preferred embodiments of the present invention, and only specifically describe the technical principles of the present invention. These descriptions are only for explaining the principles of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations here, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention, and other specific implementations of the present invention that can be associated with by technicians in this field without creative labor, should be included in the scope of protection of the present invention.

Claims

1. A high-altitude facade operation mechanism, characterized in that: include: Long pole; An actuator disposed at one end of the long rod, the actuator being used to perform contact operations on the high-altitude facade; An adjustment component disposed in the middle of the long pole, the adjustment component is used to connect the long pole to the aerial work device and adjust the position of the long pole relative to the aerial work device; An electric control box provided at the other end of the long rod, the electric control box being used to install electric controls for controlling the operation of the actuator and / or the regulating assembly; An adaptive section connected between the long rod and the actuator, the adaptive section can be passively deformed to buffer the force applied to the actuator at the moment of contact with the high-altitude facade, and can change the posture of the actuator relative to the long rod so that the actuator is at an angle that adapts to the high-altitude facade; the adaptive section includes an adaptive driving member, the adaptive driving member includes a first end wall, a second end wall and a deformable flexible side wall connected between the first end wall and the second end wall, the first end wall, the second end wall and the flexible side wall enclose a closed cavity for accommodating a fluid.

2. The high-altitude facade operation mechanism according to claim 1, characterized in that: The adaptive section includes a fixed seat fixedly connected to the long rod, a movable seat for mounting the actuator, and at least three adaptive driving members, the first end wall of each of the adaptive driving members is fixed on the fixed seat, and the second end wall of each of the adaptive driving members is movably connected to the movable seat.

3. The high-altitude facade operation mechanism according to claim 2, characterized in that: The fixing seat comprises a first fixing plate and a second fixing plate which are arranged at intervals, and a fixing column which is fixedly connected to the first fixing plate and the second fixing plate, the adaptive driving member is arranged between the first fixing plate and the second fixing plate, and the first end wall of the adaptive driving member is fixed and / or integrally formed with the first fixing plate, the adaptive segment further comprises a plurality of connecting rods, one end of the connecting rod is fixedly connected to the second end wall of the adaptive driving member, the other end of the connecting rod is universally connected to the movable seat, the connecting rod passes through the second fixing plate, and is universally connected to the second fixing plate; A first elastic member is sleeved on the connecting rod, one end of the first elastic member abuts against the connection between the connecting rod and the fixed seat, and the other end of the first elastic member abuts against the connection between the connecting rod and the movable seat.

4. The high-altitude facade operation mechanism according to claim 1, characterized in that: The adaptive section includes two rotational adaptive structures connected in series, the two rotational adaptive structures are respectively a first rotational adaptive structure and a second rotational adaptive structure, the first rotational adaptive structure and the second rotational adaptive structure are arranged orthogonally, and in a natural state, the rotational center axes of the first rotational adaptive structure and the second rotational adaptive structure are both deviated from the center axis of the long rod, the rotational adaptive structure has a rotational fixed end and a rotational movable end, the rotational adaptive structure includes the adaptive driving member, and when the rotational fixed end rotates, the flexible side wall of the adaptive driving member can be driven to produce flexible deformation, the rotational fixed end of the first rotational adaptive structure is fixedly connected to the long rod, the rotational movable end of the first rotational adaptive structure is fixedly connected to the rotational fixed end of the second rotational adaptive structure, and the rotational movable end of the second rotational adaptive structure is connected to the actuator.

5. The high-altitude facade operation mechanism according to claim 4, characterized in that: The rotation adaptive structure further comprises a fixed seat, a power push plate, a nut, and a screw threadedly connected to the nut, the nut being fixed to the power push plate, the fixed seat comprising a first end plate and a second end plate, the first end wall of the adaptive driving member being fixed and / or integrally formed with the first end plate or the second end plate, the second end wall of the adaptive driving member being fixed and / or integrally formed with the power push plate, and the two ends of the screw being supported on the first end plate and the second end plate respectively; the side portion of the fixed seat is the rotation fixed end, and one end of the screw is the rotation movable end; The adaptive section also includes two L-shaped connecting members, and the L-shaped connecting member includes a first connecting member and a second connecting member; the two L-shaped connecting members are respectively a first L-shaped connecting member and a second L-shaped connecting member, the first connecting member of the first L-shaped connecting member is arranged orthogonally to the first connecting member of the second L-shaped connecting member, and extends along the radial direction of the first rotation adaptive structure to be connected to the rotating movable end of the first rotation adaptive structure, and the second connecting member of the first L-shaped connecting member extends along the tangential direction of the first rotation adaptive structure to be connected to the fixed seat of the second rotation adaptive structure; the first connecting member of the second L-shaped connecting member extends along the radial direction of the second rotation adaptive structure to be connected to the rotating movable end of the second rotation adaptive structure, and the second connecting member of the second L-shaped connecting member extends along the tangential direction of the second rotation adaptive structure to be connected to the actuator; The rotation adaptive structure further comprises a power assisting member, the two ends of which are respectively connected to the first end plate and the power push plate; the power assisting member is a second elastic member, or the power assisting member is a fluid folding member that is driven to expand and contract by a fluid, and the two ends of the adaptive driving member are respectively fixed to the second end plate and the power push plate; The rotation adaptive structure also includes at least one guide assembly, and the guide assembly includes a first guide member and a second guide member, the first guide member is arranged on the second end plate, and the second guide member is arranged on the power push plate, the first guide member and the second guide member have matching parts with mutually matching shapes, so that the power push plate moves relative to the second end plate along the axial direction of the screw rod; one of the first guide member and the second guide member is a rod parallel to the screw rod, and the other is a hole sleeved on the rod; or, one of the first guide member and the second guide member is a groove parallel to the screw rod, and the other is a lug embedded in the groove.

6. The high-altitude facade operation mechanism according to claim 1, characterized in that: The adaptive section also includes a bending adaptive structure, which includes a third end plate fixedly connected and / or integrally formed with the first end wall, a fourth end plate connected to the second end wall, and a hinge connected between the third end plate and the fourth end plate. There are at least two adaptive driving members, and the hinge enables the third end plate and the fourth end plate to rotate relative to each other. The hinge includes a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the first connecting rod is connected to the third end plate, and the other end of the second connecting rod is connected to the fourth end plate. In a natural state, the third end plate and the fourth end plate are arranged in parallel, and the angle between the first connecting rod and the third end plate and the angle between the second connecting rod and the fourth end plate are both less than 90°.

7. The high-altitude facade operation mechanism according to claim 6, characterized in that: The first connecting rod and the second connecting rod rotate in the same rotation plane. In a natural state, the vertical sections of the hinge, the third end plate and the fourth end plate are ∑-shaped or Z-shaped. The number of the adaptive driving members is two, the number of the hinges is at least two, the two adaptive driving members are arranged between the rotation planes of the two hinges, and the rotation axes of the two hinges are collinear; the number of the bending adaptive structures is two, namely the first bending adaptive structure and the second bending adaptive structure, the first bending adaptive structure is axially connected to the second bending adaptive structure, and the rotation plane of the hinge of the first bending adaptive structure is perpendicular to the rotation plane of the hinge of the second bending adaptive structure; And / or, the hinge is a cross hinge or a ball hinge, the projections of the rotation center of the hinge on the third end plate and the fourth end plate in a natural state are both at the center positions thereof, the number of the adaptive driving members is three, the three adaptive driving members are arranged in parallel and evenly distributed around the circumference of the hinge.

8. The high-altitude facade working mechanism according to any one of claims 1 to 7, characterized in that: The adaptive segment also includes a plurality of sensors, which are one of an air pressure sensor, an angle sensor and a displacement sensor. The plurality of sensors are used to respectively detect parameter changes at different positions of the adaptive driving member or parameter changes of the plurality of adaptive driving members.

9. The high-altitude facade operation mechanism according to claim 8, characterized in that: The flexible side wall, the first end wall and the second end wall together form a cylindrical cavity having a central axis; The flexible side wall is designed to include a multi-layer folding structure, each layer of the folding structure has a folding surface, the connection between two adjacent layers of the folding surfaces forms a crease surface, and the angle between the adjacent folding surfaces and the crease surface is defined as an intrusion angle θ; The adaptive driving member has an initial intrusion angle θp in an initial state, and the intrusion angle θ varies between 0° and the initial intrusion angle θp during compression or extension of the folding structure, wherein the initial intrusion angle θp satisfies 18°≤θp≤42°; The folds formed at the connection of the folding surfaces of two adjacent layers of the folding structure are circles with different radii, the radius of the circle at the convex part along the radial direction of the adaptive driving member is R, and the radius of the circle at the concave part is r, and the intrusion depth coefficient a of the adaptive driving member is defined as a=r / R, and 0.35≤a≤0.65; The structural coefficient σ of the folding surface satisfies 0.02≤σ≤0.12 and σ=cosθ(1+a) / (2cosθ-1+a); an opening is provided on the flexible side wall or the first end wall or the second end wall, and the opening is used to allow fluid to enter and exit the closed cavity to change the pressure difference between the inside and outside of the closed cavity and compress or stretch the folding structure. The sensor is an air pressure sensor, and the multiple air pressure sensors are respectively used to detect pressure changes at different positions of the adaptive driving component or pressure changes of multiple adaptive driving components.

10. The high-altitude facade operation mechanism according to any one of claims 1 to 7, characterized in that: The long rod includes a first rod body and a second rod body, one end of the first rod body is rotatably connected to one end of the second rod body so that the long rod has a folded state and an unfolded state, one end of the first rod body away from the second rod body is connected to the adaptive section, and the second rod body is connected to the adjustment assembly and the electrical control box.

11. The high-altitude facade operation mechanism according to any one of claims 1 to 7, characterized in that: The adjustment assembly includes a fifth end plate, a sixth end plate, a fluid folding structure and a rotating support structure. The fifth end plate is used to connect to the aerial work device, the sixth end plate is connected to the middle part of the long rod, the two ends of the fluid folding structure are respectively connected to the fifth end plate and the sixth end plate, and the rotating support structure is connected between the fifth end plate and the sixth end plate.

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