Operation device adapting to curved surface and operation robot

Abstract

According to the operation device adapting to the curved surface and the operation robot, the form and position of the operation device relative to the curved surface can be adjusted according to changes of the curved surface, and the operation effect of the operation device on the curved surface is improved. The operation device adapting to the curved surface comprises a moving assembly, the moving assembly comprises a mounting frame, a sliding block and a traction part, the mounting frame extends in the first direction, the sliding block is connected with the mounting frame, and the traction part is used for pulling the sliding block to move on the mounting frame in the first direction; the operation assembly is movably connected with the sliding block and arranged on the side, in the second direction, of the moving assembly, and the second direction is perpendicular to the first direction; and the rotating assembly is connected with the operation assembly and the sliding block and used for controlling the operation assembly to rotate around the sliding block.

Description

Technical Field

[0001] The present application relates to the field of curved surface operations, and in particular, to an operating device and an operating robot that are adaptable to curved surfaces. Background Art

[0002] With the development of science and technology, large-scale machinery and equipment are increasingly used in various industries. However, when large-scale machinery and equipment need to be operated in high-altitude areas, workers often need to be transported to high places for operation. This operation method has high risk factors and low work efficiency. Therefore, using industrial robots to operate in high-altitude areas is a safe and efficient choice.

[0003] Since the surface of machinery and equipment usually has many curved surfaces, and even many curved surfaces with irregular shapes or varying degrees of curvature, existing operating devices can often achieve good operating results on flat surfaces, but it is difficult to provide stable operating results on such complex curved surfaces. Therefore, it is necessary to provide an operating device that can adapt to changes in curved surfaces to achieve good operations on complex curved surfaces. Summary of the invention

[0004] The present application provides a working device and a working robot that are adaptable to curved surfaces, which can adjust the shape and position of the working device relative to the curved surface according to changes in the curved surface, thereby improving the working effect of the working device on the curved surface.

[0005] In a first aspect, a working device that can adapt to a curved surface is provided, comprising: a moving component, the moving component comprising a mounting frame, a slider and a traction portion, the mounting frame extending along a first direction, the slider being connected to the mounting frame, and the traction portion being used to pull the slider to move on the mounting frame along the first direction; a working component, the working component being movably connected to the slider and being arranged on one side of the moving component along a second direction, the second direction being perpendicular to the first direction; a rotating component, the rotating component connecting the working component and the slider and being used to control the working component to rotate around the slider.

[0006] The relative rotation between the working component and the slider is controlled by the rotating component. The working device provided in the embodiment of the present application can realize the angle adjustment between the working component and the working surface. When the working surface is a complex curved surface, the rotation angle of the working component relative to the slider can be adjusted according to the change of the curvature of the curved surface, so that the working component can be adjusted to a position approximately parallel to the working surface, and the working component can be further adjusted to a position that fits the working surface by the movement of the slider on the mounting frame along the first direction, so that the working component can adapt to the changes in the curved surface and achieve good operation on the complex curved surface.

[0007] In some embodiments, the rotating assembly includes a rotating part and a connecting rod, one end of the connecting rod is connected to the slider, the other end of the connecting rod is connected to the working assembly, and the rotating part is connected to one end of the connecting rod for driving one end of the connecting rod to rotate.

[0008] The rotating part can realize the rotation control of the working component by rotating the connecting rod, so that the working component can be adjusted to a position approximately parallel to the working area according to the curvature change of the working surface, thereby improving the working effect of the working device on the complex curved surface.

[0009] In some embodiments, the rotating assembly includes a guide curved rod and a guide portion, the first end of the guide curved rod cooperates with the guide portion and can move along an extension track of the guide portion, the second end of the guide curved rod is connected to the slider, the third end of the guide curved rod is connected to the working assembly, and the guide portion includes a first guide rail, the first guide rail extends in a direction between the first direction pointing to the working surface and the second direction away from the working assembly, and the first end, the second end and the third end are not on the same straight line.

[0010] Through the coordinated action of the guide curved rod and the guide part, it is only necessary to control the movement of the slider along the first direction through the traction part to drive the guide curved rod to move in the first direction. At the same time, the first end of the guide curved rod, under the constraint of the first guide rail, drives the third end of the guide curved rod to rotate around the second end of the guide curved rod, so that the rotation of the working component relative to the slider can be achieved through a simple structure, simplifying the control procedure.

[0011] In some embodiments, the guide portion includes a second guide rail, the first guide rail is in communication with the second guide rail, and the second guide rail extends along the first direction from an end of the first guide rail that is away from the working surface in the first direction.

[0012] When the slider moves in the first direction away from the working surface, the second guide rail can provide movement space for the first end of the guide curved rod in the first direction, so that the working component can be lifted away from the working surface when not working, thereby reducing the interference between the working component and the working surface, which is conducive to improving the working effect.

[0013] In some embodiments, the rotating assembly includes a first connecting shaft, one end of which cooperates with the guide portion and can move along the extension direction of the guide portion, and the other end of the first connecting shaft is connected to the first end of the guide curved rod, and the first end can rotate around the first connecting shaft.

[0014] The first connecting shaft can simultaneously realize the movement of the first end of the guide curved rod along the guide portion and the rotation of the first end of the guide curved rod itself, and at the same time provide freedom for the guide curved rod to drive the rotation of the working component, which is conducive to realizing the adjustment of the working component to the changes in the curved surface and improving the adaptability of the working component to the changes in the curved surface.

[0015] In some embodiments, the rotating component includes: a second connecting shaft, the second connecting shaft connects the slider and the second end, and the second end can rotate relative to the slider around the second connecting shaft; a movable member, the movable member connects the working component and the third end of the guide curved rod, and the working component and the guide curved rod can move relative to each other along the movable member; and a rotating member, the movable member is connected to the working component through the rotating member, and the working component and the guide curved rod can rotate relative to each other around the rotating member.

[0016] Through the cooperation between the second connecting shaft, the moving member and the rotating member, the traction part can realize that the working component moves toward the working surface and rotates toward the working surface while controlling the slider to move along the first direction, so as to adapt to the curved surface changes of the working surface, and the working component moves away from the working surface and rotates away from the working surface, so as to reduce the interference between the working component and the working surface. This is conducive to realizing the automatic control of the working device in the working area, improving the adaptability of the working device to the curved surface changes, and thus improving the working effect of the working device on the curved surface.

[0017] In some embodiments, the movable member includes a through slot and a third connecting shaft, the through slot penetrates the third end of the guide curved rod in a third direction, the third connecting shaft passes through the through slot and can move along the through slot, the rotating member is the third connecting shaft, the working component can rotate around the third connecting shaft, and the third direction is perpendicular to the first direction and the second direction.

[0018] This structural design allows the third connecting shaft to act as a rotating component while realizing the function of a moving component, providing freedom for the working component to adapt to the curved surface. It can also simplify the overall structure of the working device, reduce manufacturing costs, and improve the reliability of the working device.

[0019] In some embodiments, the operating component is connected to the slider via a first rotating shaft, the first rotating shaft extends along a third direction, the third direction is perpendicular to the first direction and the second direction, and the operating component can rotate around the first rotating shaft.

[0020] The first rotating shaft can realize the movable connection between the working component and the slider, and provide the working component with rotational freedom, so that the working component can adjust the relative angle with the slider according to the changes of the curved surface, thereby improving the working effect of the working device on the complex curved surface.

[0021] In some embodiments, the working component includes a bracket, a working part and a second rotating shaft. The bracket is movably connected to the slider. The working part is arranged on the side of the bracket facing the working surface in the first direction. The working part is connected to the bracket through the second rotating shaft and can rotate around the second rotating shaft. The second rotating shaft extends along a third direction, and the third direction is perpendicular to the first direction and the second direction.

[0022] The working part can further adjust the degree of fit with the working surface through the second rotating shaft, so that the working part can adapt to the changes of the curved surface more flexibly and achieve good operation on the complex curved surface.

[0023] In some embodiments, the operating component includes a plurality of sliding rods, which are arranged on both sides of the second rotating shaft along the second direction and connected to the operating part, and the sliding rods extend along the first direction and pass through the bracket.

[0024] The sliding rod can increase the distance between the working part and the bracket, so that the working part has a larger rotation space during the rotation around the second rotation axis, and the position of the working part can be adjusted according to the actual situation of the working surface, thereby improving the adaptability of the working part to the curved surface. At the same time, the sliding rod only moves in the first direction, which can also limit the working part to rotate at a fixed position and is not easy to swing in the second direction, thereby improving the stability of the working part.

[0025] In some embodiments, the working component includes a plurality of telescopic mechanisms, which are arranged between the working part and the bracket and arranged on both sides of the second rotating shaft along the second direction, and the telescopic mechanisms are used to adjust the distance between the working part and the bracket in the third direction.

[0026] The telescopic mechanism can elastically extend and retract between the bracket and the working part. On the one hand, it can adjust the distance between the working part and the bracket to adapt to the height changes of the working surface in the first direction, and assist the working part in adjusting in the process of adapting to the changes in the curved surface; on the other hand, it can apply pressure toward the working surface to the working part, so that the working part has a certain pressure when it contacts the working surface, thereby improving the working effect of the working part on the working surface.

[0027] In some embodiments, the telescopic mechanism includes a first link and a second link, one end of the first link is connected to the bracket, the other end of the first link is connected to one end of the second link, the other end of the second link is connected to the working part, there is an angle between the first link and the second link and a torsion elastic member is provided, the torsion elastic member is used to resist the rotation of the first link and the second link in a direction approaching each other.

[0028] The mutual cooperation among the first connecting rod, the second connecting rod and the torsion elastic member can, on the one hand, provide space for the working part to adapt to the changes in the curved surface, and on the other hand, exert pressure on the working part so that the working part can be better adjusted to a position that fits the working surface and fits tightly with the working surface, thereby improving the working part's ability to adapt to the curved surface and the working effect on the working surface.

[0029] In some embodiments, the operating assembly includes a limiter, which is disposed between the first connecting rod and the second connecting rod, and is used to limit the rotation of the first connecting rod and the second connecting rod in a direction away from each other.

[0030] The limiter can maintain the opening direction of the angle between the first connecting rod and the second connecting rod, thereby improving the stability of the overall structure of the operating assembly. At the same time, when combined with the torsion elastic member, the torque direction of the torsion elastic member can be maintained, thereby reducing the possibility that the torsion elastic member cannot generate elastic force on the first connecting rod and the second connecting rod.

[0031] In a second aspect, a curved surface adaptable working robot is provided, comprising: a walking mechanism for walking on a working surface; and a curved surface adaptable working device as described in any embodiment of the first aspect, wherein a mounting frame of the working device is connected to the walking mechanism.

[0032] The curved surface adaptable operation robot provided in the embodiment of the present application can replace manual operation at high altitudes, and has the advantages of safety and efficiency. At the same time, the operation device has good curved surface adaptability, can achieve good operation on complex curved surfaces, and improve operation efficiency and operation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of a curved surface adaptable working device provided in the present application.

[0034] Figure 2 It is a schematic structural diagram of another working device adapted to curved surfaces provided in the present application.

[0035] Figure 3 It is a partial structural schematic diagram of a working device that adapts to curved surfaces provided by the present application.

[0036] Figure 4 yes Figure 3 Schematic diagram of the enlarged structure of part A.

[0037] Figure 5 It is a schematic structural diagram of another working device adapted to curved surfaces provided in the present application.

[0038] Figure 6 It is a schematic structural diagram of another working device adapted to curved surfaces provided in the present application.

[0039] Figure 7 It is a structural schematic diagram of a curved surface adaptable working robot provided in the present application. DETAILED DESCRIPTION

[0040] The following detailed description and drawings of the embodiments of the present application are used to illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0041] In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the orientation or positional relationship, 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 cannot be understood as limiting the present application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly perpendicular, but within the tolerance range. "Parallel" is not strictly parallel, but within the tolerance range. All technical and scientific terms used in the present application have the same meaning as those generally understood by technicians in the technical field of the present application; the terms used in the present application and in the specification of the application are only for the purpose of describing specific embodiments, and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0042] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0043] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0044] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist, and B exists. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0045] The term "multiple" as used in this application refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple sheets" refers to more than two sheets (including two sheets).

[0046] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0047] The curved surface adaptable operation device provided in the embodiment of the present application can be applied to a plane or a curved surface, and is particularly suitable for vertical, inclined or inaccessible walls. Specifically, it can be applied to the surfaces of equipment such as ship hulls, oil storage tanks, water storage tanks, bridges, high towers, and wind turbine towers, and can also be applied to the surfaces of large industrial equipment (such as boilers, reactors, etc.).

[0048] The curved surface adaptable operation device provided in the embodiment of the present application can be used to implement the detection and maintenance of the surface of the machine equipment, for example, cleaning, spraying, rolling paint, welding, grinding, detection and other operations on the working surface. The embodiment of the present application does not limit the application scenarios and operation items of detection and maintenance, and the specific operation items involved are only described as examples.

[0049] The following is a detailed description of the curved surface adaptable working device 1 provided in the embodiment of the present application in conjunction with the accompanying drawings.

[0050] The working device 1 provided in the embodiment of the present application includes a moving component 10, a working component 20 and a rotating component 30. Figure 1 and Figure 2As shown, the moving assembly 10 includes a mounting frame 11, a slider 12 and a traction portion 13, the mounting frame 11 extends along a first direction X, the slider 12 is connected to the mounting frame 11, and the traction portion 13 is used to pull the slider 12 to move on the mounting frame 11 along the first direction X. The working assembly 20 is movably connected to the slider 12 and is disposed on one side of the moving assembly 10 along a second direction Y, and the second direction Y is perpendicular to the first direction X. The rotating assembly 30 connects the working assembly 20 and the slider 12, and is used to control the working assembly 20 to rotate around the slider 12.

[0051] The moving assembly 10 refers to a structure in the working device 1 that drives the rotating assembly 30 and the working assembly 20 to move in the first direction X. The first direction X intersects with the working surface. The mounting frame 11 in the moving assembly 10 is a long strip structure extending along the first direction X. The mounting frame 11 may be provided with a slide groove or a guide rail extending along the first direction X. The slider 12 in the moving assembly 10 may cooperate with the slide groove or the guide rail on the mounting frame 11 and move along the slide groove or the guide rail in the first direction X. In some embodiments, the slider 12 may be moved on the mounting frame 11 by a traction portion 13, wherein the traction portion 13 may be, for example, a traction motor.

[0052] The working component 20 refers to the part of the working device 1 that performs work on the working surface. For example, if the working device 1 is a cleaning device, the working component 20 may include a brush plate, a water pipe and other structures; for another example, if the working device 1 is a paint roller device, the working component 20 may include a roller brush, a paint delivery pipe and other structures.

[0053] The operating assembly 20 is movably connected to the slider 12, for example, it can be a hinge connection, a hinge connection, etc. On the one hand, the slider 12 moves along the first direction X on the mounting frame 11, and the operating assembly 20 can move along the first direction X with the slider 12; on the other hand, the operating assembly 20 can rotate relative to the slider 12 when connected to the slider 12.

[0054] The working component 20 is arranged on one side of the moving component 10 along the second direction Y, so that the working component 20 can be fitted with the working surface on the side of the mounting frame 11, and is not easy to interfere with the mounting frame 11 when working on the working surface, thereby improving the working effect of the working device 1.

[0055] The rotating assembly 30 refers to the part of the working device 1 used to control the relative rotation between the working assembly 20 and the slider 12. One end of the rotating assembly 30 is connected to the working assembly 20, and the other end is connected to the slider 12. The relative rotation between the working assembly 20 and the slider 12 is controlled by controlling the relative movement of the two ends of the rotating assembly 30. For example, the rotating assembly 30 may include an electric control element, and the relative rotation of the two ends of the rotating assembly 30 is controlled by the electric control element; for another example, the rotating assembly 30 may include a guiding element, and while the traction part 13 pulls the slider 12 to move along the first direction X, the two ends of the rotating assembly 30 are guided to move relative to each other, so as to achieve the relative rotation between the working assembly 20 and the slider 12.

[0056] In some embodiments, one end of the rotating component 30 connected to the slider 12 can be specifically connected to the rotating shaft between the working component 20 and the slider 12 for realizing a movable connection, and more specifically, connected to the part of the rotating shaft fixed to the slider 12.

[0057] The relative rotation between the working component 20 and the slider 12 is controlled by the rotating component 30. The working device 1 provided in the embodiment of the present application can realize the angle adjustment between the working component 20 and the working surface. When the working surface is a complex curved surface, the rotation angle of the working component 20 relative to the slider 12 can be adjusted according to the change of the curvature of the curved surface, so that the working component 20 can be adjusted to a position approximately parallel to the working surface, and the working component 20 can be further adjusted to a position in contact with the working surface through the movement of the slider 12 along the first direction X on the mounting frame 11, so that the working component 20 can adapt to the changes in the curved surface and achieve good operation on the complex curved surface.

[0058] According to some embodiments of the present application, the rotating assembly 30 includes a rotating part 31 and a connecting rod 32, one end of the connecting rod 32 is connected to the slider 12, and the other end of the connecting rod 32 is connected to the working assembly 20, and the rotating part 31 is connected to one end of the connecting rod 32 for driving one end of the connecting rod 32 to rotate.

[0059] Figure 1 The structure of a rotating assembly 30 is shown. Figure 1As shown, the rotating assembly 30 includes a rotating portion 31 and a connecting rod 32. The rotating portion 31 refers to a structure for controlling the rotation of the connecting rod 32, and may be, for example, a rotating motor. The rotating portion 31 may be disposed on the slider 12, and connected to one end of the connecting rod 32 connected to the slider 12. In the process of the rotating portion 31 controlling the rotation of the connecting rod 32, the end of the connecting rod 32 connected to the slider 12 remains stationary, and the end of the connecting rod 32 connected to the working assembly 20 rotates around the end of the connecting rod 32 connected to the slider 12. Since the working assembly 20 is movably connected to the slider 12, the end of the connecting rod 32 connected to the working assembly 20 can drive the working assembly 20 to rotate together during the rotation process, thereby adjusting the relative angle between the working assembly 20 and the working surface.

[0060] In some embodiments, one end of the connecting rod 32 connected to the slider 12 can be specifically connected to the rotating shaft between the working component 20 and the slider 12 for realizing a movable connection, and more specifically, connected to the part of the rotating shaft fixed to the slider 12.

[0061] The rotating part 31 can realize the rotation control of the working component 20 by rotating the connecting rod 32, so that the working component 20 can be adjusted to a position approximately parallel to the working area according to the curvature change of the working surface, thereby improving the working effect of the working device 1 on the complex curved surface.

[0062] According to some embodiments of the present application, the rotating assembly 30 includes a guide curved rod 33 and a guide portion 34, the first end 331 of the guide curved rod 33 cooperates with the guide portion 34 and can move along the extension trajectory of the guide portion 34, the second end 332 of the guide curved rod 33 is connected to the slider 12, the third end 333 of the guide curved rod 33 is connected to the working assembly 20, and the guide portion 34 includes a first guide rail 341, the first guide rail 341 extends in a direction between a first direction X pointing to the working surface and a second direction Y away from the working assembly 20, and the first end 331, the second end 332 and the third end 333 are not on the same straight line.

[0063] Figure 2 Another structure of the rotating assembly 30 is shown. Figure 2 As shown, the rotating assembly 30 includes a guide curved rod 33 and a guide portion 34 .

[0064] The guide curved rod 33 refers to a rod-shaped structure having a curved or bent structure, for example, Figure 2The illustrated guide curved rod 33 has a bent structure in the middle portion, and the two side portions of the guide curved rod 33 form an angle at the middle position, and the ends of the two side portions of the guide curved rod 33 away from the middle position are respectively the first end 331 and the third end 333, and the bent portion of the guide curved rod 33 is the second end 332 of the guide curved rod 33. In other words, the first end 331, the second end 332 and the third end 333 are not on the same straight line, and when the second end 332 moves along the first direction X, the displacement of the first end 331 in the second direction Y can drive the third end 333 to rotate around the second end 332.

[0065] The guide portion 34 is a structure that can guide the guide curved rod 33 to move along a certain trajectory. Figure 2 For example, the guide portion 34 may include a groove structure on the mounting frame 11, and the first end 331 of the guide curved rod 33 cooperates with the groove structure and can move along the extension direction of the groove structure. The guide portion 34 includes a first guide rail 341, and the first guide rail 341 extends in a direction between the direction of the first direction X pointing to the working surface and the direction of the second direction Y away from the working component 20, or extends in a direction between the direction of the first direction X away from the working surface and the direction of the second direction Y toward the working component 20. That is, during the movement of the first end 331 of the guide curved rod 33 along the first guide rail 341, displacement can be generated in the first direction X and the second direction Y at the same time. The extension direction of the first guide rail 341 can realize that when the second end 332 of the guide curved rod 33 moves toward the working surface along the first direction X, the third end 333 of the guide curved rod 33 drives the working component 20 to rotate toward the working surface; when the second end 332 of the guide curved rod 33 moves away from the working surface along the first direction X, the third end 333 of the guide curved rod 33 drives the working component 20 to rotate away from the working surface.

[0066] In the embodiment of the present application, the first end 331 of the guide curved rod 33 cooperates with the guide portion 34 and moves along the extension trajectory of the guide portion 34; the second end 332 is connected to the slider 12 and follows the slider 12 to move along the first direction X on the mounting frame 11; the third end 333 is connected to the working component 20, and the movement generated by the first end 331 and the second end 332 can enable the third end 333 to move passively, so that the third end 333 drives the working component 20 to rotate relative to the slider 12.

[0067] Specifically, the traction portion 13 of the moving component 10 pulls the slider 12 to move in the first direction X, and the second end 332 of the guide curved rod 33 moves with the slider 12 in the first direction X, and the first end 331 of the guide curved rod 33 moves along the first guide rail 341. When the first end 331 moves in the first direction X, the first guide rail 341 guides the first end 331 to generate displacement along the second direction Y, and the second end 332 is connected to the slider 12 and only moves in the first direction X but not in the second direction Y. Therefore, the third end 333 rotates around the second end 332 to adapt to the displacement of the first end 331 in the second direction Y, so that the third end 333 can drive the working component 20 to rotate relative to the slider 12. In the embodiment of the present application, when the first end 331 is displaced along the second direction Y away from the working component 20, the third end 333 drives the working component 20 to rotate toward the working surface; when the first end 331 is displaced along the second direction Y toward the working component 20, the third end 333 drives the working component 20 to rotate away from the working surface.

[0068] Optionally, the guide portion 34 may include a protruding structure on the mounting frame 11 , and the first end 331 of the guide curved rod 33 is provided with a groove structure matching the protruding structure, so that the guide curved rod 33 can move along the track where the guide portion 34 is located.

[0069] In some embodiments, the guide portion 34 may be disposed on the mounting frame 11, that is, a groove structure or a protrusion structure with a certain track on the mounting frame 11 is the guide portion 34. In other embodiments, the guide portion 34 may include a plate-like structure having a groove with a certain track, and the plate-like structure is fixedly connected to the mounting frame 11.

[0070] Through the coordinated action of the guide curved rod 33 and the guide part 34, it is only necessary to control the movement of the slider 12 along the first direction X through the traction part 13 to drive the guide curved rod 33 to move in the first direction X. At the same time, the first end 331 of the guide curved rod 33, under the constraint of the first guide rail 341, drives the third end 333 of the guide curved rod 33 to rotate around the second end 332 of the guide curved rod 33, so that the rotation of the working component 20 relative to the slider 12 can be realized through a simple structure, simplifying the control procedure.

[0071] According to some embodiments of the present application, the guide portion 34 includes a second guide rail 342 , the first guide rail 341 is connected to the second guide rail 342 , and the second guide rail 342 extends along the first direction X from one end of the first guide rail 341 away from the working surface in the first direction X.

[0072] like Figure 2As shown, the second guide rail 342 extends along the first direction X and communicates with the first guide rail 341. In some embodiments, if the first guide rail 341 is a groove structure, the second guide rail 342 is also a groove structure; similarly, if the first guide rail 341 is a protrusion structure, the second guide rail 342 is also a protrusion structure. The second guide rail 342 is connected to one end of the first guide rail 341 away from the working surface in the first direction X, that is, when the first end 331 of the guide curved rod 33 moves along the first guide rail 341, the third end 333 of the guide curved rod 33 follows the movement of the first end 331 to drive the working component 20 to rotate, and when the first end 331 moves to the end of the first guide rail 341 away from the working surface in the first direction X, the working component 20 is in a lifted state; the first end 331 continues to move along the second guide rail 342. Since the extension direction of the second guide rail 342 is consistent with the movement direction of the slider 12, the third end 333 will not rotate around the second end 332, and only drives the working component 20 away from the working surface in the first direction X as the slider 12 moves.

[0073] When the slider 12 moves in the first direction X in a direction away from the working surface, the second guide rail 342 can provide a moving space for the first end 331 of the guide curved rod 33 in the first direction X, so that the working component 20 can be lifted away from the working surface when not working, thereby reducing the interference between the working component 20 and the working surface, which is conducive to improving the working effect.

[0074] According to some embodiments of the present application, the rotating assembly 30 includes a first connecting shaft 351, one end of the first connecting shaft 351 cooperates with the guide portion 34 and can move along the extension direction of the guide portion 34, the other end of the first connecting shaft 351 is connected to the first end 331 of the guide curved rod 33, and the first end 331 can rotate around the first connecting shaft 351.

[0075] The first end 331 of the guide curved rod 33 is connected to the guide portion 34 through the first connecting shaft 351. Taking the guide portion 34 as an example, one end of the first connecting shaft 351 is accommodated in the groove structure and can move along the extension direction of the groove structure; the other end of the first connecting shaft 351 is connected to the first end 331 of the guide curved rod 33, so that the first end 331 of the guide curved rod 33 can move along the extension direction of the guide portion 34 driven by the first connecting shaft 351. At the same time, the first end 331 can rotate around the first connecting shaft 351, and the overall rotation of the guide curved rod 33 can be achieved during the movement along the first guide rail 341.

[0076] Optionally, when the guide portion 34 includes a protruding structure, the end of the first connecting shaft 351 that cooperates with the guide portion 34 may have a groove structure, and the protruding structure on the guide portion 34 is accommodated in the groove structure on the first connecting shaft 351, and the first connecting shaft 351 can move along the protruding structure of the guide portion 34.

[0077] The first connecting shaft 351 can simultaneously realize the movement of the first end 331 of the guide curved rod 33 along the guide portion 34 and the rotation of the first end 331 of the guide curved rod 33 itself, and at the same time provide freedom for the guide curved rod 33 to drive the rotation of the working component 20, which is beneficial to realize the adjustment of the working component 20 to the changes in the curved surface, and improve the adaptability of the working component 20 to the changes in the curved surface.

[0078] According to some embodiments of the present application, the rotating component 30 includes: a second connecting shaft 352, the second connecting shaft 352 connects the slider 12 and the second end 332, and the second end 332 can rotate relative to the slider 12 around the second connecting shaft 352; a movable member 36, the movable member 36 connects the working component 20 and the third end 333 of the guide bent rod 33, and the working component 20 and the guide bent rod 33 can move relative to each other along the movable member 36; a rotating member 37, the movable member 36 is connected to the working component 20 through the rotating member 37, and the working component 20 and the guide bent rod 33 can rotate relative to each other around the rotating member 37.

[0079] The second connecting shaft 352 refers to a structure that connects the slider 12 and the second end 332 of the guide curved rod 33. One end of the second connecting shaft 352 is connected to the slider 12, and the other end is connected to the second end 332 of the guide curved rod 33. The second connecting shaft 352 connects the slider 12 and the guide curved rod 33 together. The guide curved rod 33 moves with the slider 12 when the slider 12 moves through the connection with the second end 332. At the same time, the second end 332 can rotate around the second connecting shaft 352, providing freedom for the movement and rotation of the first end 331 and the third end 333.

[0080] In some embodiments, the connection point between the second end 332 of the guide curved rod 33 and the slider 12 does not coincide with the connection point between the working component 20 and the slider 12, and the rotation center of the third end 333 of the guide curved rod 33 is different from the rotation center of the working component 20. Since the third end 333 of the guide curved rod 33 is connected to the working component 20, the third end 333 of the guide curved rod 33 needs to have a certain displacement space in the process of driving the working component 20 to rotate, so that the working component 20 can rotate.

[0081] Therefore, the rotating component 30 in the embodiment of the present application includes a moving component 36 and a rotating component 37, wherein the rotating component 37 provides a rotation axis for the rotation of the third end 333 and the working component 20, and the moving component 36 provides a moving space for the displacement difference generated by the third end 333 and the working component 20 during the rotation process.

[0082] In a possible implementation, the moving member 36 may include a moving pair in which a groove and a protrusion cooperate with each other, and the guide curved rod 33 and the working assembly 20 can rotate smoothly by the movement of the protrusion in the groove. Figure 3 As shown, a groove is provided on the third end 333 of the guide curved rod 33, and the groove extends a distance along the extension direction of the guide curved rod 33; a protrusion is provided on the working component 20, and the protrusion is accommodated in the groove of the third end 333 and can move in the groove. For another example, the third end 333 of the guide curved rod 33 may be provided with a protrusion, and the area connected to the third end 333 on the working component 20 may be provided with a groove extending in a certain direction, and the protrusion on the third end 333 may be accommodated in the groove on the working component 20 and can move in the groove. Among them, the protrusion in the moving component 36 may be an axis-like structure, that is, the guide curved rod 33 and the working component 20 may both use the protrusion as a rotation axis and rotate around the protrusion, and the protrusion is the rotating component 37 in the rotating component 30. That is, through the grooves and protrusions respectively provided on the guide curved rod 33 and the working component 20, the rotation and relative movement of the third end 333 and the working component 20 can be realized at the same time.

[0083] In another possible embodiment, the moving member 36 can be, for example, a telescopic connecting rod that is mutually sleeved. For example, a first rod is provided on the third end 333 of the guide curved rod 33, and a second rod is provided on the working assembly 20. The first rod and the second rod are mutually sleeved and can move relative to each other in the extension direction of the first rod and the second rod. In addition, the rotating member 37 can be a shaft-like structure that connects the working assembly 20 and the second rod. During the rotation of the guide curved rod 33 and the working assembly 20, the first rod and the second rod move relative to each other, and the first rod, the second rod and the guide curved rod 33 all rotate around the rotating member 37, thereby realizing the rotation and relative movement of the third end 333 and the working assembly 20.

[0084] Through the cooperation between the second connecting shaft 352, the moving member 36 and the rotating member 37, the traction part 13 can realize that the working component 20 moves toward the working surface and rotates toward the working surface while controlling the slider 12 to move along the first direction X, so as to adapt to the curved surface changes of the working surface, and the working component 20 moves away from the working surface and rotates away from the working surface, so as to reduce the interference between the working component 20 and the working surface. This is conducive to realizing the automatic control of the working device 1 in the working area, improving the adaptability of the working device 1 to the curved surface changes, and thus improving the working effect of the working device 1 on the curved surface.

[0085] According to some embodiments of the present application, the movable member 36 includes a through slot 354 and a third connecting shaft 353. The through slot 354 penetrates the third end 333 of the guide curved rod 33 in the third direction Z. The third connecting shaft 353 passes through the through slot 354 and can move along the through slot 354. The rotating member 37 is the third connecting shaft 353. The working component 20 can rotate around the third connecting shaft 353. The third direction Z is perpendicular to the first direction X and the second direction Y.

[0086] Figure 3 and Figure 4 A specific structure of the moving member 36 is shown, wherein Figure 4 yes Figure 3 The enlarged structural diagram of part A in FIG. Figure 3 and Figure 4 As shown, the moving member 36 may include a through slot 354 and a third connecting shaft 353 .

[0087] The through slot 354 is provided at the third end 333 of the guide curved rod 33, penetrates the guide curved rod 33 in the third direction Z, and extends along the extension direction of the guide curved rod 33, that is, the through slot 354 has a certain length in the extension direction of the guide curved rod 33. One end of the third connecting shaft 353 in the third direction Z is connected to the working assembly 20, and the other end is connected to the guide curved rod 33 in the form of passing through the through slot 354. When both the working assembly 20 and the guide curved rod 33 rotate, the third connecting shaft 353 can move in the through slot 354.

[0088] exist Figure 4 In the structure shown, the third connecting shaft 353 can be, for example, a cylindrical structure, serving as the rotating member 37 in the rotating assembly 30. When the third end 333 of the guide curved rod 33 drives the working assembly 20 to rotate in the same direction, on the one hand, the third end 333 and the working assembly 20 can rotate around the straight line where the axial direction of the third connecting shaft 353 is located, and on the other hand, the third connecting shaft 353 can move along the through slot 354, thereby providing a degree of freedom for the rotation of the guide curved rod 33 and the working assembly 20.

[0089] This structural design allows the third connecting shaft 353 to serve as a rotating component 37 while realizing the function of the moving component 36, providing freedom for the working component 20 to adapt to the curved surface. At the same time, it can also simplify the overall structure of the working device 1, reduce manufacturing costs, and improve the reliability of the working device 1.

[0090] According to some embodiments of the present application, the working component 20 is connected to the slider 12 via a first rotating shaft 101 , and the first rotating shaft 101 extends along a third direction Z, which is perpendicular to the first direction X and the second direction Y, and the working component 20 can rotate around the first rotating shaft 101 .

[0091] like Figure 1 and Figure 2 As shown, the movable connection between the working assembly 20 and the slider 12 includes a first rotating shaft 101. The first rotating shaft 101 extends along the third direction Z, connects the working assembly 20 and the slider 12, and the working assembly 20 can rotate around the first rotating shaft 101 driven by the guide curved rod 33.

[0092] The first rotating shaft 101 can realize the movable connection between the working component 20 and the slider 12, and provide the working component 20 with rotational freedom, so that the working component 20 can adjust the relative angle with the slider 12 according to the change of the curved surface, thereby improving the working effect of the working device 1 on the complex curved surface.

[0093] According to some embodiments of the present application, the working component 20 includes a bracket 21, a working part 22 and a second rotating shaft 23. The bracket 21 is movably connected to the slider 12. The working part 22 is arranged on the side of the bracket 21 facing the working surface in the first direction X. The working part 22 is connected to the bracket 21 through the second rotating shaft 23 and can rotate around the second rotating shaft 23. The second rotating shaft 23 extends along a third direction Z, and the third direction Z is perpendicular to the first direction X and the second direction Y.

[0094] The specific structure of the operating component 20 can be as follows Figure 1 and Figure 2 As shown, it includes a bracket 21, a working part 22 and a second rotating shaft 23.

[0095] The bracket 21 refers to a part of the working assembly 20 that is movably connected to the slider 12 and can rotate around the slider 12. The bracket 21 extends along the second direction Y to provide an installation space and a working space for the working part 22.

[0096] The working part 22 refers to the part of the working assembly 20 used to work on the working surface, and can be configured with different structures according to the specific working items. For example, if the working device 1 is a cleaning device, the working part 22 can be a brush plate; for another example, if the working device 1 is a paint roller device, the working part 22 can be a roller brush. The working part 22 is connected to the bracket 21 and is arranged on the side of the bracket 21 facing the working surface in the first direction X. When the bracket 21 rotates toward the working surface, the working part 22 can approach the working surface.

[0097] The second rotating shaft 23 is disposed in a connection area between the working unit 22 and the bracket 21 . The second rotating shaft 23 extends along the third direction Z. The working unit 22 can rotate around the second rotating shaft 23 while being connected to the bracket 21 .

[0098] In the process of adjusting the working component 20 according to the change of the curved surface, the moving component 10 controls the bracket 21 to move toward the working surface, and the rotating component 30 controls the bracket 21 to rotate around the slider 12 toward the working surface, so that the moving component 10 and the rotating component 30 can adjust the bracket 21 to a position approximately parallel to the curved surface, and when the bracket 21 is in this position, the working part 22 can fit the working surface. Furthermore, the working part 22 can rotate around the second rotating shaft 23. In the process of fitting with the working surface, the rotation angle of the working part 22 is finely adjusted according to the actual situation of the working surface, so that the fitting between the working part 22 and the working surface is tighter.

[0099] The working part 22 can further adjust the degree of contact with the working surface through the second rotating shaft 23, so that the working part 22 can adapt to the changes of the curved surface more flexibly and achieve good operation on the complex curved surface.

[0100] According to some embodiments of the present application, the operating assembly 20 includes a plurality of sliding rods 24 , which are arranged on both sides of the second rotating shaft 23 along the second direction Y and connected to the operating part 22 . The sliding rods 24 extend along the first direction X and pass through the bracket 21 .

[0101] Figure 5 Another structure of the working assembly 20 is shown. Figure 5 As shown, the second rotating shaft 23 is arranged on the working part 22, and the working part 22 is connected to the bracket 21 through the sliding rod 24. The bracket 21 may be provided with a through hole, and the sliding rod 24 extends along the first direction X, one end of which in the first direction X is connected to the working part 22, and the other end passes through the through hole on the bracket 21 and can move in the first direction X.

[0102] The sliding rods 24 are disposed on both sides of the second rotating shaft 23. When the working part 22 rotates around the second rotating shaft 23, the sliding rods 24 on both sides of the second rotating shaft 23 are also adaptively adjusted along the first direction X with the rotation of the working part 22. For example, when one side of the working part 22 in the second direction Y rotates away from the working surface, the sliding rod 24 corresponding to the side also moves away from the working surface in the first direction X.

[0103] The operating assembly 20 may include a plurality of sliding rods 24 , which are arranged on both sides of the second rotating shaft 23 along the second direction Y. That is, at least one sliding rod 24 may be provided on one side of the second rotating shaft 23 along the second direction Y.

[0104] The sliding rod 24 can increase the distance between the working part 22 and the bracket 21, so that the working part 22 has a larger rotation space during the rotation around the second rotation axis 23, and can adjust the position of the working part 22 according to the actual situation of the working surface, thereby improving the adaptability of the working part 22 to the curved surface. At the same time, the sliding rod 24 only moves in the first direction X, and can also limit the working part 22 to rotate at a fixed position, and is not easy to swing in the second direction Y, thereby improving the stability of the working part 22.

[0105] According to some embodiments of the present application, the working component 20 includes a plurality of telescopic mechanisms 25, which are arranged between the working part 22 and the bracket 21, and are arranged on both sides of the second rotating shaft 23 along the second direction Y. The telescopic mechanisms 25 are used to adjust the distance between the working part 22 and the bracket 21 in the third direction Z.

[0106] In some embodiments, the telescopic mechanism 25 may be, for example, a spring disposed between the bracket 21 and the working part 22. In one embodiment, the spring may be sleeved on the sliding rod 24 and abut against the bracket 21 and the working part 22.

[0107] The telescopic mechanism 25 can elastically extend and retract between the bracket 21 and the working part 22. On the one hand, it can adjust the distance between the working part 22 and the bracket 21 to adapt to the height changes of the working surface in the first direction X, and assist the working part 22 in adjusting in the process of adapting to the changes in the curved surface; on the other hand, it can apply pressure toward the working surface to the working part 22, so that the working part 22 has a certain pressure when in contact with the working surface, thereby improving the working effect of the working part 22 on the working surface.

[0108] According to some embodiments of the present application, the telescopic mechanism 25 includes a first link 251 and a second link 252, one end of the first link 251 is connected to the bracket 21, the other end of the first link 251 is connected to one end of the second link 252, the other end of the second link 252 is connected to the working part 22, and there is an angle between the first link 251 and the second link 252 and a torsional elastic member 253 is provided, which is used to resist the rotation of the first link 251 and the second link 252 in a direction approaching each other.

[0109] In a specific embodiment, Figure 6 As shown, the telescopic mechanism 25 includes a first connecting rod 251 and a second connecting rod 252. The bracket 21, the first connecting rod 251, the second connecting rod 252 and the working part 22 are connected in sequence, and the connection points are all movable connections. In other words, the two structures connected at each connection point can rotate around the connection point.

[0110] The first connecting rod 251 and the second connecting rod 252 form a certain angle and a torsion elastic member 253 is arranged between the two, wherein the torsion elastic member 253 can be, for example, a torsion spring. The torsion elastic member 253 is stuck between the angle formed by the first connecting rod 251 and the second connecting rod 252. When the first connecting rod 251 and the second connecting rod 252 rotate in a direction approaching each other, the torsion elastic member 253 applies an elastic force to the first connecting rod 251 and the second connecting rod 252 to prevent the two from approaching each other. In this case, the pressure applied by the torsion elastic member 253 can be transmitted to the working part 22, so that the working part 22 is subjected to pressure toward the working surface.

[0111] Specifically, the torsion elastic member 253 can be arranged on the connecting shaft of the first connecting rod 251 and the second connecting rod 252. Within the angle range between the first connecting rod 251 and the second connecting rod 252, the torsion arm at one end of the torsion elastic member 253 in the second direction Y resists against the first connecting rod 251, and the torsion arm at the other end in the second direction Y resists against the second connecting rod 252.

[0112] The mutual cooperation among the first connecting rod 251, the second connecting rod 252 and the torsion elastic member 253 can, on the one hand, provide space for the working part 22 to adapt to the changes in the curved surface, and on the other hand, exert pressure on the working part 22 so that the working part 22 can be better adjusted to a position that fits the working surface and fits tightly with the working surface, thereby improving the adaptability of the working part 22 to the curved surface and the working effect on the working surface.

[0113] According to some embodiments of the present application, the operating assembly 20 includes a limit member 26, which is disposed between the first connecting rod 251 and the second connecting rod 252, and is used to limit the rotation of the first connecting rod 251 and the second connecting rod 252 in a direction away from each other.

[0114] like Figure 6 As shown, the stopper 26 is disposed between the first link 251 and the second link 252. When the opening direction of the angle between the first link 251 and the second link 252 is determined, the stopper 26 limits the rotation of the first link 251 and the second link 252 in the direction away from each other. In other words, the stopper 26 limits the maximum opening angle between the first link 251 and the second link 252, but does not limit the minimum opening angle between the first link 251 and the second link 252.

[0115] In some embodiments, the stopper 26 cooperates with the torsion elastic member 253, and the torsion elastic member 253 is arranged inside the angle between the first link 251 and the second link 252. The stopper 26 limits the relative rotation of the first link 251 and the second link 252 in the fixed angle opening direction, so that the torsion elastic member 253 always remains inside the angle between the first link 251 and the second link 252, and avoids the free rotation between the first link 251 and the second link 252 from changing the angle opening direction between the first link 251 and the second link 252, resulting in the torsion elastic member 253 being outside the angle between the first link 251 and the second link 252, and being unable to resist the rotation of the first link 251 and the second link 252 in the direction of approaching each other.

[0116] The limiter 26 can maintain the opening direction of the angle between the first connecting rod 251 and the second connecting rod 252, thereby improving the stability of the overall structure of the operating assembly 20. At the same time, when in cooperation with the torsion elastic member 253, the torque direction of the torsion elastic member 253 can be maintained, thereby reducing the possibility that the torsion elastic member 253 cannot generate elastic force on the first connecting rod 251 and the second connecting rod 252.

[0117] The present application provides a curved surface adaptable working robot 100, comprising: a walking mechanism 2 for walking on a working surface; a curved surface adaptable working device 1 provided according to any of the above embodiments, wherein a mounting frame 11 of the working device 1 is connected to the walking mechanism 2.

[0118] The walking mechanism 2 may be, for example, a device that can walk on a working surface, such as a wall-climbing robot, and the working device 1 is connected to the walking mechanism 2 via the mounting frame 11, so that the working device 1 can be carried on the walking mechanism 2 and move to the working area with the movement of the walking mechanism 2. In some embodiments, the walking mechanism 2 may be a robot that can adapt to walking on a curved surface.

[0119] like Figure 7As shown, the working robot 100 may further include structures such as a storage box 3, a camera 4, and a slide rail 5. Among them, the storage box 3 is used to hold working materials. For example, in a cleaning operation, the storage box 3 can hold cleaning liquid, water, etc.; in a spraying operation, the storage box 3 can hold paint, etc. The camera 4 can assist the ground control personnel to observe the working conditions. The slide rail 5 is connected to the mounting frame 11 and extends along the extension direction of the working surface. For example, it can extend along the third direction Z. The mounting frame 11 can move along the extension direction of the slide rail 5 to realize the back and forth operation of the working device 1 on the working surface. In some embodiments, a motor can be set on the slide rail 5 to drive the working device 1 to move back and forth.

[0120] The curved surface adaptable working robot 100 provided in the embodiment of the present application can replace manual work at high altitudes, and has the advantages of safety and efficiency. At the same time, the working device 1 has good curved surface adaptability, can achieve good work on complex curved surfaces, and improve work efficiency and work effect.

[0121] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A working device adapted to a curved surface, characterized in that: include: A moving assembly (10), the moving assembly (10) comprising a mounting frame (11), a slider (12) and a traction portion (13), the mounting frame (11) extending along a first direction (X), the slider (12) being connected to the mounting frame (11), and the traction portion (13) being used for traction of the slider (12) on the mounting frame (11) to move along the first direction (X); an operating component (20), the operating component (20) being movably connected to the slider (12) and being arranged on one side of the moving component (10) along a second direction (Y), wherein the second direction (Y) is perpendicular to the first direction (X); A rotating assembly (30) is connected to the operating assembly (20) and the slider (12) and is used to control the operating assembly (20) to rotate around the slider (12).

2. The curved surface adaptable working device according to claim 1, characterized in that: The rotating assembly (30) comprises a rotating part (31) and a connecting rod (32), one end of the connecting rod (32) is connected to the slider (12), and the other end of the connecting rod (32) is connected to the working assembly (20), and the rotating part (31) is connected to one end of the connecting rod (32) for driving one end of the connecting rod (32) to rotate.

3. The curved surface adaptable working device according to claim 1, characterized in that: The rotating assembly (30) comprises a guide curved rod (33) and a guide portion (34); the first end (331) of the guide curved rod (33) cooperates with the guide portion (34) and is capable of moving along an extension track of the guide portion (34); the second end (332) of the guide curved rod (33) is connected to the slider (12); the third end (333) of the guide curved rod (33) is connected to the working assembly (20); the guiding portion (34) comprises a first guide rail (341); the first guide rail (341) extends in a direction between a direction of the first direction (X) pointing to the working surface and a direction of the second direction (Y) away from the working assembly (20); the first end (331), the second end (332) and the third end (333) are not on the same straight line.

4. The curved surface adaptable working device according to claim 3, characterized in that: The guide portion (34) comprises a second guide rail (342), the first guide rail (341) is connected to the second guide rail (342), and the second guide rail (342) extends along the first direction (X) from an end of the first guide rail (341) that is away from the working surface in the first direction (X).

5. The curved surface adaptable working device according to claim 3 or 4, characterized in that: The rotating assembly (30) includes a first connecting shaft (351), one end of which cooperates with the guide portion (34) and can move along the extension direction of the guide portion (34), and the other end of the first connecting shaft (351) is connected to the first end (331) of the guide curved rod (33), and the first end (331) can rotate around the first connecting shaft (351).

6. The curved surface adaptable working device according to claim 5, characterized in that: The rotating assembly (30) comprises: a second connecting shaft (352), the second connecting shaft (352) connecting the slider (12) and the second end (332), the second end (332) being capable of rotating relative to the slider (12) around the second connecting shaft (352); a moving member (36), wherein the moving member (36) is connected to the working component (20) and the third end (333) of the guide curved rod (33), and the working component (20) and the guide curved rod (33) are capable of relatively moving along the moving member (36); A rotating member (37), the moving member (36) is connected to the working component (20) via the rotating member (37), and the working component (20) and the guide curved rod (33) can rotate relative to each other around the rotating member (37).

7. The curved surface adaptable working device according to claim 6, characterized in that: The movable member (36) includes a through slot (354) and a third connecting shaft (353), wherein the through slot (354) penetrates the third end (333) of the guide curved rod (33) in a third direction (Z), and the third connecting shaft (353) passes through the through slot (354) and is movable along the through slot (354), and the rotating member (37) is the third connecting shaft (353), and the working component (20) is rotatable around the third connecting shaft (353), and the third direction (Z) is perpendicular to the first direction (X) and the second direction (Y).

8. The curved surface adaptable working device according to any one of claims 1 to 7, characterized in that: The operating component (20) is connected to the slider (12) via a first rotating shaft (101), the first rotating shaft (101) extends along a third direction (Z), the third direction (Z) is perpendicular to the first direction (X) and the second direction (Y), and the operating component (20) is capable of rotating around the first rotating shaft (101).

9. The curved surface adaptable working device according to any one of claims 1 to 8, characterized in that: The working assembly (20) comprises a bracket (21), a working part (22) and a second rotating shaft (23); the bracket (21) is movably connected to the slider (12); the working part (22) is arranged on a side of the bracket (21) facing the working surface in the first direction (X); the working part (22) is connected to the bracket (21) via the second rotating shaft (23) and can rotate around the second rotating shaft (23); the second rotating shaft (23) extends along a third direction (Z), and the third direction (Z) is perpendicular to the first direction (X) and the second direction (Y).

10. The curved surface adaptable working device according to claim 9, characterized in that: The operating assembly (20) comprises a plurality of sliding rods (24), wherein the plurality of sliding rods (24) are arranged on both sides of the second rotating shaft (23) along the second direction (Y) and are connected to the operating part (22), and the sliding rods (24) extend along the first direction (X) and pass through the bracket (21).

11. The curved surface adaptable working device according to claim 9 or 10, characterized in that: The working component (20) comprises a plurality of telescopic mechanisms (25), wherein the plurality of telescopic mechanisms (25) are arranged between the working part (22) and the bracket (21), and are arranged on both sides of the second rotating shaft (23) along the second direction (Y), and the telescopic mechanisms (25) are used to adjust the distance between the working part (22) and the bracket (21) in the third direction (Z).

12. The curved surface adaptable working device according to claim 11, characterized in that: The telescopic mechanism (25) comprises a first connecting rod (251) and a second connecting rod (252), one end of the first connecting rod (251) is connected to the bracket (21), the other end of the first connecting rod (251) is connected to one end of the second connecting rod (252), the other end of the second connecting rod (252) is connected to the working part (22), an angle is formed between the first connecting rod (251) and the second connecting rod (252), and a torsional elastic member (253) is provided, and the torsional elastic member (253) is used to resist the rotation of the first connecting rod (251) and the second connecting rod (252) in a direction of approaching each other.

13. The curved surface adaptable working device according to claim 12, characterized in that: The operating assembly (20) comprises a limiting member (26), wherein the limiting member (26) is arranged between the first connecting rod (251) and the second connecting rod (252), and the limiting member (26) is used to limit the rotation of the first connecting rod (251) and the second connecting rod (252) in a direction away from each other.

14. A working robot adapted to a curved surface, characterized in that: include: A walking mechanism (2), used for walking on a working surface; The working device adapted to curved surfaces as claimed in any one of claims 1 to 13, wherein the mounting frame (11) of the working device is connected to the walking mechanism (2).

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