Operation device adapting to curved surface and operation robot

Abstract

The invention provides an operation device suitable for a curved surface and an operation robot. The control precision required by operation can be reduced. The working device suitable for the curved surface comprises a bearing plate provided with three supporting points, and the projections of the three supporting points on the plane where the bearing plate is located are not collinear; the walking wheel is used for walking on the working surface and comprises a wheel body and a swing shaft, the swing shaft is parallel to the diameter direction of the wheel body and parallel to the plane where the bearing plate is located, and the wheel body can rotate around the swing shaft; the rotating rod comprises a fixed end and rotating ends, the rotating ends are arranged on the two sides of the fixed end in the extending direction of the rotating rod, the rotating ends can rotate around the fixed end on the plane perpendicular to the bearing plate, the rotating ends are at least connected with one walking wheel, and at least one supporting point is connected with the fixed end; the operation assembly is movably connected with the bearing plate; one end of the push rod is connected with the bearing plate, the other end is used for pushing the operation assembly in the first direction, and the first direction is perpendicular to the plane where the bearing plate is located.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular, to a working device and a working robot that can adapt 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. Especially in operations such as rust removal by grinding, which require a certain amount of pressure to be applied to the working surface, changes in the curved surface will cause the operating mechanism to be at different distances from the working surface at different positions on the curved surface. Complex control algorithms are required to keep the operating mechanism in close contact with the working surface, making it difficult to achieve efficient and uniform operating results, and also increasing equipment wear and energy consumption. Therefore, it is necessary to provide an operating device that can adapt to curved surfaces to reduce the control accuracy required for the operation. Summary of the invention

[0004] The present application provides a working device and a working robot that are adaptable to curved surfaces, which can reduce the control accuracy required for the work.

[0005] In a first aspect, a working device adaptable to a curved surface is provided, comprising: a load-bearing plate, on which three support points are arranged, and the projections of the three support points on the plane where the load-bearing plate is located are not colinear; a walking wheel for walking on the working surface, the walking wheel comprising a wheel body and a swing axis, the swing axis is parallel to the diameter direction of the wheel body and parallel to the plane where the load-bearing plate is located, and the wheel body can rotate around the swing axis; a rotating rod comprising a fixed end and a rotating end, the rotating end is arranged on both sides of the fixed end along the extension direction of the rotating rod, and the rotating end can rotate around the fixed end on a plane perpendicular to the load-bearing plate, the rotating end is connected to at least one of the walking wheels, and at least one of the three support points is connected to the fixed end; a working component, the working component is movably connected to the load-bearing plate; a push rod, one end of the push rod is connected to the load-bearing plate, and the other end of the push rod is used to push the working component in a first direction, and the first direction is perpendicular to the plane where the load-bearing plate is located.

[0006] In the curved surface adaptable working device provided in the embodiment of the present application, the rotating rod can provide the walking wheel with a degree of freedom on a plane perpendicular to the bearing plate, and the swing axis can provide the walking wheel itself with a degree of rotational freedom. The walking wheel connected to the rotating rod can adjust its own position and posture according to the curved surface changes of the working surface through the rotation of the rotating rod and its own rotation around the swing axis to maintain contact with the working surface. Multiple walking wheels are connected to the bearing plate through the rotating rod, which can generate a unique spatial position at the supporting point of the bearing plate and provide support for the bearing plate at three supporting points, thereby improving the adaptability of the working device to the curved surface and the stability of walking on the curved surface.

[0007] At least four walking wheels use three supporting points to ensure a stable distance between the load-bearing plate and the working surface. The walking wheels complete the adaptive adjustment of the working device to the changes in the curved surface without relying on the control program of the push rod to adjust the distance between the working component and the working surface. The push rod can control the lifting and lowering of the working component at an approximately fixed distance. This can reduce the control accuracy required by the electric push rod, reduce the controller that needs to be configured for the electric push rod, and realize the lightweight design of the overall device.

[0008] In addition, by controlling the relative movement between the working component and the supporting plate through the push rod, the working component can be controlled to stick to the working surface when working, and the working component can be controlled to stay away from the working surface when working is not required, thereby effectively reducing unnecessary contact between the working component and the working surface in the non-working state, reducing wear and potential damage risks.

[0009] In combination with the first aspect, in some embodiments, the working component includes a floating plate, a through hole is provided on the floating plate, and the working device includes: a guide rod, the guide rod is arranged on the side of the supporting plate away from the working surface in the first direction and extends along the first direction, the guide rod passes through the through hole; a boss, the boss is arranged at one end of the guide rod away from the supporting plate in the first direction, the boss protrudes from the guide rod in a second direction, and the second direction is perpendicular to the first direction; an elastic member, the elastic member is arranged between the boss and the floating plate along the guide rod, and is in a compressed state.

[0010] When the floating plate drives the working component to move toward the working surface and fit the working surface, the elastic member can provide a certain pressure on the working component toward the working surface, so that the working component fits tightly with the working surface. At the same time, the pressure of the elastic member on the working component can adaptively compensate for the wear generated during the operation, so that the working component always fits tightly with the working surface, improving the operation effect.

[0011] In combination with the first aspect, in some embodiments, the working component includes a transmission part, a driving part and a working part, the transmission part connects the driving part and the working part, the driving part is used to drive the transmission part to rotate, and the transmission part is used to guide the working part to move in a second direction, and the second direction is perpendicular to the first direction.

[0012] The driving part and the transmission part can realize the reciprocating motion of the working part in a certain direction, so that the working part can operate in a certain area in the form of reciprocating motion, thereby improving the working effect.

[0013] In combination with the first aspect, in some embodiments, the transmission part includes a first connecting rod and a second connecting rod, one end of the first connecting rod is connected to the driving part, the other end of the first connecting rod is connected to one end of the second connecting rod, and the other end of the second connecting rod is connected to the working part.

[0014] The first connecting rod and the second connecting rod cooperate with the driving part to realize power transmission, especially when the first connecting rod is a crank, the rotational motion can be converted into linear reciprocating motion, so that the driving part and the transmission part can realize complex power transmission and motion control in a limited space, which is conducive to the lightweight design of the overall device.

[0015] In combination with the first aspect, in some embodiments, the operating component includes a slide rail and a slider, the slide rail extends along the second direction, and the slider is connected to the operating part and cooperates with the slide rail.

[0016] The slide rail and the slider can limit the moving direction of the working component to a second direction, which is beneficial to controlling the working range of the working component, allowing the working component to move on a predetermined path, improving the reliability and repeatability of the operation, and thus improving the working effect.

[0017] In combination with the first aspect, in some embodiments, the working device includes: a shielding portion, which is arranged on the side of the supporting plate facing the working surface in the first direction and is arranged in the surrounding area of ​​the working portion on a plane perpendicular to the first direction.

[0018] The shielding portion can block the debris generated during the operation of the working component on the working surface, reducing the possibility of debris splashing. On the one hand, it ensures the cleanliness of the working surface, and on the other hand, it can reduce the potential risk of damage to the working device by the debris, thereby improving the safety of the operation.

[0019] In combination with the first aspect, in some embodiments, the operating device includes: a supporting portion, which extends along the first direction and is connected to the shielding portion.

[0020] The support part can provide support for the shielding part, so that the shielding part that is prone to deformation can maintain a certain shape and structure, thereby giving full play to its shielding function and effectively blocking the splashing of debris generated during the operation. At the same time, the support part can improve the stability of the shielding part and reduce the possibility of a decrease in the shielding effect due to the folding or collapse of the shielding part.

[0021] In combination with the first aspect, in some embodiments, the shielding portion is provided with a through channel, and the through channel penetrates the shielding portion in the first direction, and the supporting portion includes: a sleeve, at least a portion of the sleeve is arranged in the through channel, connecting the shielding portion and the supporting plate, the sleeve having a hollow channel in the first direction, and the hollow channel is connected to the through channel; a sliding rod, a first end of the sliding rod is connected to an end of the shielding portion facing the working surface in the first direction, and a second end of the sliding rod passes through the through channel and the hollow channel; a support spring, the support spring is arranged between the sleeve and the first end along the first direction, and the two ends of the support spring in the first direction respectively abut the sleeve and the first end.

[0022] The support spring can adaptively adjust the position of the shielding part according to the changes of the working surface, so that the end of the shielding part facing the working surface is as close to the working surface as possible, so as to improve the effect of shielding the debris. In particular, when the working part causes a certain amount of wear on the working surface, the support spring can compensate for the gap change caused by wear, which can keep the shielding part in close contact with the working surface on the one hand, and provide working space for further operation of the working part on the other hand. This adaptive adjustment capability makes it difficult for the shielding part to interfere with the further operation of the working part, which can improve the continuity and stability of the operation process.

[0023] In combination with the first aspect, in some embodiments, the operating device includes: a first connecting member, the first connecting member is provided with a first rotating axis extending along a third direction; a second connecting member, the second connecting member is connected to the supporting plate and is provided with a second rotating axis extending along the second direction; a third connecting member, the third connecting member is provided with a first through hole extending along the third direction and a second through hole extending along the second direction, the first rotating axis passes through the first through hole, and the second rotating axis passes through the second through hole, and the first direction, the second direction and the third direction are perpendicular to each other.

[0024] The first connecting member and the second connecting member are connected together by the third connecting member, so that the working device can rotate in two different directions, thereby improving the adjustment flexibility of the working device and being able to adapt to surface changes in a larger range.

[0025] In a second aspect, a working robot that can adapt to curved surfaces is provided, comprising: a walking mechanism, the walking mechanism being used to move on a working surface; and a working device that can adapt to curved surfaces as described in any one of the embodiments of the first aspect, the working device being connected to the walking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a curved surface adaptable working device provided in the present application.

[0027] Figure 2 It is a structural schematic diagram of an operating component in an operating device that adapts to curved surfaces provided in the present application.

[0028] Figure 3 yes Figure 2 Schematic diagram of the decomposition structure of the structure in .

[0029] Figure 4 It is a schematic diagram of the structure excluding the working components in a working device adapted to curved surfaces provided by the present application.

[0030] Figure 5 yes Figure 4 Schematic diagram of the exploded structure of the structure shown in FIG.

[0031] Figure 6 It is a structural schematic diagram of the shielding part and the supporting part provided in this application.

[0032] Figure 7 yes Figure 5 Schematic diagram of the enlarged structure of part B.

[0033] Figure 8 It is a schematic structural diagram of a curved surface adaptable working robot provided in the present application. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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).

[0040] 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.

[0041] 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.). In particular, it can have good adaptability to complex and asymmetric curved surfaces.

[0042] An operating device 1 adapted to a curved surface provided in an embodiment of the present application can be applicable to operations such as surface rust removal, cleaning, and coating.

[0043] The embodiment of the present application provides a working device 1 adapted to a curved surface, such as Figure 1 As shown, the working device 1 includes a carrying plate 10 , a walking wheel 20 , a rotating rod 30 , a working component 40 and a push rod 50 .

[0044] The carrying plate 10 is provided with three supporting points, and the projections of the three supporting points on the plane where the carrying plate 10 is located are not collinear. The walking wheel 20 is used for walking on the working surface, and includes a wheel body 21 and a swing shaft 22. The swing shaft 22 is parallel to the diameter direction of the wheel body 21 and parallel to the plane where the carrying plate 10 is located, and the wheel body 21 can rotate around the swing shaft 22. The rotating rod 30 includes a fixed end 31 and a rotating end 32. The rotating end 32 is arranged on both sides of the fixed end 31 along the extension direction of the rotating rod 30. The rotating end 32 can rotate around the fixed end 31 on a plane perpendicular to the carrying plate 10. The rotating end 32 is connected to at least one walking wheel 20, and at least one of the three supporting points is connected to the fixed end 31. The working component 40 is movably connected to the carrying plate 10. One end of the push rod 50 is connected to the carrying plate 10, and the other end of the push rod 50 is used to push the working component 40 in a first direction X, and the first direction X is perpendicular to the plane where the carrying plate 10 is located.

[0045] The carrying plate 10 refers to a structure in the working device 1 for carrying the working components 40 , and is usually connected to the traveling wheels 20 .

[0046] The travel wheel 20 is a structure on the working device 1 that drives the carrier plate 10 to move along the working surface. The travel wheel 20 can be, for example, a driving wheel with power, and further, can be specifically one or more of a rolling wheel, a Mecanum wheel, and a universal wheel, providing the working device 1 with multiple degrees of freedom of movement in multiple directions. In some embodiments, the travel wheel 20 can be, for example, a driven wheel without power, which moves with the movement of the working device 1. Further, the driven wheel can be specifically one or more of a rolling wheel, a Mecanum wheel, and a universal wheel, providing the working device 1 with multiple degrees of freedom of movement in multiple directions.

[0047] like Figure 1 As shown, the walking wheel 20 includes a wheel body 21 and a swing shaft 22. The wheel body 21 is used to walk on the working surface. The swing shaft 22 is parallel to the diameter direction of the wheel body 21 and parallel to the plane where the carrier plate 10 is located, and the wheel body 21 can rotate with the swing shaft 22 as the rotation axis. The wheel body 21 can adjust the angle around the swing shaft 22 according to the actual situation of the working surface during walking to adapt to the changes of the working surface and maintain contact with the working surface.

[0048] The rotating rod 30 is connected to the supporting point of the carrying plate 10, such as Figure 1 As shown, the rotating rod 30 includes a fixed end 31 and a rotating end 32. The fixed end 31 refers to the structure connecting the rotating rod 30 with the supporting point, and the rotating end 32 refers to the part of the rotating rod 30 away from the fixed end 31 along the extension direction of the rotating rod 30, which can rotate around the fixed end 31. The rotating rod 30 includes a long strip structure extending in a certain direction, and the extension direction of the rotating rod 30 refers to the length direction of the long strip structure. The fixed end 31 of the rotating rod 30 can be set in the middle area of ​​the rotating rod 30, and the rotating ends 32 are distributed on both sides of the fixed end 31 along the extension direction of the rotating rod 30.

[0049] The two ends of the rotating rod 30, i.e., the two rotating ends 32, are respectively connected to at least one running wheel 20. In one embodiment, the two rotating ends 32 are each connected to a running wheel 20, and rotate around the fixed end 31 on a plane perpendicular to the supporting plate 10, providing the running wheel 20 with a degree of freedom in a direction perpendicular to the supporting plate 10 for adjusting to the curved surface. In another embodiment, at least one of the two rotating ends 32 can be connected to the fixed end 31 of another rotating rod 30, and the two rotating ends 32 of the other rotating rod 30 are each connected to a running wheel 20. By analogy, the rotating end 32 of each rotating rod 30 can be connected to the fixed end 31 of another rotating rod 30 to realize the arrangement of multiple running wheels 20.

[0050] The projections of the three supporting points of the carrier plate 10 on the plane where the carrier plate 10 is located are not collinear, and one or more supporting points can be connected to the rotating rod 30, and the rotating end 32 of each rotating rod 30 can be connected to the fixed end 31 of another rotating rod 30 or to the running wheel 20, and each rotating end 32 can rotate around the fixed end 31. The running wheel 20 connected to the rotating rod 30 contacts the working surface and generates a unique spatial position at the supporting point connected to the fixed end 31, providing support for the carrier plate 10.

[0051] The working device 1 adjusts the position and posture of the running wheel 20 by rotating the rotating rod 30 around the fixed end 31 and the running wheel 20 around the swing axis 22. The running wheel 20 connected to the rotating end 32 of the rotating rod 30 generates a unique spatial position on the supporting point connected to the fixed end 31 of the rotating rod 30. When the working device 1 walks on the curved surface, the four running wheels 20 can all fit the working surface, thereby maintaining the stability of the working device 1 walking on the curved surface.

[0052] The working component 40 is used to work on the working surface. For example, the working component 40 can be a cleaning component that can clean the working surface; for another example, the working component 40 can be a rust removal component that can polish the working surface. The working component 40 is movably connected to the carrier plate 10.

[0053] The carrying plate 10 provides a carrying space for the operating assembly 40 , and the position of the operating assembly 40 can be adjusted within a certain range relative to the carrying plate 10 .

[0054] The push rod 50 refers to a structure in the working device 1 used to adjust the relative position of the working component 40 and the carrying plate 10. In the embodiment of the present application, the push rod 50 is used to adjust the position of the working component 40 in the first direction X. The first direction X is perpendicular to the plane where the carrying plate 10 is located, and the carrying plate 10 is usually arranged relative to the working surface, that is, the carrying plate 10 is approximately parallel to the working surface, and the first direction X is approximately perpendicular to the working surface, or approximately parallel to the normal vector of the working surface.

[0055] The push rod 50 extends along the first direction X, and one end close to the working surface in the first direction X, i.e., the fixed end 31, is fixedly connected to the carrier plate 10, and one end away from the working surface, i.e., the movable end, is used to push the working assembly 40. At least a part of the working assembly 40 is arranged on the moving path of the push rod 50. When the movable end of the push rod 50 extends in the direction away from the working surface in the first direction X, the working assembly 40 moves in the first direction X away from the working surface, i.e., the push rod 50 lifts the working assembly 40; when the movable end of the push rod 50 is retracted in the direction toward the working surface in the first direction X, the working assembly 40 moves in the first direction X toward the working surface, i.e., the push rod 50 puts down the working assembly 40, so that the working assembly 40 can contact the working surface.

[0056] In the curved surface adaptable working device 1 provided in the embodiment of the present application, the rotating rod 30 can provide the walking wheel 20 with the degree of freedom on the plane perpendicular to the bearing plate 10, and the swing shaft 22 can provide the walking wheel 20 with the degree of freedom of rotation. The walking wheel 20 connected to the rotating rod 30 can adjust its position and posture according to the curved surface changes of the working surface through the rotation of the rotating rod 30 and its own rotation around the swing shaft 22, so as to keep in contact with the working surface. Multiple walking wheels 20 are connected to the bearing plate 10 through the rotating rod 30, which can generate a unique spatial position at the supporting point of the bearing plate 10 and provide support for the bearing plate 10 at three supporting points, thereby improving the adaptability of the working device 1 to the curved surface and the stability of walking on the curved surface.

[0057] At least four walking wheels 20 ensure a stable distance between the carrier plate 10 and the working surface through three supporting points. The walking wheels 20 complete the adaptive adjustment of the working device 1 to the changes in the curved surface without relying on the control program of the push rod 50 to adjust the distance between the working component 40 and the working surface. The push rod 50 can control the lifting and lowering of the working component 40 at an approximately fixed distance, which can reduce the control accuracy required by the electric push rod 50, reduce the controller required to be configured for the electric push rod 50, and realize the lightweight design of the overall device.

[0058] In addition, by controlling the relative movement between the working component 40 and the supporting plate 10 through the push rod 50, the working component 40 can be controlled to stick to the working surface when working, and the working component 40 can be controlled to stay away from the working surface when working is not required, thereby effectively reducing unnecessary contact between the working component 40 and the working surface in the non-working state, reducing wear and potential damage risks.

[0059] According to some embodiments of the present application, the operating assembly 40 includes a floating plate 44 , on which a through hole 45 is disposed, and the operating device 1 includes a guide rod 11 , a boss 12 and an elastic member 13 .

[0060] The working device 1 further includes a guide rod 11 and a boss 12. The guide rod 11 is disposed on the carrying plate 10, disposed on a side of the carrying plate 10 away from the working surface in the first direction X, and extends along the first direction X. One end of the guide rod 11 is fixedly connected to the carrying plate 10, and the other end is provided with the boss 12, that is, the boss 12 is disposed at an end of the guide rod 11 away from the carrying plate 10 in the first direction X. The boss 12 protrudes from the guide rod 11 in the second direction Y, wherein the second direction Y is perpendicular to the first direction X, and the boss 12 and the guide rod 11 form a first step structure.

[0061] The working assembly 40 includes a floating plate 44, which is disposed on a side of the carrying plate 10 away from the working surface in the first direction X and can move relative to the carrying plate 10. A through hole 45 is disposed on the floating plate 44, and the guide rod 11 passes through the through hole 45, so that a second step structure is formed between the floating plate 44 and the guide rod 11.

[0062] The working device 1 further includes an elastic member 13, which is disposed between the boss 12 and the floating plate 44. Specifically, the elastic member 13 is disposed between the first step structure and the second step structure, with one end of the elastic member 13 abutting against the first step structure and the other end abutting against the second step structure. The elastic member 13 is disposed along the extension direction of the guide rod 11, for example, it can be distributed around the guide rod 11, or for another example, it can be sleeved on the guide rod 11.

[0063] When the elastic member 13 is disposed between the boss 12 and the floating plate 44, it is always in a compressed state. Specifically, when the push rod 50 pushes the working assembly 40 to move in a direction away from the working surface along the first direction X, the elastic member 13 will be further compressed; when the push rod 50 moves in a direction toward the working surface along the first direction X, the elastic force of the elastic member 13 will be released, thereby generating pressure on the floating plate 44 toward the working surface, that is, the elastic member 13 pushes the working assembly 40 toward the working surface. In some application scenarios, for example, when the working surface is a vertical or inclined wall, the elastic force applied by the elastic member 13 to the working assembly 40 can make the working assembly 40 fit tightly with the working surface.

[0064] In some embodiments, the guide rod 11 and the boss 12 as a whole can be symmetrically arranged on the supporting plate 10 in the second direction Y and / or the third direction Z, so that the floating plate 44 is subjected to uniform force during the movement in the first direction X.

[0065] In some embodiments, a guide rail extending along the first direction X may be provided on the carrier plate 10, and a sliding component cooperating with the guide rail may be provided on the floating plate 44. When the operating assembly 40 moves along the guide rod 11 along the first direction X, the sliding component simultaneously moves along the guide rail in the first direction X, thereby improving the stability of the operating assembly 40 moving in the first direction X.

[0066] When the floating plate 44 drives the working component 40 to move toward the working surface and fit the working surface, the elastic member 13 can provide a certain pressure toward the working surface to the working component 40, so that the working component 40 fits closely with the working surface. At the same time, the pressure of the elastic member 13 on the working component 40 can adaptively compensate for the wear generated during the operation, so that the working component 40 always fits closely with the working surface, improving the operation effect.

[0067] According to some embodiments of the present application, the working component 40 includes a transmission part 41, a driving part 42 and a working part 43, the transmission part 41 connects the driving part 42 and the working part 43, the driving part 42 is used to drive the transmission part 41 to rotate, and the transmission part 41 is used to guide the working part 43 to move in a second direction Y, and the second direction Y is perpendicular to the first direction X.

[0068] Figure 2 The structure of the working component 40 in the working device 1 is shown. Figure 3 yes Figure 2 FIG. 4 is a schematic diagram of the exploded structure of the operating component 40 shown in FIG. Figures 1 to 3 As shown, the driving part 42 refers to the part that provides power for the movement of the working part 43. The driving part 42 can generally be, for example, a motor. The working part 43 refers to a structure that performs work on the working surface. For example, if the working device 1 is a cleaning device for the working surface, the working part 43 can include structures such as a cleaning brush disc; for another example, if the working device 1 is a rust removal device for the working surface, the working part 43 can include structures such as a grinding wheel. The transmission part 41 refers to a structure that transmits the power of the driving part 42 to the working part 43. The transmission part 41 connects the driving part 42 and the working part 43. The driving force generated by the driving part 42 acts on one end of the transmission part 41 connected to the driving part 42. The transmission part 41 is driven by the driving force and moves in the second direction Y. The working part 43 connected to the other end of the transmission part 41 also moves in the second direction Y driven by the transmission part 41. The second direction Y is perpendicular to the first direction X. In some embodiments, the working part 43 includes a rotating member, such as a grinding wheel that grinds the working surface by high-speed rotation, and the second direction Y can be perpendicular to the rotation direction of the working part 43, that is, the rotation direction of the grinding wheel. In some embodiments, the transmission part 41 and the driving part 42 are a whole, and can be, for example, a telescopic motor.

[0069] The driving part 42 and the transmission part 41 can realize the reciprocating motion of the working part 43 in a certain direction, so that the working part 43 can operate in a certain area in the form of reciprocating motion, thereby improving the working effect.

[0070] According to some embodiments of the present application, the transmission part 41 includes a first connecting rod 411 and a second connecting rod 412, one end of the first connecting rod 411 is connected to the driving part 42, the other end of the first connecting rod 411 is connected to one end of the second connecting rod 412, and the other end of the second connecting rod 412 is connected to the working part 43.

[0071] like Figure 3 As shown, the transmission part 41 can transmit the power of the driving part 42 to the working part 43 through the first connecting rod 411 and the second connecting rod 412. The first connecting rod 411 is connected to the driving part 42, the second connecting rod 412 is connected to the working part 43, and the first connecting rod 411 and the second connecting rod 412 are connected to each other. The first connecting rod 411 can rotate relative to the driving part 42 and the second connecting rod 412, and the second connecting rod 412 can rotate relative to the working part 43 and the first connecting rod 411. The driving part 42 drives one end of the first connecting rod 411 to rotate, and the other end of the first connecting rod 411 converts the rotational motion into a linear motion through the connection with the second connecting rod 412, that is, the linear motion of the connecting end of the second connecting rod 412 and the working part 43 in the second direction Y.

[0072] The first connecting rod 411 and the second connecting rod 412 cooperate with the driving part 42 to realize power transmission. Especially when the first connecting rod 411 is a crank, the rotational motion can be converted into linear reciprocating motion, so that the driving part 42 and the transmission part 41 can realize complex power transmission and motion control in a limited space, which is conducive to realizing the lightweight design of the overall device.

[0073] According to some embodiments of the present application, the operating assembly 40 includes a slide rail 46 and a slider 47 . The slide rail 46 extends along the second direction Y. The slider 47 is connected to the operating portion 43 and cooperates with the slide rail 46 .

[0074] The slide rail 46 and the slider 47 may be disposed on both sides of the working part 43 in the third direction Z, and the third direction Z is perpendicular to the first direction X and the second direction Y. The extending direction of the slide rail 46 is the same as the direction in which the conducting part guides the working part 43 to move. In the embodiment of the present application, the conducting part guides the working part 43 to move in the second direction Y, and the slide rail 46 extends along the second direction Y.

[0075] like Figure 3As shown, the working part 43 cooperates with the slide rail 46 through the slider 47. Specifically, the working part 43 can be fixedly connected with the slider 47, and the slider 47 is movably connected with the slide rail 46 and can move along the slide rail 46 in the extension direction of the slide rail 46. For example, at least a part of the slider 47 can be accommodated in the slide groove of the slide rail 46, and the slider 47 drives the working part 43 to move in the second direction Y.

[0076] The slide rail 46 and the slider 47 can limit the moving direction of the working component 40 to the second direction Y, which is beneficial to control the working range of the working component 40, so that the working component 40 moves on a predetermined path, improves the reliability and repeatability of the operation, and thus improves the working effect.

[0077] According to some embodiments of the present application, the working device 1 includes: a shielding portion 60, which is arranged on a side of the supporting plate 10 facing the working surface in the first direction X, and is arranged in a surrounding area of ​​the working portion 43 on a plane perpendicular to the first direction X.

[0078] Figure 4 FIG. 4 is a schematic diagram showing the structure of the working device 1 excluding the working component 40. Figure 5 yes Figure 4 A schematic diagram of the structure shown in FIG. Figures 1 to 5 In the first direction X, the shielding portion 60 is disposed between the carrier plate 10 and the working surface, and is connected to the side of the carrier plate 10 facing the working surface in the first direction X. In a plane perpendicular to the first direction X, the shielding portion 60 is disposed in the surrounding area of ​​the working portion 43. Specifically, the shielding portion 60 can be disposed on at least one side of the working portion 43 in the second direction Y and / or the third direction Z. For example, Figure 4 and Figure 5 The illustrated example shows a case where the shielding portions 60 are provided on both sides of the working unit 43 in the third direction Z and on one side in the second direction Y.

[0079] In some embodiments, the shielding portion 60 may be a flexible structure. The flexible structure can absorb the impact energy of the slag when the slag splashes, reduce the secondary splash of the slag, reduce the possibility of the slag splashing to the working area of ​​the working part 43, improve the working effect of the working device 1, and also protect the working device 1.

[0080] In some embodiments, the shielding portion 60 may have a pleated structure, such as accordion pleats, and the pleated direction of the pleated structure is along the first direction X, wherein the pleated direction refers to the folding direction of the pleats. The shielding portion 60 has a pleated structure that can effectively prevent the debris generated during the operation from splashing around. Compared with the shielding portion 60 with a planar structure, the pleated structure has a certain function of accommodating the debris, reducing the possibility of the debris splashing to the working area of ​​the working portion 43 for the second time, improving the working effect of the working device 1, and also protecting the working device 1.

[0081] The shielding portion 60 can block the debris generated during the operation of the working component 40 on the working surface, reducing the possibility of the debris splashing. On the one hand, it ensures the cleanliness of the working surface, and on the other hand, it can reduce the potential risk of damage to the working device 1 by the debris, thereby improving the safety of the operation.

[0082] According to some embodiments of the present application, the working device 1 includes a supporting portion, and the supporting portion 70 extends along the first direction X and is connected to the shielding portion 60 .

[0083] Figure 6 (a) shows the structure of the shielding portion 60 and the supporting portion 70. Figure 6 (b) in FIG. 1 shows a schematic diagram of the cross-sectional structure of the structure in (a) in the AA direction. Figure 6 As shown, the support portion 70 is connected to both ends of the shielding portion 60 in the first direction X.

[0084] When the shielding portion 60 is a flexible structure, the supporting portion 70 can provide support for the shielding portion 60 , so that the shielding portion 60 is not easily deformed during the operation of the operating device 1 , and can maintain shielding of the debris in a larger area.

[0085] When the shielding portion 60 is a pleated structure, the pleated structure usually has a tendency to fold mutually when not under force, so it is necessary to provide a support portion 70 to provide support for the shielding portion 60 and to stretch the pleated structure to a certain extent. In some embodiments, the two ends of the support portion 70 are spaced a certain distance apart, and the distance may be greater than the size of the pleated structure in the first direction X when not under force.

[0086] The support portion 70 can provide support for the shielding portion 60, so that the shielding portion 60, which is prone to deformation, can maintain a certain shape and structure, thereby giving full play to its shielding function and effectively blocking the splashing of debris generated during the operation. At the same time, the support portion 70 can improve the stability of the shielding portion 60 and reduce the possibility of a decrease in the shielding effect due to the folding or collapse of the shielding portion 60.

[0087] According to some embodiments of the present application, the shielding portion 60 is provided with a through channel 61 , and the through channel 61 penetrates the shielding portion 60 in the first direction X. The supporting portion 70 includes a sleeve 71 , a sliding rod 72 and a supporting spring 73 .

[0088] like Figure 6 As shown, the shielding portion 60 is provided with a through channel 61, which penetrates the shielding portion 60 in the first direction X to provide an installation space for the support portion 70, and the support portion 70 is arranged through the through channel 61. Specifically, the support portion 70 includes a sleeve 71, a slide rod 72 and a support spring 73.

[0089] The sleeve 71 can be disposed at one end of the through-channel 61 away from the working surface along the first direction X, that is, at one end of the through-channel 61 toward the carrying plate 10 along the first direction X, to connect the shielding portion 60 and the carrying plate 10, for example, a portion of the through-channel 61 is connected to the inner wall of the through-channel 61, and another portion is connected to the carrying plate 10. The sleeve 71 has a hollow channel, which penetrates the sleeve 71 in the first direction X and is connected to the through-channel 61.

[0090] The slide bar 72 extends along the first direction X, and one end facing the working surface in the first direction X is a first end 721, and one end away from the working surface in the first direction X is a second end 722. The first end 721 of the slide bar 72 is connected to one end of the shielding portion 60 facing the working surface in the first direction X, and the second end 722 of the slide bar 72 passes through the through channel 61 and the hollow channel, and can move along the first direction X in the through channel 61 and the hollow channel.

[0091] The support spring 73 is disposed between the sleeve 71 and the first end 721 along the first direction X. In the embodiment of the present application, there is a certain gap between one end of the sleeve 71 facing the working surface along the first direction X and the first end 721 of the slide bar 72, and the support spring 73 is disposed in the gap, with two ends respectively abutting against one end of the sleeve 71 facing the working surface along the first direction X and the first end 721 of the slide bar 72, that is, the support spring 73 is always in a compressed state in the gap.

[0092] The support spring 73 can adaptively adjust the position of the shielding portion 60 according to the changes in the working surface, so that the end of the shielding portion 60 facing the working surface is as close to the working surface as possible, so as to improve the effect of shielding the debris. In particular, when the working portion 43 causes a certain amount of wear on the working surface, the support spring 73 can compensate for the change in the gap caused by wear, and on the one hand, it can keep the shielding portion 60 in close contact with the working surface, and on the other hand, it can provide working space for further operation of the working portion 43. This adaptive adjustment capability makes it difficult for the shielding portion 60 to interfere with the further operation of the working portion 43, which can improve the continuity and stability of the operation process.

[0093] According to some embodiments of the present application, the operating device 1 includes a first connecting member 81, a second connecting member 82, and a third connecting member 83. The first connecting member 81 is provided with a first rotating shaft 811 extending along the third direction Z, the second connecting member 82 is connected to the carrying plate 10, and is provided with a second rotating shaft 821 extending along the second direction Y, the third connecting member 83 is provided with a first through hole 831 extending along the third direction Z and a second through hole 832 extending along the second direction Y, the first rotating shaft 811 passes through the first through hole 831, and the second rotating shaft 821 passes through the second through hole 832, and the first direction X, the second direction Y, and the third direction Z are perpendicular to each other.

[0094] Figure 7 Shows Figure 5 The enlarged structural diagram of part B is shown in FIG. Figure 4 , Figure 5 and Figure 7 As shown, the first connecting member 81 is generally used to connect the working device 1 to a device that carries the working device 1 . The device that carries the working device 1 may be, for example, a walking mechanism 2 , a wall-climbing robot, a lifting device, and the like.

[0095] The first rotating shaft 811 of the first connecting member 81 extends along the third direction Z, so the first connecting member 81 can rotate on a plane perpendicular to the third direction Z relative to the supporting plate 10 .

[0096] The second rotating shaft 821 provided on the second connecting member 82 extends along the second direction Y, so the second connecting member 82 can rotate relative to the first connecting member 81 and the third connecting member 83 on a plane perpendicular to the second direction Y. The second connecting member 82 is fixedly connected to the supporting plate 10, and the second connecting member 82 can drive the supporting plate 10 to rotate together during the rotation process.

[0097] The third connecting member 83 connects the first connecting member 81 and the second connecting member 82. Specifically, the third connecting member 83 is provided with a first through hole 831 extending along the third direction Z. The first rotating axis 811 passes through the first through hole 831 and the hole on the first connecting member 81 where the first rotating axis 811 is provided, thereby realizing the connection between the first connecting member 81 and the third connecting member 83. Meanwhile, the third connecting member 83 is also provided with a second through hole 832 extending along the second direction Y. The second rotating axis 821 passes through the second through hole 832 and the hole on the second connecting member 82 where the second rotating axis 821 is provided, thereby realizing the connection between the second connecting member 82 and the third connecting member 83.

[0098] On the one hand, the second connecting member 82 realizes the rotation of the supporting plate 10 on a plane perpendicular to the second direction Y through the second rotating axis 821; on the other hand, the third connecting member 83 can drive the second connecting member 82 to rotate on a plane perpendicular to the third direction Z, thereby realizing the rotation of the supporting plate 10 on a plane perpendicular to the third direction Z.

[0099] The first connecting member 81 and the second connecting member 82 are connected together by the third connecting member 83, so that the working device 1 can rotate in two different directions, thereby improving the adjustment flexibility of the working device 1 and being able to adapt to surface changes in a larger range.

[0100] The present application also provides a working robot that adapts to curved surfaces, such as Figure 8 As shown, it includes a working device 1 and a traveling mechanism 2. The traveling mechanism 2 is used to move on the working surface, and the working device 1 is connected to the traveling mechanism 2.

[0101] 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 bearing plate (10), wherein three supporting points are arranged on the bearing plate (10), and projections of the three supporting points on the plane where the bearing plate (10) is located are not collinear; A walking wheel (20) is used for walking on a working surface, the walking wheel (20) comprising a wheel body (21) and a swing shaft (22), the swing shaft (22) is parallel to the diameter direction of the wheel body (21) and parallel to the plane where the carrying plate (10) is located, and the wheel body (21) can rotate around the swing shaft (22); A rotating rod (30) comprising a fixed end (31) and a rotating end (32), wherein the rotating end (32) is arranged on both sides of the fixed end (31) along the extension direction of the rotating rod (30), and the rotating end (32) can rotate around the fixed end (31) on a plane perpendicular to the supporting plate (10), and the rotating end (32) is connected to at least one of the walking wheels (20), and at least one of the three supporting points is connected to the fixed end (31); An operating assembly (40), the operating assembly (40) being movably connected to the carrying plate (10); A push rod (50), one end of which is connected to the supporting plate (10), and the other end of which is used to push the operating assembly (40) in a first direction (X), wherein the first direction (X) is perpendicular to the plane where the supporting plate (10) is located.

2. The working device according to claim 1, characterized in that: The working assembly (40) comprises a floating plate (44), the floating plate (44) is provided with a through hole (45), and the working device comprises: a guide rod (11), the guide rod (11) being arranged on a side of the carrying plate (10) away from the working surface in the first direction (X) and extending along the first direction (X), the guide rod (11) passing through the through hole (45); a boss (12), the boss (12) being arranged at one end of the guide rod (11) away from the carrying plate (10) in the first direction (X), the boss (12) protruding from the guide rod (11) in a second direction (Y), the second direction (Y) being perpendicular to the first direction (X); An elastic member (13), wherein the elastic member (13) is arranged between the boss (12) and the floating plate (44) along the guide rod (11) and is in a compressed state.

3. The working device according to claim 1 or 2, characterized in that: The working assembly (40) comprises a transmission part (41), a driving part (42) and a working part (43); the transmission part (41) connects the driving part (42) and the working part (43); the driving part (42) is used to drive the transmission part (41) to rotate; the transmission part (41) is used to guide the working part (43) to move in a second direction (Y), and the second direction (Y) is perpendicular to the first direction (X).

4. The working device according to claim 3, characterized in that: The transmission part (41) comprises a first connecting rod (411) and a second connecting rod (412), one end of the first connecting rod (411) is connected to the driving part (42), the other end of the first connecting rod (411) is connected to one end of the second connecting rod (412), and the other end of the second connecting rod (412) is connected to the working part (43).

5. The working device according to claim 3 or 4, characterized in that: The operating assembly (40) comprises a slide rail (46) and a slider (47); the slide rail (46) extends along the second direction (Y); the slider (47) is connected to the operating part (43) and cooperates with the slide rail (46).

6. The working device according to any one of claims 3 to 5, characterized in that: The operating device comprises: A shielding portion (60), the shielding portion (60) being arranged on a side of the carrying plate (10) facing the working surface in the first direction (X), and being arranged in a surrounding area of ​​the working portion (43) on a plane perpendicular to the first direction (X).

7. The working device according to claim 6, characterized in that: The operating device comprises: A supporting portion (70), the supporting portion (70) extending along the first direction (X) and connected to the shielding portion (60).

8. The working device according to claim 7, characterized in that: The shielding portion (60) is provided with a through channel (61), wherein the through channel (61) penetrates the shielding portion (60) in the first direction (X), and the supporting portion (70) comprises: a sleeve (71), at least a portion of which is disposed in the through-channel (61), connecting the shielding portion (60) and the carrying plate (10), the sleeve (71) having a hollow channel in a first direction (X), the hollow channel being in communication with the through-channel (61); a sliding rod (72), wherein a first end (721) of the sliding rod (72) is connected to an end of the shielding portion (60) in the first direction (X) facing the working surface, and a second end (722) of the sliding rod (72) passes through the through passage (61) and the hollow passage; A support spring (73), wherein the support spring (73) is arranged between the sleeve (71) and the first end (721) along the first direction (X), and the two ends of the support spring (73) in the first direction (X) respectively abut against the sleeve (71) and the first end (721).

9. The working device according to any one of claims 1 to 8, characterized in that: The operating device comprises: A first connecting member (81), wherein the first connecting member (81) is provided with a first rotating shaft (811) extending along a third direction (Z); A second connecting member (82), the second connecting member (82) being connected to the carrying plate (10) and provided with a second rotating shaft (821) extending along a second direction (Y); A third connecting member (83), wherein the third connecting member (83) is provided with a first through hole (831) extending along a third direction (Z) and a second through hole (832) extending along a second direction (Y), the first rotating axis (811) passes through the first through hole (831), and the second rotating axis (821) passes through the second through hole (832), and the first direction (X), the second direction (Y) and the third direction (Z) are perpendicular to each other.

10. A working robot adapted to a curved surface, characterized in that: include: A walking mechanism (2), wherein the walking mechanism (2) is used to move on a working surface; A working device adapted to a curved surface as claimed in any one of claims 1 to 9, wherein the working device is connected to the walking mechanism (2).

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