Contact type operation device and suspended operation equipment

Abstract

The invention provides a contact type operation device and suspension operation equipment. The contact type operation device comprises a contact type operation module; the omni-directional compliance adjusting module comprises a movable supporting structure and a stacking structure flexible self-adaptive unit, one end of the movable supporting structure is connected with the contact type operation module, and the movable supporting structure has the telescopic deflection freedom degree in the axial direction; the flexible self-adaptive unit of the stacked structure has adjustable flexibility, can stretch and bend along the axis, and keeps good morphological stability at the same time. When the contact type operation module moves towards the vertical face and makes contact with the vertical face, the omni-directional compliance adjusting module makes contact with the vertical face gently through telescopic bending of the stacking structure flexible self-adaption unit and the movable supporting structure, and the posture of the contact type operation device can be adjusted in a self-adaption and omni-directional mode. And the vertical surface of the to-be-operated object can be contacted with the vertical surface of the to-be-operated object at a more fitting angle so as to be contacted with the vertical surface of the to-be-operated object in a uniform and comprehensive manner and / or in other manners required by operation.

Description

Technical Field

[0001] The present application belongs to the technical field of suspended working equipment, and in particular relates to a contact working device and suspended working equipment. Background Art

[0002] Aerial work equipment is a tool or machine designed specifically for working at height or in suspended environments. These devices help workers safely and efficiently complete various tasks such as spraying, construction, maintenance, cleaning, etc.

[0003] With the development of technology, drones are now being used to assist in aerial and high-altitude operations, such as inspecting and painting components on signal towers. During the inspection process, because the components are located inside the signal tower and are blocked by the tower's inherent structure, drones usually need to maintain a certain safe distance. This makes the spraying process less precise, resulting in low efficiency and high costs.

[0004] In short, the current aerial operation equipment cannot cope with complex aerial and high-altitude environments, and cannot meet the requirements of aerial and high-altitude spraying operations. Summary of the Invention

[0005] In view of this, the present application provides a contact working device and an aerial working equipment to solve the technical problems that the current contact working device cannot cope with complex high-altitude environments and cannot meet the requirements of high-altitude operations.

[0006] In a first aspect, the present application provides a contact working device, comprising:

[0007] Contact operation module;

[0008] An omnidirectional compliance adjustment module includes a movable support structure and a stacking structure flexible adaptive unit. One end of the movable support structure is connected to the contact operation module. The movable support structure has telescopic deflection freedom along the axial direction. The stacking structure flexible adaptive unit has adjustable flexibility and can be telescopically bent along the axis while maintaining good morphological stability. When the contact operation module moves toward the facade and contacts the facade, the omnidirectional compliance adjustment module cooperates with the movable support structure through the telescopic bending of the stacking structure flexible adaptive unit to make the contact between the contact operation module and the facade soft, so as to reduce the reaction force caused by rigid collision, and can adaptively adjust the posture of the contact operation device in an omnidirectional manner so that it can contact the facade of the object to be operated at a more fitting angle, thereby contacting the facade of the object to be operated in a uniform and comprehensive manner and / or in a manner required by other operations.

[0009] In the second aspect, the present application provides an aerial working equipment, including the contact working device, drone and fluid regulating device described in the first aspect, wherein the fluid regulating device is used to adjust the fluid volume and / or pressure in the cavity of the flexible adaptive unit of the stacked structure, so that the flexible adaptive unit of the stacked structure has different impact resistance capabilities and different lengths under the same force, thereby changing the relative proportion of the rotation amplitude of the two ends of the connecting rod, and has flexible adaptability that can be adjusted in both buffering capacity and adaptation angle range, so as to more widely adapt to various types of working requirements and changing working requirements in a single working process.

[0010] The contact working device and suspended working equipment provided in this application, by applying stacked structure flexible adaptive units, cleverly apply the adjustable flexibility of the stacked structure flexible adaptive units, can be stretched and bent along the axis while maintaining good morphological stability, and can be suitable for suspended and high-altitude operations in various complex scenarios, such as high-altitude spraying, high-altitude cleaning and other operations; and can accurately reach the facade of the object to be worked on to perform operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0012] Figure 1 A three-dimensional diagram of a contact working device provided in an embodiment of the present application is shown;

[0013] Figures 2A-2B A schematic plan view of a contact working device provided in an embodiment of the present application is shown;

[0014] Figures 3A-3D Shows a front view, a cutaway perspective view, and a central longitudinal cross-sectional view of a stacked structure flexible adaptive unit with a circular cross-section in an initial state according to an embodiment of the present application;

[0015] Figures 4A-4B A complete central longitudinal cross-sectional view and a central longitudinal cross-sectional view of a flexible side wall portion of a stacked structure flexible adaptive unit provided by an embodiment of the present application when compressed to the shortest height are shown;

[0016] Figures 5A-5B The figure shows a comparison of the thrust required to change the length of the stacked structure flexible adaptive unit according to the embodiment of the present application and the stacked structure flexible adaptive unit according to the present application, which has structural features that are significantly different from those of the present application. Figure 5CA diagram showing how the length of the flexible adaptive unit of the stacked structure varies with air pressure according to an embodiment of the present application;

[0017] Figures 6A-6B A perspective view and a top view of a stacked structure flexible adaptive unit having an elliptical cross section are shown;

[0018] Figure 7 A central longitudinal cross-sectional view showing a fold of a flexible adaptive unit of a stacked structure provided according to an embodiment of the present application;

[0019] Figures 8A-8B A central longitudinal cross-sectional view of a stacked structure flexible adaptive unit provided according to an embodiment of the present application and an enlarged view at point E are shown.

[0020] Among them, the figure numbers are:

[0021] 10. Contact operation module;

[0022] 20. Omnidirectional compliance adjustment module; 21. Movable support structure; 211. Mounting seat; 2111. First mounting plate; 2112. Second mounting plate; 2113. Support rod; 212. Connecting rod; 22. Stacking structure flexible adaptive unit; 221. Fixed end; 222. Movable end; 31. End face; 32. Flexible side wall; 321. Folding surface; 322. Crease; 323. Crease surface; 33. Fluid regulating part; 34. Sealing crimping piece; 341. First crimping part; 35. End plate; 351. Second crimping part; 36. Connecting fitting part. DETAILED DESCRIPTION

[0023] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0024] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0025] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0026] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this 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 a limitation on this application.

[0027] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0028] References to "one embodiment" or "some embodiments" in the present specification mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in some embodiments", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized. "Multiple" means two or more.

[0029] In the prior art, solid rubber is used to connect the contact operation modules. However, solid rubber is heavy, has poor durability and is not adjustable. Most adjustable solutions are electronically controlled, but they are technically difficult and costly.

[0030] First, as Figure 1 、 Figure 2A and Figure 2B As shown, the present application provides a contact operation device, comprising: a contact operation module 10 and an omnidirectional compliance adjustment module 20;

[0031] The omnidirectional compliance adjustment module 20 includes a movable support structure 21 and a stacking structure adaptive unit 22. One end of the movable support structure 21 is connected to the contact operation module 10.

[0032] The movable support structure 21 has the freedom of telescopic deflection along the axial direction, and the stacked structure flexible adaptive unit 22 has adjustable flexibility and can be telescopically bent along the axis while maintaining good morphological stability. When the contact operation module 10 moves toward the facade and contacts the facade, the omnidirectional flexible adjustment module 20 softens the contact between the contact operation module 10 and the facade through the telescopic bending of the stacked structure flexible adaptive unit 22 and the movable support structure 21, so as to reduce the reaction force caused by the rigid collision, and can adaptively adjust the posture of the contact operation device in all directions, so that it can contact the facade of the object to be operated at a more fitting angle, thereby contacting the facade of the object to be operated in a uniform and comprehensive manner and / or in a manner required by other operations.

[0033] In application, the flexible adaptive unit 22 of the stacked structure has good shape stability and elasticity, and is easy to stretch and bend in a specific direction. Therefore, it can produce a soft and sensitive deformation response due to the force in contact to drive the contact operation module 10 to adapt to the contact angle of the facade while reducing the reaction force caused by rigid collision. Due to the shape stability and elasticity, it can maintain the stability of the front end contact angle when the rear end position of the movable support structure 21 is unstable.

[0034] In practice, the contact operation module 10 includes, but is not limited to, cleaning devices, spraying devices, wall surface flatness detection devices, and other contact-related operation devices. In one embodiment, the contact operation module 10 includes a nozzle and a nozzle. Driven by the flexible adaptive units of the stacked structure, the nozzle can spray the workpiece at an optimal angle.

[0035] In application, when the contact operation device is used in a suspended or high-altitude environment, when the contact operation module comes into rigid contact with the object to be operated or its facade, a large reaction force will be applied to the entire contact operation device, causing the contact operation device located in the suspended or high altitude to be unstable or even fall down, causing a safety hazard; therefore, through the adjustable flexibility of the stacked structure flexible adaptive unit 20 and the ability to bend and bend along the axis while maintaining good morphological stability, when the contact operation module approaches the object to be operated and its facade and comes into contact, it can be compressed in time, thereby offsetting the reaction force and making soft contact with it, so as to fit the facade for operation, so that the relevant operation can be completed accurately and efficiently. Moreover, corresponding adjustments can be made for different operations, thereby greatly improving the applicability of the contact operation device.

[0036] In some embodiments, as Figure 1 、 Figure 2A and Figure 2B As shown, the movable support structure 21 further includes a mounting seat 211 and a connecting rod 212. The mounting seat 211 is used for mounting the stacking structure flexible adaptive unit 22 therein;

[0037] The connecting rod 212 is provided through the mounting seat 211 , one end of the connecting rod 212 is connected to the stacking structure flexible adaptive unit 22 , and the other end of the connecting rod 212 is connected to the contact operation module 10 ;

[0038] The stacked structure flexible adaptive unit 22 has a fixed end 221 and a movable end 222. The fixed end 221 is provided on the mounting seat 211, and the movable end 222 is connected to the connecting rod 212. In this way, the stacked structure flexible adaptive unit 22 is limited and fixed by the mounting seat 211, so that its stability is greatly improved.

[0039] In some embodiments, as Figure 1 、 Figure 2A and Figure 2B As shown, multiple stacked flexible adaptive units 22 and multiple connecting rods 212 are provided, with one stacked flexible adaptive unit 22 corresponding to one connecting rod 212. In one embodiment, three stacked flexible adaptive units 22 and three connecting rods 212 are provided, and they correspond one to one. This allows the contact operation module 10 to be adjusted to different angles, improving the degree of flexibility and adjustability.

[0040] In some embodiments, as Figure 1 、 Figure 2A and Figure 2B As shown, the mounting base 211 includes a first mounting plate 2111 and a second mounting plate 2112 arranged in parallel, and a support rod 2113 arranged between the first mounting plate 2111 and the second mounting plate 2112. The fixed end 221 of the stacked structure flexible adaptive unit 22 is connected to the first mounting plate 2111, and the movable end 222 is located between the first mounting plate 2111 and the second mounting plate 2112, and is compressed and / or extended therein. The connecting rod 212 is inserted into the second mounting plate 2112 through the movable support hole on the second mounting plate 2112 and can rotate at the insertion point. The connecting rod 212 moves axially relative to the second mounting plate 2112 as the stacked structure flexible adaptive unit 22 expands and contracts, thereby changing the position of the insertion point on the connecting rod 212 and changing the relative ratio of the rotation amplitude of the two ends of the connecting rod 212. In this way, flexible contact between the contact operation module 10 and the object to be operated can be achieved, which is more suitable and improves operation efficiency.

[0041] In some embodiments, as Figures 3A-3D As shown, the stacking structure flexible adaptive unit 22 includes two end faces 31 and a flexible side wall 32. The flexible side wall 32 and the two end faces 31 enclose a cavity with a central axis. The flexible side wall 32 is designed to or includes a stacking structure that can be stretched and / or bent along the direction of the central axis. The stacking structure is composed of at least two stacking layers stacked along the central axis, so that the strain of the entire flexible side wall is evenly distributed in each stacking layer.

[0042] The stacked layer is designed to or includes strain cells having folded surfaces 321 and creases 322. Due to the combination of the shape, thickness, and stacking of the strain cells, when the flexible sidewalls expand and / or bend along the central axis, the strain of the strain cells is evenly distributed on the folded surfaces 321 and is not concentrated at the creases 322.

[0043] The stacked layer is formed by the folded surface 321 of a single strain unit. The connection between the folded surfaces 321 of two adjacent stacked layers forms a crease surface 323, and the crease is within the crease surface 323 perpendicular to the central axis. In the initial state, the crease surface 323 is a plane.

[0044] The strain unit has an intrusion angle θ, an intrusion depth coefficient a, a folding surface width l, and a wall thickness t. The intrusion angle θ, the intrusion depth coefficient a, the folding surface width l, and the wall thickness t are all defined based on the cross-section of the strain unit cut by the S plane. The folding surface width l is the width of the folding surface 321 from the radially outer side of the protruding fold 322 to the radially inner side of the recessed fold 322. The intrusion angle θ is the angle between the folding surface 321 and the adjacent folding surface 323. The intrusion angle θ changes with the compression or extension of the strain-uniformly distributed stacked structure. The width of the folding surface 321 of a strain unit on the plane containing the radius of curvature at any point on the protruding fold 322 is defined as the folding surface width l. The projection of the folding surface width l in a direction perpendicular to the central axis is defined as the intrusion depth v. The intrusion depth coefficient a is the ratio v / R between the intrusion depth v and the equivalent radius R of the protruding fold. The wall thickness t is the thickness of the flexible sidewall 32. The intrusion angle θ, the intrusion depth coefficient a, the folding surface width l, and the wall thickness t are numerically correlated with each other and have a set value combination, so that during the deformation of the flexible adaptive unit 22 of the stacking structure, the flexible side wall 32 only undergoes folding and / or stretching of the strain-uniformly distributed stacking structure, and the strain of the flexible side wall 32 is evenly distributed on each folding surface 321 and is not concentrated at the crease 322.

[0045] It should be noted that the "S-plane" is defined as follows: when either the outer or inner contour of the protruding fold 322 on the fold surface 323 is a curved segment, the plane perpendicular to the tangent line of any point on the curved segment and passing through that point is the S-plane at that point on the fold 322; when either the outer or inner contour of the protruding fold 322 on the fold surface 323 is a straight segment, the plane perpendicular to and passing through any point on the straight segment is the S-plane at that point on the fold 322. When the cross-section of the protruding fold 322 perpendicular to the central axis is circular, the S-plane and the central longitudinal cross-section are coplanar.

[0046] The strain unit has at least one basic shape that appears in the axial direction. In the direction of the central axis, the folds 322 on the spaced fold surfaces 323 can have the same shape or gradually change, the same size or gradually change, and the same or gradually change position relative to the central axis. In some embodiments, when the folds 322 on the spaced fold surfaces 323 have the same shape, size, and position relative to the central axis, the strain unit has a basic shape that appears continuously and repeatedly in the axial direction, such as Figures 3A-3D As shown; when the shape, size and / or position of the folds 22 on the spaced fold surfaces 323 relative to the central axis gradually change, the basic shape of the strain unit may be variable, and thus may have more than two repeated basic shapes that appear continuously in the axial direction. In some embodiments, in the direction of the central axis, the folds 322 on the adjacent fold surfaces 323 have different concave and convex states on the flexible sidewall 32. The protruding folds 322 have a closed shape with a continuous curvature G1 or a continuous curvature G2 on the cross section perpendicular to the central axis to reduce the degree to which stress and / or strain are concentrated locally in the circumferential direction. G1 continuity is tangent continuity, which means that the surface or curve is continuous at all points, and all connected line segments and surfaces are tangent to each other. The method for determining G1 continuity is: the curve is continuous, smooth and has no sharp corners; the surface is continuous and has no corners. G2 continuity is curvature continuity, which means that the surface or curve is continuous at all points, and its curvature analysis result is continuously changing. The method for determining G2 continuity is: perform curvature analysis on the curve, and the curvature curve is continuous without breakpoints. Figures 3A-3D and Figures 6A-6B The structure of the stacked structure flexible adaptive unit 22 is described by taking a circle as an example; it should be noted that the closed shape may also include any other suitable shape, and the following description of the closed shape is as follows: Figures 3A-3D and Figures 6A-6B The description is also applicable to the stacked structure flexible adaptive units 22 having these cross-sectional shapes.

[0047] For example, a closed shape can include curved segments with a G2-continuous curvature, such as a circle or an ellipse. A closed shape can include straight segments with a G1-continuous curvature, such as a sector ring or a racetrack. A closed shape can include curves that are convex relative to the geometric center of the closed shape and curves that are concave relative to the geometric center of the closed shape, such as a sector ring. A closed shape can be an axially symmetrical figure; a centrally symmetrical figure; or a rotationally symmetrical figure, etc.

[0048] In one embodiment, the fluid regulating portion 33 is provided on the flexible side wall 32 or the end surface 31, and the fluid regulating portion 33 is used to change the internal and external pressure difference Δ of the cavity. PThe strain uniformly distributed stacked structure is compressed or stretched to drive the end surface 31 to move. The fluid regulating portion 33 can be arranged as an opening for fluid to enter or exit the cavity. By allowing the fluid to enter or exit the cavity through the opening, the pressure difference Δ between the inside and outside of the cavity is changed. P , driving the stacked structure flexible adaptive unit 22 to deform.

[0049] In application, the fluid volume is adjusted according to the operating conditions (the range of motion, angle and force conditions required by the contact operating module 10, etc.), thereby changing the axial position of the connecting rod 212 and the mounting seat 211 to obtain different ranges of motion (the greater the force, the greater the amount of fluid required for the same length, and the shorter the unit, the smaller the range of motion of the contact operating end).

[0050] The stacked structure flexible adaptive unit 22 is mainly involved in the folding of the folding surface 321 during the bending or expansion process, and the area change of the stacked structure flexible adaptive unit 22 itself can be very small. In other words, the energy of the fluid entering the cavity can be mainly used to make the strain-uniformly distributed stacked structure bend or expand, and the strain of the strain-uniformly distributed stacked structure itself can therefore be very small (the strain generated during the deformation process is always within the elastic deformation range of the material and is less than 20%, 15%, 10%, 5% or 1%. For the convenience of description, this feature is named small strain). In some embodiments, the internal stress of the strain-uniformly distributed stacked structure itself is very small, so only a small proportion of the mechanical energy of the fluid is used to overcome the stress generated by the deformation of the strain-uniformly distributed stacked structure itself, and most of the mechanical energy of the fluid is reversibly converted into elastic potential energy during the reciprocating motion of the stacked structure flexible adaptive unit 22 in tension and compression, and is released as mechanical energy of the stacked structure flexible adaptive unit 22 during the change in the opposite direction. Therefore, the energy conversion efficiency of the stacked structure flexible adaptive unit 22 is high. In some embodiments, during the deformation process of the stacked structure flexible adaptive unit 22, small strains can be evenly distributed on the entire folding surface, so that the stacked structure flexible adaptive unit 22 of the present application can withstand or output a greater load force than other existing structures, withstand more times of compression and extension, and have a longer service life.

[0051] Thin solid lines P1-P3 represent any three consecutive crease surfaces 323 in the multiple layers of crease surfaces 323 of the stacked flexible adaptive unit 22. The contour of the projection of the crease on crease surface P1 onto crease surface P2 does not intersect with the contour of the crease on crease surface P2 itself. In other words, the closed curve formed by the creases corresponding to crease surface P2 includes the closed curve formed by the creases corresponding to crease surface P1. In some embodiments, the closed curve formed by the creases corresponding to crease surface P1 overlaps with the closed curve formed by the creases corresponding to crease surface P3.

[0052] There may be two folding surfaces 321 symmetrical about the folding surface P2 between the two folding surfaces P1 and P3. The intrusion angles between the two folding surfaces 321 and the folding surface P2 may be θ p1 and θ p2 . When the total amount of fluid (which can be gas or liquid) in the cavity increases, the stacked structure flexible adaptive unit 22 stretches until the pressure difference between the inside and outside of the cavity, the load acting on the end face 31 of the stacked structure flexible adaptive unit 22, and the internal stress of the stacked structure flexible adaptive unit 22 itself reach a new balance, at which point the stacked structure flexible adaptive unit 22 stops deforming. On the contrary, when the total amount of fluid in the cavity decreases, the stacked structure flexible adaptive unit 22 compresses until the pressure difference between the inside and outside of the cavity, the load acting on the end face 31 of the stacked structure flexible adaptive unit 22, and the internal stress of the stacked structure flexible adaptive unit 22 itself reach a new balance, at which point the stacked structure flexible adaptive unit 22 stops deforming. During the entire deformation process, the two angles θ p1 and θ p2 The stacked structure flexible adaptive unit 22 may be synchronously increased or decreased and may remain substantially the same. It is understood that, in some embodiments, an increase in the total amount of fluid in the cavity does not necessarily mean that the stacked structure flexible adaptive unit 22 is in an extended state; it may also be in a compressed state under the action of the load on the end face 31. That is, the stacked structure flexible adaptive unit 22 is subjected to a force balance under the combined action of the combined force of the internal and external pressure differences acting on the flexible sidewall 32, the load on the end face 31, and the internal stress of the stacked structure flexible adaptive unit 22 itself.

[0053] Figures 4A-4B A central longitudinal cross-sectional view of the stacked structure flexible adaptive unit 22 when it is compressed to the minimum height is shown. In the process of compressing the stacked structure flexible adaptive unit 22 toward the minimum height, the folds 322 of the strain units of the stacked structure flexible adaptive unit 22 approach each other, and the folding surfaces 321 of the strain units move, bend, and approach each other. As a result, the folding surface 321 of each strain unit is deformed in a wave shape on the central longitudinal cross-section. The wave shape of the deformed folding surface 321 of each strain unit includes crests and troughs. In some embodiments, the wave shape includes a crest and a trough of the folds 322 respectively close to the two ends of the folding surface 321.

[0054] In one embodiment, the initial intrusion angle θp and the intrusion coefficient a satisfy the following relationship:

[0055] σ k =a(1-cosθ p ) / (2cosθ p -a); and on the S plane, the point-to-point straight line distance from the crest of a single strain unit to the outer end of the crease 322 is greater than 0.25l. Where, σk It is the ratio of the area change of the folding surface 321 when the stacked structure flexible adaptive unit changes from the initial state to the fully compressed state to the area of ​​the folding surface 321 in the initial state.

[0056] In some embodiments, the wave-shaped deformations of two axially adjacent strain units are mirror-symmetrical to each other in a direction perpendicular to the central axis. The crest of one strain unit and the trough of the other strain unit in the two axially adjacent strain units correspond to each other in the direction along the central axis, so that the two axially adjacent strain units maintain an axial distance at the crest and trough without approaching each other and forming an arched gap. In some embodiments, the axially adjacent strain units maintain an axial distance ( ) at an ideal radial position (e.g., 1 / 4, 1 / 3 from the radial outer end of the fold 322). Figure 6B The folding surfaces 321 of the axially adjacent strain units form a stable microstructure close to a triangle near the crease 322. The stable microstructure close to a triangle allows the stacked structure flexible adaptive unit 22 to maintain its basic shape, and only expands and contracts and / or bends in the axial direction without irregular deformation such as absorption and distortion, so that the stacked structure flexible adaptive unit 22 has better shape stability. The working state that the stacked structure flexible adaptive unit 22 provided in the present application is expected to achieve is that the stacked structure is folded / stretched, the flexible side wall 32 expands / bends, and each crease surface 323 is uniformly close to or deflected along the central axis. In contrast, irregular or harmful deformations such as distortion refer to at least one of the following: 1. Crease deformation; 2. Crease surface bending; 3. Uneven distance or angle between crease surfaces; 4. At least one crease is offset in the direction perpendicular to the axis or deflected to a significantly different degree from the distance and angle of other creases. In some embodiments, to achieve a distance between the wave crest and the radially outer end of the fold 322 close to 1 / 3-1 / 4, t can be configured to satisfy the following relationship: t = ml, 0.07 < m < 0.3. In some embodiments, the height of the arched gap can be set to (0.1 ± 0.05) l. In some embodiments, the point-to-point linear distance from the wave crest of a strain unit to the radially outer end of the fold 322 on the S-plane cross-section can be set to be greater than 0.25 l.

[0057] In the related art, the stacked structure flexible adaptive unit with structural features obviously different from the one provided by the present application is in a large rounded shape repeated in the longitudinal direction. When it is compressed to the minimum height, its folded surface cannot present the wavy shape of the stacked structure flexible adaptive unit 22 of the present application. Compared with the stacked structure flexible adaptive unit with structural features obviously different from the one provided by the present application, under the condition of equal fluid volume in a sealed state, the stacked structure flexible adaptive unit 22 of the present application requires a smaller and more linear force to achieve different lengths, and the upper limit of the adaptive ability depends on the pressure bearing capacity, and the lower limit depends on the lower limit of the force of the muscle itself to change the length, so it can sensitively feedback contact forces with larger spans. Figure 5A As shown; in the case of zero pressure difference, the stacked structure of the present application of the flexible adaptive unit 22 to achieve different lengths also requires a smaller and more linear force, such as Figure 5B In addition, Figure 5C The graph showing the length of the stacked structure flexible adaptive unit 22 provided by the present application changes with air pressure under no load shows that the length of the stacked structure flexible adaptive unit 22 provided by the present application changes linearly with air pressure. Figure 5A and Figure 5B In the figure, the gray broken line represents a structural feature that is obviously different from the stacked structure adaptive unit 22 provided in the present application, while the orange line represents the stacked structure adaptive unit 22 provided in the present application.

[0058] In some embodiments, reference Figures 6A-6B , the cross-sectional shape of the protruding fold 322 perpendicular to the central axis can be designed to be elliptical. Compared with the circular flexible sidewall 32, the stacked structure flexible adaptive unit 22 with an elliptical cross-section can adapt to work scenarios that require directionality, such as work scenarios where the angle changes only in a single direction, such as a stepped facade. The intrusion depth coefficient a of the equivalent radius stacked structure flexible adaptive unit 22 is configured to satisfy the following relationship: a=v / R, where the intrusion depth v is the projection of the folding surface width l in the direction perpendicular to the central axis, and the equivalent radius R of the protruding fold 322 is the radius of a circle with the same perimeter as the elliptical cross-section at the convex fold 322.

[0059] The stacked structure flexible adaptive unit 22 has an initial intrusion angle θ in the initial state. p , and during the compression or extension of the strain-uniformly distributed stacked structure, the intrusion angle θ ranges from 0° to the maximum intrusion angle θ maxBy setting a favorable initial intrusion angle range, the strain uniform distribution stacking structure of the flexible adaptive unit 22 can be promoted to have smaller strain and / or more uniform strain distribution during the deformation process, and to work within the elastic deformation range of the material, thereby better maintaining the stability of its own shape and sufficient elasticity under the combined action of internal fluid support and external force. It should be understood that the maximum intrusion angle θ max It should be understood that the stacked structure flexible adaptive unit 22 is in a state that can be achieved within its rated working range (e.g., rated pressure difference range, taking the external air pressure of 0.1 MPa as an example, the rated pressure difference range is -0.08 MPa to 2 MPa), not a state that can be achieved under the physical limit. In some embodiments, the maximum intrusion angle θ max Can be configured to satisfy the following relationship: 15°≤θ max ≤45°. Generally, the stacked structure flexible adaptive unit 22 can achieve optimized working performance within a rated working range, for example, a folding life of nearly 3 million times.

[0060] Due to the small strain characteristics of the stacked structure flexible adaptive unit 22, the penetration depth coefficient a can be basically a constant during the deformation process. In some embodiments, the penetration depth coefficient a can be advantageously configured to satisfy the following relationship: a>0.2. a greater than 0.2 can improve the folding deformation performance and compression ratio of the stacked structure flexible adaptive unit 22. In some embodiments, in order to further improve the folding deformation performance of the stacked structure flexible adaptive unit 22, the penetration depth coefficient a can be advantageously configured to satisfy the following relationship: 0.2<a<0.6. Furthermore, for the stacked structure flexible adaptive unit 22, the load on its end face 31 and the ambient pressure jointly determine the pressure range inside the cavity required for work. The range of the pressure difference between the inside and outside of the cavity determines the range of the wall thickness t of the flexible side wall 32.

[0061] The stacked structure flexible adaptive unit 22 has an initial height H in the initial state (ie, in a relaxed state without external force and pressure difference). P , and in the process of compression or extension of the strain uniformly distributed stacking structure, the height H of the flexible adaptive unit 22 of the stacking structure is at the minimum height H min To the maximum height H max In some embodiments, in order to improve the lateral stability of the stacked structure flexible adaptive unit 22, the initial height H of the stacked structure flexible adaptive unit 22 is P The equivalent radius R of the convex fold can be advantageously configured to satisfy the following relationship: 0.6 < H P / R<3(working pressure range -0.1MPa~0.2MPa), 2.5<H P / R<6 (working below 0MPa). Advantageously, by setting a favorable initial height H P The numerical relationship between the equivalent radius R of the protruding fold 322 can unexpectedly achieve good lateral stability. Within the effective working range, the pressure difference between the inside and outside of the cavity of the stacked structure flexible adaptive unit 22 changes due to changes in load, stroke and the volume and / or pressure of the driving fluid, and the range of the internal and external pressure difference is within -0.1MPa to 0.2MPa. Correspondingly, the minimum height of the stacked structure flexible adaptive unit 22 is 0.2H. p <H min <0.4H p , maximum height H max >1.5H p , maximum intrusion angle θ max <45°, at this time, the stacked structure flexible adaptive unit 22 can have a service life of more than 3 million expansion and contraction times due to the characteristic of uniform strain distribution.

[0062] The static compression ratio C of the stacked structure flexible adaptive unit 22 is the initial height H P and minimum height H min The ratio of , that is:

[0063] C=H P / H min =lsinθ P / 1.5ml=sinθ P / 1.5m.

[0064] In order to achieve a larger static compression ratio, C can be set to be greater than 3. Thus, sinθ P >4.5m. θ P The relationship between and m can be set as follows:

[0065] m <![CDATA[sinθ P ]]> <![CDATA[θ P ]]> 0.07 ＞0.315 ＞18.4° 0.15 ＞0.45 ＞26.8° 0.2 ＞0.6 ＞36.87°

[0066] The stacked structure flexible adaptive unit 22 of the present application is significantly different from the stacked structure flexible adaptive unit 22 provided in the present application, and has a large effective compression ratio, a small total area of ​​the flexible side walls 32, better lateral stiffness, and better shape stability.

[0067] In some embodiments, when m=0.1, sinθ P =0.4230 (i.e. θ P =25.025°), the static compression ratio C is 2.82. P =0.5192 (i.e. θ P =31.3°), at this time the static compression ratio C is 3.46.

[0068] Figure 7A schematic diagram of a longitudinal cross-section of fold 322 is shown. The arc radius of its outer surface is r1, the arc radius of its inner surface is r2, and the wall thickness between the outer and inner surfaces is T. To achieve uniform strain distribution and prevent strain concentration at the fold, the wall thickness T at fold 322 can be set to be greater than the wall thickness t of fold surface 321. Therefore, when r1 = ot and r2 = it, r1 and r2 can be advantageously configured to satisfy the following relationship:

[0069]

[0070] The area change rate σ of the stacked structure flexible adaptive unit 22 Δ It refers to the ratio of the area change value of the folding surface 321 when the stacking structure flexible adaptive unit 22 is deformed from the first state to the second state (the first state and the second state refer to any two states within the deformation range of the stacking structure flexible adaptive unit 22, and do not specifically refer to a certain state) to the area of ​​the folding surface 321 in the first state. By limiting the range of the difference in the area change of the folding surface 321 during the deformation of the stacking structure flexible adaptive unit 22, the performance of the stacking structure flexible adaptive unit 22 can be further optimized, and a stacking structure flexible adaptive unit 22 that can simultaneously meet the requirements of large load-bearing capacity, large compression ratio, linear response dynamic characteristics, long life, etc. can be obtained. In this way, it is convenient to accurately and quickly adjust the required fluid volume with a simple control strategy according to different working scenarios. Through simplified processing, the folding surface 321 of the stacking structure flexible adaptive unit 22 in the initial state is regarded as the side of a truncated cone, the diameters of its upper and lower bases are r and R respectively, and the busbar length is (Rr) / cosγ. The folding surface 321 in the folded state is regarded as a ring with an inner diameter and an outer diameter of Rl and R respectively, then:

[0071] σ k =a(1-cosγ) / (2cosγ-a);

[0072] Wherein, γ is the change value of the intrusion angle θ when the stacked structure flexible adaptive unit 22 is deformed from the first state to the second state, σ k It is the ratio of the area change of the folding surface 321 when the stacked structure flexible adaptive unit 22 changes from the initial state to the fully compressed state to the area of ​​the folding surface 321 in the initial state.

[0073] Through this relationship, the stacked structure flexible adaptive unit 22 under different working conditions (working stroke, that is, the corresponding angle change range, pressure difference range) can be adjusted by σ k The value range of θ is limited p, and the value range of a, ensures that the flexible side wall 332 is still in a uniform strain distribution state during the folding and stretching process, while optimizing the compression ratio, shape stability and service life of the flexible adaptive unit 22 of the stacked structure. The uniform strain distribution state does not refer to the absolute uniform distribution of the actual strain, but rather to disperse it as much as possible and not concentrate it locally, especially at the crease 322.

[0074] It should be noted that the "uniform strain distribution" referred to in this article does not mean that the actual strain energy can be completely evenly distributed, but rather that it is dispersed as evenly as possible and not concentrated in certain positions (at the crease 322). Concentration in certain positions (at the crease 322) will cause the strain / stress in certain tiny local areas to be significantly higher than that in other positions, and in some cases these tiny local areas may exceed the elastic deformation range of the material and cause fatigue / damage.

[0075] In some embodiments, the initial intrusion angle θ p And the intrusion coefficient a satisfies the following relationship:

[0076] σ k =a(1-cosθ p ) / (2cosθ p -a), and 0.06<σ k <055.

[0077] When the working pressure difference range of the stacked structure flexible adaptive unit 22 is -0.08Mpa to 0Mpa (only negative pressure is used and the load is small), the maximum angle of the stacked structure flexible adaptive unit 22 during operation is θ p , that is, the stacked structure flexible adaptive unit 22 can only be compressed), through the formula σ k =a(1-cosγ) / (2cosγ-a) to define the initial intrusion angle θ p The value of , where γ = θ p , 0.4<a<0.6, 0.06<σ k In this embodiment, the material of the flexible side wall 32 satisfies the requirements of a tensile strength greater than 5 MPa, a Shore hardness greater than 60, and a resilience greater than 50%.

[0078] The tensile strength of the flexible side wall 32 is greater than 5 MPa, and the Shore hardness is greater than 60, so that the stacked structure adaptive unit can maintain the strain degree at each location within the small strain range of elastic deformation when it is stretched and bent, so that the stacked structure adaptive unit can flexibly follow the real-time changes in the relative speed, posture and other specific conditions between the contact working device and the facade to be worked, and stretch and bend in time, so as to keep the support contact working device in contact with the working facade in the manner required by the operation (full fit or fixed angle fit, contact pressure size, etc.).

[0079] When the working pressure difference range of the stacked structure flexible adaptive unit 22 is -0.08Mpa to 0.2Mpa (applicable to both positive and negative pressures, with a large pressure difference span, it can withstand a larger load, that is, the stacked structure flexible adaptive unit 22 can be compressed or stretched), the initial intrusion angle θ p The value of σ is determined by the formula k =a(1-cosγ) / (2cosγ-a), where γ=θ p , 0.02<σ k In this embodiment, the material of the flexible side wall 32 satisfies the following requirements: tensile strength greater than 9 MPa, Shore hardness greater than 70, and resilience greater than 40%. Furthermore, the material has tensile strength greater than 12 MPa, Shore hardness greater than 80, and resilience greater than 30%.

[0080] refer to Figure 8A and 8B , the stacking structure flexible adaptive unit 22 includes a sealing crimping piece 34 and an end plate 35 for its sealing. Correspondingly, a connecting fitting portion 36 is provided at both ends of the flexible side wall 32, and the connecting fitting portion 36 and the sealing crimping piece 34 and the end plate 35 form a sealed connection. The sealing crimping piece 34 has a first crimping portion 341 that matches the shape of the axial inner side and the radial inner side of the connecting fitting portion 36, and the end plate 35 has a second crimping portion 351 that matches the shape of the axial outer side and the radial outer side of the connecting fitting portion 36. The first crimping portion 341 and the second crimping portion 351 limit the connecting fitting portion 36 in both radial and axial directions, so that the end of the stacking structure flexible adaptive unit 22 has a stable shape; in one embodiment, the first crimping portion 341 and the second crimping portion 351 are both L-shaped.

[0081] A sealing fit is formed between the first crimping portion 341, the second crimping portion 351 and the connecting fitting portion 36, and the degree of deformation of the connecting fitting portion 36 is proportional to the pressure difference between the inside of the cavity and the external environment, thereby forming a seal with better effect as the pressure difference increases, thereby effectively solving the problem that the probability of sealing failure increases with the increase of pressure difference.

[0082] In some embodiments, during compression or extension of the strain-uniformly distributed stacking structure, the folding surface 321 of the strain-uniformly distributed stacking structure has a uniform strain distribution. Specifically, the strain difference in every 102 mm area does not exceed 10%.

[0083] To ensure that the stacked structure flexible adaptive unit 22 has good folding deformation performance, in some embodiments, the preparation material of the stacked structure flexible adaptive unit 22 is configured to meet the following relationship: tensile strength greater than 9Mpa, Shore hardness greater than 80, and resilience greater than 30% (under the test standard of ISO4662-2017). The stacked structure flexible adaptive unit 22 is made of a material with greater resilience, which can enable the stacked structure flexible adaptive unit 22 to store the part of the fluid energy used to overcome the internal stress of the strain-uniformly distributed stacked structure in the reciprocating action of deformation in the material in the form of elastic potential energy at a larger proportion and be converted back into mechanical energy for causing the strain-uniformly distributed stacked structure to rebound and reset in the subsequent process, thereby improving the energy conversion efficiency. In some embodiments, the stacked structure flexible adaptive unit 22 is made of thermoplastic polyurethane elastomer rubber (TPU). In other embodiments, the stacked structure flexible adaptive unit 22 is configured to be composed of any one or more of silicone rubber, polyethylene, polypropylene, thermoplastic polyurethane elastomer, thermoplastic elastomer, thermoplastic rubber, polyolefin thermoplastic elastomer, and thermoplastic vulcanized rubber.

[0084] In summary, the various types of stacked structure flexible adaptive units 22 obtained by the methods of the various embodiments of the present application can achieve that during the folding and deformation process, the folding surface 321 does not undergo large deformations such as depression or convexity, and the flow power is mainly used to cause the strain-uniformly distributed stacked structure to fold or stretch. The flexible side wall 32 itself hardly undergoes strain (i.e., the above-mentioned small strain characteristics), and the fold 322 does not deform either, so that the stacked structure flexible adaptive unit 22 can maintain a stable basic shape (a cylindrical shape with a variable length along the axis) with the fold 322 as the frame. ), each crease surface 323 approaches and moves away from each other uniformly along the axis, the crease 322 in the crease surface 323 does not bend or deform, nor does it move in the crease surface 323, but only moves along the axis with the crease surface 323, and the flexible side wall 32 changes with the change of the spacing between each crease surface 323, and the inclination angle of the crease surface 323 relative to the crease surface 323 between the crease surfaces 323, the basic position and shape of the flexible side wall 32 itself (the basic position is determined by the crease 322) do not change, a single folding surface 321 may undergo a slight S-shaped bend, but there will be no obvious area change caused by tensile strain.

[0085] The clamping mechanism in the present application includes a flexible adaptive unit 22 with a stacking structure, which has the characteristics of high pressure bearing, small strain, and long life, and can overcome at least part of the shortcomings of the prior art, thereby achieving a large load-bearing weight ratio, large buffering capacity, strong adaptability, and linear adjustment effect. The present application makes a targeted design for the shape of the flexible adaptive unit 22 with a stacking structure to adapt to various working conditions, and tries to make the overall strain evenly distributed on the flexible side wall 32 (or, evenly distributed on each folding surface 321) instead of concentrated at the crease 322. This has obvious positive significance for improving the energy conversion efficiency of the flexible adaptive unit 22 with a stacking structure, enhancing the environmental and working tolerance (wider temperature range, larger pressure difference, etc.), and extending the service life.

[0086] Specifically, the stacked structure flexible adaptive unit 22 of the present application can achieve the following technical effects:

[0087] 1. Large effective compression ratio (which is a necessary condition for a large working stroke and a small space occupied by itself. The concept of effective compression ratio is the premise for being able to maintain all the characteristics declared later); 2. Strong pressure bearing capacity (which refers to maintaining its own various characteristics under large pressure difference and large load); 3. Directional movement and structural characteristics (which refers to the fluid driver itself being easy to expand and contract in the axial direction and not prone to lateral distortion and twisting, which brings good constraints on the shape of the fluid in the cavity, so that the fluid driving force can be oriented as much as possible in the working direction), while minimizing the energy consumed in the deformation of the stacked structure flexible adaptive unit 22 itself; 4. Efficient energy utilization (the characteristics of the previous item 3 make energy A larger proportion can be used in the working direction. At the same time, because the combination of materials and structures makes the strain uniform, the local strain is controlled not to exceed the elastic deformation, so that the energy that causes the deformation of the stacked structure flexible adaptive unit 22 can be stored and released as much as possible in the form of elastic energy and dissipated in the plastic deformation process of the material); 5. Long life (the characteristics of the previous item 4 also bring about the effect of not being easy to be damaged by fatigue. Combined with item 3, this stacked structure flexible adaptive unit 22 can work stably and efficiently for a long time. The experimental data reaches a service life of 300w times under the specified conditions. The specified conditions include the pressure difference range, the deformation form is only telescopic, and the stroke range, rather than any working conditions, especially large pressure difference combined with large angle bending).

[0088] In the second aspect, the present application provides an aerial working equipment, including the contact working device, drone and fluid regulating device described in the first aspect, the drone is used to drive the contact working device to perform aerial work, and the fluid regulating device is used to adjust the fluid volume and / or pressure in the cavity of the stacked structure flexible adaptive unit 22, so that the stacked structure flexible adaptive unit 22 has different impact resistance capabilities and different lengths under the same force, thereby changing the relative proportion of the rotation amplitude of the two ends of the connecting rod, and has flexible adaptability that can be adjusted in both buffering capacity and adaptation angle range, so as to more widely adapt to various types of working requirements and changing working requirements in a single working process.

[0089] In application, the flexible adaptive unit 22 of the stacked structure tends to restore its original shape when the pressure is high, and responds sensitively to small changes in angle and force when the pressure is low. It has good buffering capacity when the pressure is moderate. The pressure depends on the amount of fluid and the force conditions.

[0090] The contact working device and suspended working equipment provided in this application, by applying the stacked structure flexible adaptive unit 22, cleverly apply the adjustable flexibility of the stacked structure flexible adaptive unit 22, can be stretched and bent along the axis while maintaining good morphological stability, and can be suitable for suspended and high-altitude operations in various complex scenarios, such as high-altitude spraying, high-altitude cleaning and other operations; can accurately reach the vertical surface of the object to be worked to perform operations.

[0091] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, please refer to the relevant description of other embodiments. The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some of the technical features therein with equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of this application, and should be included in the scope of protection of this application.

Claims

1. A contact working device, characterized in that: include: Contact operation module; An omnidirectional compliance adjustment module includes a movable support structure and a stacking structure flexible adaptive unit, one end of the movable support structure is connected to the contact operation module, the movable support structure has a telescopic deflection degree of freedom along the axial direction, and the stacking structure flexible adaptive unit has adjustable flexibility and can be telescopically bent along the axis while maintaining good morphological stability. When the contact operation module moves toward the facade and contacts the facade, the omnidirectional compliance adjustment module cooperates with the movable support structure through the telescopic bending of the stacking structure flexible adaptive unit to make the contact between the contact operation module and the facade soft, so as to reduce the reaction force caused by rigid collision, and can adaptively adjust the posture of the contact operation device in an omnidirectional manner so that it can contact the facade of the object to be operated at a more fitting angle, thereby contacting the facade of the object to be operated in a uniform and comprehensive manner and / or in a manner required by other operations; The flexible adaptive unit of the stacked structure has good shape stability and elasticity, and is easy to expand and contract and bend in a specific direction. Therefore, it can produce a soft and sensitive deformation response due to the force in contact to drive the contact operation module to adapt to the contact angle of the facade while reducing the reaction force caused by rigid collision. Due to the shape stability and elasticity, it can maintain the stability of the front end contact angle when the rear end position of the movable support structure is unstable.

2. The contact working device according to claim 1, wherein: The movable support structure further comprises: A mounting seat for mounting the stacked structure flexible adaptive unit therein; a connecting rod passing through the mounting seat, one end of the connecting rod being connected to the stacking structure flexible adaptive unit, and the other end of the connecting rod being connected to the contact operation module; The stacked structure flexible adaptive unit has a fixed end and a movable end, the fixed end is arranged on the mounting seat, and the movable end is connected to the connecting rod.

3. The contact working device according to claim 2, wherein: There are multiple stacked structure flexible adaptive units, multiple connecting rods, and one flexible driving structure corresponds to one connecting rod; And / or, the mounting seat includes a first mounting plate and a second mounting plate arranged in parallel, the fixed end of the stacking structure flexible adaptive unit is connected to the first mounting plate, the movable end is located between the first mounting plate and the second mounting plate, and is compressed and / or stretched therein, the connecting rod is passed through the movable support hole on the second mounting plate and can be rotated at the penetration point as a fulcrum, the connecting rod moves axially relative to the second mounting plate as the stacking structure flexible adaptive unit expands and contracts, thereby changing the position of the penetration point on the connecting rod, thereby changing the relative proportion of the rotation amplitude at both ends of the connecting rod.

4. The contact working device according to claim 1, wherein: The stacked structure flexible adaptive unit further includes two end surfaces and flexible side walls; The flexible side wall and the two end surfaces enclose a cavity having a central axis, the flexible side wall being designed to or comprising a stacked structure that can be compressed and / or stretched along the central axis, the stacked structure being formed by at least two stacked layers stacked along the central axis, such that the strain of the entire flexible side wall is evenly distributed in each stacked layer, the stacked layer comprising at least one strain unit, the strain unit having a folding surface and a crease, and based on a combination of the shape, thickness, and stacking method of the strain unit, during the process of the flexible side wall expanding and / or bending along the central axis, the strain of the strain unit is evenly distributed on the folding surface and not concentrated at the crease, the stacked layer being enclosed by a single folding surface, a crease being formed at the junction of the folding surfaces of two adjacent stacked layers, the crease being located within the crease surface perpendicular to the central axis, and the crease surface being a plane in an initial state; The strain unit has an intrusion angle θ, an intrusion depth v, an intrusion depth coefficient a, a folding surface width l and a wall thickness t, wherein the intrusion angle θ is the angle between the folding surface and the adjacent crease surface, and the intrusion angle θ changes as the stacking structure is compressed or stretched. The intrusion angle θ, the intrusion depth coefficient a, the folding surface width l and the wall thickness t are all defined based on the cross-section of the strain unit cut by the S plane. The folding surface width l is the width of the folding surface from the radial outer side of the convex crease to the radial inner side of the concave crease. The folding surface width l is perpendicular to the center. The projection in the axial direction is defined as an intrusion depth v, the intrusion depth coefficient a is the proportional relationship between the intrusion depth v and the effective radius of the protruding fold, the wall thickness t is the thickness of the flexible sidewall, the intrusion angle θ, the intrusion depth coefficient a, the folding surface width l, and the wall thickness t are numerically associated with each other and have a set value combination, so that during the deformation of the stacked structure flexible adaptive unit, the flexible sidewall folds and / or stretches, and the strain of the flexible sidewall is evenly distributed on each of the folding surfaces and is not concentrated at the fold. The strain unit has at least one basic shape that appears continuously and repeatedly in the axial direction; the folds on the adjacent fold surfaces have different concave and convex states on the flexible side wall; and the convex folds have a closed shape with a continuous curvature G1 or a continuous curvature G2 on a cross section perpendicular to the central axis; The stacked structure flexible adaptive unit has an initial intrusion angle θ in the initial state. p and initial height H p , and during the compression and / or extension process within the effective working range of the stack structure, the intrusion angle θ is between 0° and the maximum intrusion angle θ max The height H of the stacked structure flexible adaptive unit changes between the minimum height H min To the maximum height H max The crease only moves along the central axis with the crease surface without deformation; During the compression process of the flexible adaptive unit of the stacked structure, the folding surface is deformed in a wave shape on the central longitudinal section, and the wave shape of the deformed folding surface includes wave crests and wave troughs.

5. The contact working device according to claim 4, wherein: The initial intrusion angle θp and the intrusion coefficient a satisfy the following relationship: s k =a(1-cosθ p ) / (2cosθ p -a); Furthermore, on the S plane, a point-to-point straight-line distance from the crest of a single strain unit to the outer end of the crease is greater than 0.

251.

6. The contact working device according to claim 4, wherein: Within the effective working range, the pressure difference between the cavity of the stacked structure flexible adaptive unit and the external environment changes due to the change in the volume and / or pressure of the driving fluid, and causes the volume change of the cavity of the stacked structure flexible adaptive unit. The volume change of the cavity is mainly reflected in the expansion and contraction and bending along the direction of the central axis, thereby driving the relative movement of the two ends of the stacked structure flexible adaptive unit. The pressure difference varies within the range of -0.1MPa to 0.2MPa, and the minimum height of the stacked structure flexible adaptive unit is 0.2H. p <H min <0.4H p , maximum intrusion angle θ max <45°, maximum height H max >1.5H p When the stacked structure flexible adaptive unit is stretched and retracted for more than 3 million times, the service life is improved.

7. The contact working device according to claim 4, wherein: When the working pressure difference range of the stacked structure flexible adaptive unit is -0.08Mpa to 0.2Mpa, 0.02<σ k <0.1, 0.25<a<0.55; the material of the flexible side wall meets the following requirements: tensile strength greater than 12Mpa, Shore hardness greater than 80, and resilience greater than 30%; Alternatively, the operating pressure difference range of the stacked structure flexible adaptive unit is -0.08Mpa to 0Mpa, 0.4<a<0.6, 0.06<σ k <0.17; the material of the flexible side wall meets the following requirements: tensile strength greater than 5Mpa, Shore hardness greater than 60, and resilience greater than 50%.

8. The contact working device according to claim 4, wherein: The stacked structure flexible adaptive unit includes a sealing crimping piece and an end plate for sealing thereof, and both ends of the flexible side wall are provided with a connecting fitting portion, and the connecting fitting portion and the sealing crimping piece and the end plate form a sealed connection; The sealing crimping piece has a first crimping portion that matches the axial inner side and radial inner side of the connecting fitting portion, and the end plate has a second crimping portion that matches the axial outer side and radial outer side of the connecting fitting portion, and the first crimping portion and the second crimping portion limit the connecting fitting portion in both radial and axial directions; And / or, the stacking structure flexible adaptive unit also includes a fluid regulating part, which is arranged on the flexible side wall or the end face, and the fluid regulating part is used to change the internal and external pressure difference of the cavity and compress or stretch the stacking structure, driving the movable end to move, so that the contact operation module can fit more closely to the working surface.

9. The contact working device according to claim 4, wherein: The closed shape includes a straight line, an arc, and a curved line segment with a varying curvature, and when at least two of these are adjacent, the curvature is G1 continuous; Alternatively, when the closed shape includes only curves with continuously changing curvature, the curvature is G2 continuous.

10. A suspended working device, characterized in that: It includes the contact working device, drone and fluid regulating device according to any one of claims 1 to 9, wherein the fluid regulating device is used to adjust the fluid volume and / or pressure in the cavity of the flexible adaptive unit of the stacked structure, so that the flexible adaptive unit of the stacked structure has different impact resistance capabilities and different lengths under the same force, thereby changing the relative proportion of the rotation amplitude of the two ends of the connecting rod, and has flexible adaptability that can be adjusted in both buffering capacity and adaptation angle range, so as to more widely adapt to various types of working requirements and changing working requirements in a single working process.

Images