Operation device adapting to curved surface and operation robot

Abstract

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

Description

Technical Field

[0001] This application relates to the field of curved surface operations, and more specifically, to a working device and robot adapted to curved surfaces. Background Technology

[0002] With the development of science and technology, large-scale machinery and equipment are being used more and more widely in various industries. However, when it is necessary to operate large-scale machinery and equipment in high-altitude areas, it is often necessary to transport workers to the heights, which is a high-risk and low-efficiency method. Therefore, using industrial robots to operate in high-altitude areas is a safe and efficient option.

[0003] Since the surfaces of machinery and equipment often have many curved surfaces, and even many irregularly shaped or varying degrees of curvature, existing working devices can often achieve good working results on flat surfaces, but it is difficult to provide stable working results in the case of such complex curved surfaces. Therefore, there is a need to provide a working device that can adapt to changes in curved surfaces in order to achieve good working results on complex curved surfaces. Utility Model Content

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

[0005] In a first aspect, a working device adaptable to a curved surface is provided, comprising: a moving component, the moving component including a mounting frame, a slider, and a traction unit, the mounting frame extending along a first direction, the slider being connected to the mounting frame, and the traction unit for traction of the slider to move along the first direction on the mounting frame; a working component, the working component being movably connected to the slider and disposed on one side of the moving component along a second direction, the second direction being perpendicular to the first direction; and a rotating component, the rotating component connecting the working component and the slider, for controlling the working component to rotate around the slider.

[0006] By controlling the relative rotation between the working component and the slider through a rotating component, the working device provided in this application embodiment can realize the angle adjustment between the working component and the working surface. When the working surface is a complex curved surface, the rotation angle of the working component relative to the slider can be adjusted according to the curvature change of the surface, so that the working component can be adjusted to a position approximately parallel to the working surface. Furthermore, by moving the slider along the first direction on the mounting frame, the working component can be further adjusted to a position that fits against the working surface, thereby enabling the working component to adapt to surface changes and achieve good operation on complex curved surfaces.

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

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

[0009] In some embodiments, the rotating assembly includes a guide crank and a guide portion. A first end of the guide crank engages with the guide portion and is movable along the extension trajectory of the guide portion. A second end of the guide crank is connected to the slider. A third end of the guide crank is connected to the working assembly. The guide portion includes a first guide rail that extends along a direction between a first direction pointing towards the working surface and a second direction away from the working assembly. The first end, the second end, and the third end are not on the same straight line.

[0010] By leveraging the coordinated action of the guide crank and the guide unit, the movement of the slider along the first direction can be controlled solely by the traction unit, thereby driving the guide crank to move in the first direction. Simultaneously, under the constraint of the first guide rail, the first end of the guide crank drives the third end of the guide crank to rotate around the second end of the guide crank. This allows for the rotation of the working component relative to the slider through a simple structure, simplifying the control procedure.

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

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

[0013] In some embodiments, the rotating assembly includes a first connecting shaft, one end of which engages with the guide portion and is movable along the extension direction of the guide portion, the other end of which is connected to the first end of the guide crank and is rotatable about the first connecting shaft.

[0014] The first connecting shaft can simultaneously realize the movement of the first end of the guide crank along the guide portion and the rotation of the first end of the guide crank itself. At the same time, it provides the degree of freedom for the rotation of the working component driven by the guide crank, which is conducive to the adjustment of the working component to the surface changes and improves the adaptability of the working component to the surface changes.

[0015] In some embodiments, the rotating assembly includes: a second connecting shaft connecting the slider and the second end, the second end being rotatable relative to the slider about the second connecting shaft; a moving member connecting the working assembly and the third end of the guide crank, the working assembly and the guide crank being rotatable relative to each other along the moving member; and a rotating member connecting the moving member to the working assembly via the rotating member, the working assembly and the guide crank being rotatable relative to each other about the rotating member.

[0016] Through the cooperation between the second connecting shaft, the moving component, and the rotating component, the traction unit can simultaneously move the working component toward the working surface and rotate it towards the working surface while controlling the slider to move along the first direction, adapting to the curvature of the working surface. Conversely, the working component can move away from the working surface and rotate it away from the working surface, reducing interference between the working component and the working surface. This facilitates automatic control of the working device in the working area, improves the device's adaptability to surface changes, and ultimately enhances the working effect of the device on curved surfaces.

[0017] In some embodiments, the moving member includes a through groove and a third connecting shaft, the through groove passing through the third end of the guide crank in a third direction, the third connecting shaft passing through the through groove and being movable along the through groove, the rotating member being the third connecting shaft, the working component being rotatable about the third connecting shaft, and the third direction being perpendicular to the first direction and the second direction.

[0018] This structural design allows the third connecting shaft to function as both a moving component and a rotating component, providing freedom for the adjustment of the working assembly to adapt to the curved surface. It also simplifies the overall structure of the working device, reduces manufacturing costs, and improves the reliability of the working device.

[0019] In some embodiments, the working component is connected to the slider via a first rotating shaft that extends along a third direction perpendicular to the first and second directions, and the working component is capable of rotating about the first rotating shaft.

[0020] The first rotating shaft enables the movable connection between the working component and the slider, providing the working component with rotational freedom. This allows the working component to adjust its relative angle with the slider according to changes in the curved surface, thereby improving the working effect of the device on complex curved surfaces.

[0021] In some embodiments, the working component includes a support, a working part, and a second rotating shaft. The support is movably connected to the slider. The working part is disposed on the side of the support facing the working surface in the first direction. The working part is connected to the support via the second rotating shaft and is rotatable around the second rotating shaft. The second rotating shaft extends along a third direction, which is perpendicular to the first direction and the second direction.

[0022] The work unit can further adjust its fit with the work surface through the second rotating shaft, allowing it to adapt more flexibly to surface changes and achieve good work on complex surfaces.

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

[0024] The sliding rod increases the distance between the working part and the support, giving the working part more room to rotate around the second axis. This allows for adjustments to the position of the working part based on the actual conditions of the working surface, improving its adaptability to curved surfaces. Simultaneously, the sliding rod's movement only in the first direction restricts the working part from rotating in a fixed position, preventing it from swaying in the second direction and thus enhancing its stability.

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

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

[0027] In some embodiments, the telescopic mechanism includes a first link and a second link. One end of the first link is connected to the bracket, and the other end of the first link is connected to one end of the second link. The other end of the second link is connected to the working part. The first link and the second link have an included angle and are provided with a torsional elastic element, which is used to resist the rotation of the first link and the second link in the direction of approaching each other.

[0028] The cooperation of the first link, the second link, and the torsional elastic element provides space for the working part to adapt to changes in the curved surface, and applies pressure to the working part, enabling it to be better adjusted to fit the working surface and to fit tightly against the working surface, thereby improving the working part's adaptability to the curved surface and the working effect on the working surface.

[0029] In some embodiments, the working component includes a limiting member disposed between the first link and the second link, the limiting member being used to restrict the rotation of the first link and the second link in directions away from each other.

[0030] The limiting component can maintain the opening direction of the included angle between the first and second links, improving the overall stability of the working assembly. Simultaneously, when used in conjunction with the torsional elastic component, it can maintain the torque direction of the torsional elastic component, reducing the possibility that the torsional elastic component cannot generate elastic force on the first and second links.

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

[0032] The surface-adaptive robot provided in this application can replace manual labor for high-altitude operations, offering advantages in safety and efficiency. Simultaneously, the working device possesses excellent surface adaptability, enabling it to perform well on complex curved surfaces, thereby improving work efficiency and effectiveness. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of a working device adapted to curved surfaces provided in this application.

[0034] Figure 2 This is a schematic diagram of another working device adapted to curved surfaces provided in this application.

[0035] Figure 3 This is a partial structural schematic diagram of a working device adapted to curved surfaces provided in this application.

[0036] Figure 4 yes Figure 3 A magnified structural diagram of part A in the middle.

[0037] Figure 5 This is a schematic diagram of another working device adapted to curved surfaces provided in this application.

[0038] Figure 6 This is a schematic diagram of another working device adapted to curved surfaces provided in this application.

[0039] Figure 7 This is a structural schematic diagram of a work robot adapted to curved surfaces, as provided in this application. Detailed Implementation

[0040] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application, that is, this application is not limited to the described embodiments.

[0041] In the description of this application, it should be noted that the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationships, 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range. All technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the specification of this application is only for the purpose of describing specific embodiments and is not intended to limit this application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing description of the drawings of this application are intended to cover non-exclusive inclusion.

[0042] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of this application. It should also be noted in the description of this application that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

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

[0044] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three possibilities: A exists, A and B exist, and B exists. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0045] In this application, "multiple" refers to two or more (including two), and similarly, "multiple groups" refers to two or more (including two), and "multiple pieces" refers to two or more (including two).

[0046] In the embodiments of this application, the same reference numerals denote 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 this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0047] The surface-adaptive working device provided in this application embodiment can be applied to flat or curved surfaces, and is particularly suitable for walls that are vertical, inclined, or difficult to access. Specifically, it can be applied to the surfaces of equipment such as ship hulls, oil tanks, water tanks, bridges, towers, and wind turbine towers, as well as the surfaces of large industrial equipment (such as boilers and reactors).

[0048] The surface-adaptive working device provided in this application can be used to perform inspection and maintenance work on the surface of machinery and equipment, such as cleaning, spraying, painting, welding, grinding, and inspection of the working surface. This application does not limit the application scenarios and work items for inspection and maintenance; the specific work items involved are only illustrative examples.

[0049] The adaptable surface working device 1 provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

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

[0051] The moving component 10 refers to the structure in the working device 1 that drives the rotating component 30 and the working component 20 to move in the first direction X. The first direction X intersects the working surface. The mounting frame 11 in the moving component 10 is an elongated structure extending along the first direction X. The mounting frame 11 may be provided with a groove or guide rail extending along the first direction X. The slider 12 in the moving component 10 can cooperate with the groove or guide rail on the mounting frame 11 and move along the groove or guide rail in the first direction X. In some embodiments, the slider 12 can move on the mounting frame 11 via a traction unit 13, which may be, for example, a traction motor.

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

[0053] The working component 20 is movably connected to the slider 12, for example, by a hinge or other means. On one hand, the slider 12 moves along the first direction X on the mounting bracket 11, and the working component 20 can move together with the slider 12 in the first direction X; on the other hand, the working component 20 can rotate relative to the slider 12 while connected to it.

[0054] The working component 20 is located on one side of the moving component 10 along the second direction Y. The working component 20 can fit against the working surface on the side of the mounting frame 11. When working on the working surface, it is not easy to interfere with the mounting frame 11, thus improving the working effect of the working device 1.

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

[0056] In some embodiments, one end of the rotating assembly 30 connected to the slider 12 may be specifically connected to a rotating shaft between the working assembly 20 and the slider 12 for realizing a movable connection, or more specifically, to a portion of the rotating shaft that is fixed to the slider 12.

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

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

[0059] Figure 1 The structure of a rotating assembly 30 is shown, as follows: Figure 1As shown, the rotating assembly 30 includes a rotating part 31 and a connecting rod 32. The rotating part 31 refers to the structure that controls the rotation of the connecting rod 32, and can be, for example, a rotary motor. The rotating part 31 can be disposed on the slider 12 and connected to the end of the connecting rod 32 connected to the slider 12. During the process of the rotating part 31 controlling the rotation of the connecting rod 32, the end of the connecting rod 32 connected to the slider 12 remains stationary, while the end of the connecting rod 32 connected to the working assembly 20 rotates around the end of the connecting rod 32 connected to the slider 12. Since the working assembly 20 is movably connected to the slider 12, the end of the connecting rod 32 connected to the working assembly 20 can drive the working assembly 20 to rotate together during the rotation, thereby realizing the adjustment of the relative angle between the working assembly 20 and the working surface.

[0060] In some embodiments, the end of the connecting rod 32 connected to the slider 12 may be specifically connected to a rotating shaft between the working assembly 20 and the slider 12 for realizing a movable connection, or more specifically, to the portion of the rotating shaft that is fixed to the slider 12.

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

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

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

[0064] Guide rod 33 refers to a rod-like structure with a curved or bent structure, for example, Figure 2The guide crank 33 shown has a bent structure in the middle section, and the two sides of the guide crank 33 form an angle at the middle position. The ends of the two sides of the guide crank 33 away from the middle position are the first end 331 and the third end 333, respectively. The part of the guide crank 33 where the bend occurs is the second end 332 of the guide crank 33. That is to say, the first end 331, the second end 332, and the third end 333 are not on the same straight line. When the second end 332 moves in the first direction X, the displacement of the first end 331 in the second direction Y can drive the third end 333 to rotate around the second end 332.

[0065] The guide section 34 refers to the structure that can guide the guide crank 33 to move along a certain trajectory, so as to Figure 2 For example, the guide part 34 may include a groove structure on the mounting bracket 11, and the first end 331 of the guide crank 33 cooperates with the groove structure, enabling it to move along the extension direction of the groove structure. The guide part 34 includes a first guide rail 341, which extends along a direction between the first direction X (pointing towards the working surface) and the second direction Y (moving away from the working assembly 20), or along a direction between the first direction X (moving away from the working surface) and the second direction Y (approaching the working assembly 20). That is, during the movement of the first end 331 of the guide crank 33 along the first guide rail 341, displacement can occur simultaneously in the first direction X and the second direction Y. The extension direction of the first guide rail 341 enables the third end 333 of the guide crank 33 to rotate towards the working surface when the second end 332 of the guide crank 33 moves towards the working surface along the first direction X; and the third end 333 of the guide crank 33 to rotate away from the working surface when the second end 332 of the guide crank 33 moves away from the working surface along the first direction X.

[0066] In this embodiment, the first end 331 of the guide crank 33 cooperates with the guide portion 34 and moves along the extension trajectory of the guide portion 34; the second end 332 is connected to the slider 12 and moves along the first direction X on the mounting bracket 11 following the slider 12; the third end 333 is connected to the working component 20, and the movement generated by the first end 331 and the second end 332 enables the third end 333 to move passively, thereby the third end 333 drives the working component 20 to rotate relative to the slider 12.

[0067] Specifically, the traction part 13 of the moving component 10 pulls the slider 12 to move in the first direction X. Then, the second end 332 of the guide crank 33 moves with the slider 12 in the first direction X. The first end 331 of the guide crank 33 moves along the first guide rail 341. At the same time as the first end 331 moves in the first direction X, the first guide rail 341 guides the first end 331 to generate a displacement in the second direction Y. The second end 332 is connected to the slider 12 and moves only in the first direction X, not in the second direction Y. Therefore, the third end 333 rotates around the second end 332 to adapt to the displacement generated by the first end 331 in the second direction Y. Thus, the third end 333 can drive the working component 20 to rotate relative to the slider 12. In this embodiment, when the first end 331 is displaced in the direction away from the working component 20 along the second direction Y, the third end 333 drives the working component 20 to rotate toward the working surface; when the first end 331 is displaced in the direction away from the working surface along the second direction Y, the third end 333 drives the working component 20 to rotate away from the working surface.

[0068] Optionally, the guide section 34 may include a protrusion structure on the mounting bracket 11, and the first end 331 of the guide crank 33 is provided with a groove structure that cooperates with the protrusion structure, so that the guide crank 33 can move along the trajectory of the guide section 34.

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

[0070] Through the coordinated action of the guide crank 33 and the guide part 34, the movement of the slider 12 along the first direction X is controlled only by the traction part 13, thereby driving the guide crank 33 to move in the first direction X. At the same time, under the constraint of the first guide rail 341, the first end 331 of the guide crank 33 drives the third end 333 of the guide crank 33 to rotate around the second end 332 of the guide crank 33. Thus, the rotation of the working component 20 relative to the slider 12 can be realized with a simple structure, simplifying the control program.

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

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

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

[0074] According to some embodiments of this application, the rotating assembly 30 includes a first connecting shaft 351, one end of which engages with the guide portion 34 and is movable along the extension direction of the guide portion 34, and the other end of the first connecting shaft 351 is connected to the first end 331 of the guide crank 33, and the first end 331 is rotatable around the first connecting shaft 351.

[0075] The first end 331 of the guide crank 33 is connected to the guide portion 34 via the first connecting shaft 351. Taking the guide portion 34 as an example, which includes a groove structure, one end of the first connecting shaft 351 is accommodated in the groove structure and can move along the extension direction of the groove structure; the other end of the first connecting shaft 351 is connected to the first end 331 of the guide crank 33, so that the first end 331 of the guide crank 33 can move along the extension direction of the guide portion 34 under the drive of the first connecting shaft 351. At the same time, the first end 331 can rotate around the first connecting shaft 351, and the guide crank 33 can rotate as a whole during its movement along the first guide rail 341.

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

[0077] The first connecting shaft 351 can simultaneously realize the movement of the first end 331 of the guide crank 33 along the guide part 34 and the rotation of the first end 331 of the guide crank 33 itself. At the same time, it provides the degree of freedom for the guide crank 33 to drive the rotation of the working component 20, which is conducive to realizing the adjustment of the working component 20 to the surface change and improving the adaptability of the working component 20 to the surface change.

[0078] According to some embodiments of this application, the rotating assembly 30 includes: a second connecting shaft 352, which connects the slider 12 and a second end 332, the second end 332 being rotatable relative to the slider 12 about the second connecting shaft 352; a moving member 36, which connects the working assembly 20 and the guide crank 33 to a third end 333, the working assembly 20 and the guide crank 33 being rotatable relative to each other along the moving member 36; and a rotating member 37, which connects the moving member 36 to the working assembly 20, the working assembly 20 and the guide crank 33 being rotatable relative to each other about the rotating member 37.

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

[0080] In some embodiments, the connection point between the second end 332 of the guide crank 33 and the slider 12 does not coincide with the connection point between the working component 20 and the slider 12. Therefore, the rotation center of the third end 333 of the guide crank 33 and the rotation center of the working component 20 are different. Since the third end 333 of the guide crank 33 is connected to the working component 20, the third end 333 of the guide crank 33 needs a certain displacement space to enable the working component 20 to rotate.

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

[0082] In one possible implementation, the movable member 36 may include a sliding pair consisting of a groove and a protrusion, wherein the movement of the protrusion in the groove allows the guide crank 33 and the working assembly 20 to rotate smoothly. For example, as Figure 3 As shown, a groove is provided on the third end 333 of the guide crank 33, which extends a certain distance along the extension direction of the guide crank 33; a protrusion is provided on the working component 20, which is accommodated in the groove of the third end 333 and can move within the groove. Alternatively, a protrusion can be provided on the third end 333 of the guide crank 33, and a groove extending in a certain direction can be provided on the area of ​​the working component 20 connected to the third end 333. The protrusion on the third end 333 is accommodated in the groove on the working component 20 and can move within the groove. The protrusion in the moving component 36 can be a shaft-like structure, meaning that both the guide crank 33 and the working component 20 can use this protrusion as a rotation axis and rotate around it. In this case, the protrusion is the rotating component 37 in the rotating component 30. That is, through the groove and protrusion respectively provided on the guide crank 33 and the working component 20, the rotation and relative movement of the third end 333 and the working component 20 can be achieved simultaneously.

[0083] In another possible implementation, the movable member 36 can be, for example, a telescopic linkage that is nested together. For instance, a first rod is provided on the third end 333 of the guide crank 33, and a second rod is provided on the working component 20. The first and second rods are nested together and can move relative to each other in their extending directions. Alternatively, the rotating member 37 can be a shaft-like structure connecting the working component 20 and the second rod. During the rotation of the guide crank 33 and the working component 20, the first and second rods move relative to each other. The first rod, the second rod, and the guide crank 33 all rotate around the rotating member 37, thereby realizing the rotation and relative movement of the third end 333 and the working component 20.

[0084] Through the cooperation between the second connecting shaft 352, the moving component 36, and the rotating component 37, the traction unit 13, while controlling the slider 12 to move along the first direction X, can simultaneously move the working component 20 towards the working surface and rotate it towards the working surface to adapt to the surface curvature. Conversely, the working component 20 can move away from the working surface and rotate away from it to reduce interference between the working component 20 and the working surface. This facilitates automatic control of the working device 1 in the working area, improves its adaptability to surface curvature, and ultimately enhances its working effect on curved surfaces.

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

[0086] Figure 3 and Figure 4 The structure of a specific movable component 36 is shown, wherein Figure 4 yes Figure 3 An enlarged structural diagram of part A. (See diagram below.) Figure 3 and Figure 4 As shown, the movable component 36 may include a through groove 354 and a third connecting shaft 353.

[0087] A through groove 354 is provided at the third end 333 of the guide crank 33, passing through the guide crank 33 in the third direction Z and extending along the extension direction of the guide crank 33. That is, the through groove 354 has a certain length in the extension direction of the guide crank 33. One end of the third connecting shaft 353 in the third direction Z is connected to the working component 20, and the other end is connected to the guide crank 33 by passing through the through groove 354. When both the working component 20 and the guide crank 33 rotate, the third connecting shaft 353 can move in the through groove 354.

[0088] exist Figure 4 In the structure shown, the third connecting shaft 353 can be, for example, a cylindrical structure, serving as the rotating member 37 in the rotating assembly 30. As the third end 333 of the guide crank 33 drives the working assembly 20 to rotate in the same direction, on the one hand, the third end 333 and the working assembly 20 can rotate about the line containing the axial direction of the third connecting shaft 353; on the other hand, the third connecting shaft 353 can move along the through groove 354, providing degrees of freedom for the rotation of the guide crank 33 and the working assembly 20.

[0089] This structural design allows the third connecting shaft 353 to function as both a moving component 36 and a rotating component 37, providing freedom for the adjustment of the working component 20 to adapt to the curved surface. It also simplifies the overall structure of the working device 1, reduces manufacturing costs, and improves the reliability of the working device 1.

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

[0091] like Figure 1 and Figure 2 As shown, the movable connector that enables the connection between the working component 20 and the slider 12 includes a first rotating shaft 101. The first rotating shaft 101 extends in the third direction Z, connecting the working component 20 and the slider 12. The working component 20 can rotate around the first rotating shaft 101 under the drive of the guide crank 33.

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

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

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

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

[0096] The work section 22 refers to the part of the work assembly 20 used for performing work on the work surface, and its structure can be configured differently depending on the specific work project. For example, if the work device 1 is a cleaning device, then the work section 22 can be a brush; as another example, if the work device 1 is a paint roller, then the work section 22 can be a roller brush. The work section 22 is connected to the bracket 21 and is disposed on the side of the bracket 21 facing the work surface in the first direction X. When the bracket 21 rotates toward the work surface, the work section 22 can move closer to the work surface.

[0097] The second rotating shaft 23 is disposed in the connection area between the working part 22 and the support 21. The second rotating shaft 23 extends along the third direction Z. While the working part 22 is connected to the support 21, it can rotate around the second rotating shaft 23.

[0098] During the adjustment process of the working component 20 according to the surface change, the moving component 10 controls the support 21 to move towards the working surface, and the rotating component 30 controls the support 21 to rotate around the slider 12 towards the working surface. Thus, the moving component 10 and the rotating component 30 can adjust the support 21 to a position approximately parallel to the surface, and when the support 21 is in this position, the working part 22 can fit against the working surface. Furthermore, the working part 22 can rotate around the second pivot 23. During the process of fitting against the working surface, the rotation angle of the working part 22 is finely adjusted according to the actual situation of the working surface, making the fit between the working part 22 and the working surface even tighter.

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

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

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

[0102] Sliding rods 24 are disposed on both sides of the second rotating shaft 23. As the working part 22 rotates around the second rotating shaft 23, the sliding rods 24 on both sides of the second rotating shaft 23 also adaptively adjust in the first direction X as the working part 22 rotates. For example, if one side of the working part 22 rotates away from the working surface in the second direction Y, the corresponding sliding rod 24 on that side also moves away from the working surface in the first direction X.

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

[0104] The sliding rod 24 increases the distance between the working part 22 and the support 21, giving the working part 22 more rotational space during its rotation around the second axis 23. This allows for adjustment of the position of the working part 22 according to the actual conditions of the working surface, improving its adaptability to curved surfaces. Simultaneously, the sliding rod 24's movement only in the first direction X restricts the working part 22 from rotating in a fixed position, preventing it from swaying in the second direction Y, thus improving the stability of the working part 22.

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

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

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

[0108] According to some embodiments of this application, the telescopic mechanism 25 includes a first link 251 and a second link 252. One end of the first link 251 is connected to the bracket 21, and the other end of the first link 251 is connected to one end of the second link 252. The other end of the second link 252 is connected to the working part 22. The first link 251 and the second link 252 have an included angle and are provided with a torsional elastic element 253. The torsional elastic element 253 is used to resist the rotation of the first link 251 and the second link 252 in the direction of approaching each other.

[0109] In one specific implementation, such as Figure 6 As shown, the telescopic mechanism 25 includes a first link 251 and a second link 252. The bracket 21, the first link 251, the second link 252, and the working part 22 are connected in sequence, and all connections are movable. That is, both structures connected at each connection point can rotate around that connection point.

[0110] The first link 251 and the second link 252 form an included angle, and a torsional elastic element 253 is disposed between them. The torsional elastic element 253 can be, for example, a torsion spring. The torsional elastic element 253 is engaged within the included angle formed by the first link 251 and the second link 252. When the first link 251 and the second link 252 rotate toward each other, the torsional elastic element 253 applies an elastic force to the first link 251 and the second link 252, preventing them from moving closer together. In this situation, the pressure applied by the torsional elastic element 253 can be transmitted to the working part 22, causing the working part 22 to experience pressure toward the working surface.

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

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

[0113] According to some embodiments of this application, the working component 20 includes a limiting member 26 disposed between the first link 251 and the second link 252, and the limiting member 26 is used to restrict the rotation of the first link 251 and the second link 252 in directions away from each other.

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

[0115] In some embodiments, the limiting member 26 and the torsional elastic member 253 cooperate, with the torsional elastic member 253 disposed inside the included angle between the first link 251 and the second link 252. The limiting member 26 restricts the relative rotation of the first link 251 and the second link 252 in a fixed included angle opening direction, so that the torsional elastic member 253 always remains inside the included angle between the first link 251 and the second link 252, preventing free rotation between the first link 251 and the second link 252 from changing the included angle opening direction between the first link 251 and the second link 252. This would cause the torsional elastic member 253 to be outside the included angle between the first link 251 and the second link 252, and thus unable to resist the rotation of the first link 251 and the second link 252 in the direction of approaching each other.

[0116] The limiting member 26 can maintain the opening direction of the included angle between the first link 251 and the second link 252, improving the overall structural stability of the working assembly 20. At the same time, when cooperating with the torsional elastic member 253, it can maintain the torque direction of the torsional elastic member 253, reducing the possibility that the torsional elastic member 253 cannot generate elastic force on the first link 251 and the second link 252.

[0117] This application provides a work robot 100 adapted to curved surfaces, including: a walking mechanism 2 for walking on the work surface; and a work device 1 adapted to curved surfaces according to any of the above embodiments, wherein the mounting frame 11 of the work device 1 is connected to the walking mechanism 2.

[0118] The walking mechanism 2 can be, for example, a wall-climbing robot or other device capable of walking on a work surface. The work device 1 is connected to the walking mechanism 2 via a mounting frame 11, allowing the work device 1 to be carried on the walking mechanism 2 and move to the work area as the walking mechanism 2 moves. In some embodiments, the walking mechanism 2 can be a robot capable of walking on curved surfaces.

[0119] like Figure 7As shown, the work robot 100 may further include a container 3, a camera 4, and a slide rail 5. The container 3 is used to hold work materials; for example, in cleaning operations, the container 3 can hold cleaning fluid, water, etc.; in spraying operations, the container 3 can hold paint, etc. The camera 4 assists the ground control personnel in observing the work situation. The slide rail 5 is connected to the mounting frame 11 and extends along the extension direction of the work surface, for example, it can extend along a third direction Z. The mounting frame 11 can move along the extension direction of the slide rail 5 to realize the back-and-forth operation of the work device 1 on the work surface. In some embodiments, a motor can be installed on the slide rail 5 to drive the work device 1 to move back and forth.

[0120] The surface-adaptive robot 100 provided in this application embodiment can replace manual labor for high-altitude operations, offering advantages in safety and efficiency. Simultaneously, the operating device 1 has excellent surface adaptability, enabling it to perform well on complex curved surfaces, thus improving operational efficiency and effectiveness.

[0121] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A work device adapted to a curved surface, characterized by, The application relates to a curved surface adapting working device, comprising: a moving assembly (10) comprising a mounting frame (11) extending along a first direction (X), a sliding block (12) connected with the mounting frame (11), and a traction part (13) for tractionally moving the sliding block (12) on the mounting frame (11) along the first direction (X); a working assembly (20) movably connected with the sliding block (12) and arranged on one side of the moving assembly (10) along a second direction (Y) perpendicular to the first direction (X); a rotating assembly (30) connected with the working assembly (20) and the sliding block (12) and used for controlling the working assembly (20) to rotate around the sliding block (12).

2. The curved surface adapting working device according to claim 1, wherein the rotating assembly (30) comprises a rotating part (31) and a connecting rod (32), one end of the connecting rod (32) is connected with the sliding block (12), the other end of the connecting rod (32) is connected with the working assembly (20), and the rotating part (31) is connected with one end of the connecting rod (32) and used for driving one end of the connecting rod (32) to rotate.

3. The curved surface adapting working device according to claim 1, wherein the rotating assembly (30) comprises a guide curved rod (33) and a guide part (34), a first end (331) of the guide curved rod (33) is matched with the guide part (34) and can move along the extension track of the guide part (34), a second end (332) of the guide curved rod (33) is connected with the sliding block (12), a third end (333) of the guide curved rod (33) is connected with the working assembly (20), the guide part (34) comprises a first guide rail (341) extending between the direction of the first direction (X) pointing to the working surface and the direction of the second direction (Y) away from the working assembly (20), and the first end (331), the second end (332) and the third end (333) are not on the same straight line.

4. The curved surface adapting working device according to claim 3, wherein the guide part (34) comprises a second guide rail (342), the first guide rail (341) is communicated with the second guide rail (342), and the second guide rail (342) extends from one end of the first guide rail (341) away from the working surface along the first direction (X).

5. The curved surface adapting working device according to claim 3, wherein ​ ​ ​ The rotating assembly (30) comprises a first connecting shaft (351), one end of the first connecting shaft (351) is matched with the guide part (34) and can move along the extension direction of the guide part (34), the other end of the first connecting shaft (351) is connected with the first end (331) of the guide curved rod (33), and the first end (331) can rotate around the first connecting shaft (351). 6.The work device for adapting to a curved surface according to claim 4, characterized in that, The rotating assembly (30) comprises a first connecting shaft (351), one end of the first connecting shaft (351) is matched with the guide part (34) and can move along the extension direction of the guide part (34), the other end of the first connecting shaft (351) is connected with the first end (331) of the guide curved rod (33), and the first end (331) can rotate around the first connecting shaft (351).

7. The work device adapted to a curved surface according to claim 5, characterized in that, The rotating assembly (30) comprises: a second connecting shaft (352) connecting the slider (12) and the second end (332), the second end (332) can rotate around the second connecting shaft (352) relative to the slider (12); a moving member (36) connecting the work assembly (20) and the third end (333) of the guide curved rod (33), the work assembly (20) and the guide curved rod (33) can move relative to each other along the moving member (36); a rotating member (37), the moving member (36) is connected with the work assembly (20) through the rotating member (37), and the work assembly (20) and the guide curved rod (33) can rotate relative to each other around the rotating member (37). 8.The work device for adapting to a curved surface according to claim 7, characterized in that, The moving member (36) comprises a through groove (354) and a third connecting shaft (353), the through groove (354) penetrates the third end (333) of the guide curved rod (33) in a third direction (Z), the third connecting shaft (353) passes through the through groove (354) and can move along the through groove (354), the rotating member (37) is the third connecting shaft (353), the work assembly (20) can rotate around the third connecting shaft (353), and the third direction (Z) is perpendicular to the first direction (X) and the second direction (Y). 9.The work device for adapting to a curved surface according to claim 1, characterized in that, The work assembly (20) is connected with the slider (12) through a first rotating shaft (101), the first rotating shaft (101) extends along a third direction (Z), the third direction (Z) is perpendicular to the first direction (X) and the second direction (Y), and the work assembly (20) can rotate around the first rotating shaft (101). 10.The work device for adapting to a curved surface according to any one of claims 1 to 9, characterized in that, The work assembly (20) comprises a support (21), a work part (22) and a second rotating shaft (23), the support (21) is movably connected with the sliding block (12), the work part (22) is arranged on the side of the support (21) facing the work surface in the first direction (X), the work part (22) is connected with the support (21) through the second rotating shaft (23) and can rotate around the second rotating shaft (23), the second rotating shaft (23) extends along a third direction (Z), and the third direction (Z) is perpendicular to the first direction (X) and the second direction (Y).

11. The work device of claim 10, wherein, The work assembly (20) comprises a plurality of sliding rods (24), the plurality of sliding rods (24) are arranged on both sides of the second rotating shaft (23) along the second direction (Y) and are connected with the work part (22), and the sliding rods (24) extend along the first direction (X) and pass through the support (21).

12. The work device of claim 10, wherein, The work assembly (20) comprises a plurality of telescopic mechanisms (25), the plurality of telescopic mechanisms (25) are arranged between the work part (22) and the support (21) and on both sides of the second rotating shaft (23) along the second direction (Y), and the telescopic mechanisms (25) are used for adjusting the distance between the work part (22) and the support (21) in the third direction (Z).

13. The work device adapted to a curved surface according to claim 11, wherein, The work assembly (20) comprises a plurality of telescopic mechanisms (25), the plurality of telescopic mechanisms (25) are arranged between the work part (22) and the support (21) and on both sides of the second rotating shaft (23) along the second direction (Y), and the telescopic mechanisms (25) are used for adjusting the distance between the work part (22) and the support (21) in the third direction (Z).

14. The work device of claim 12, wherein, The telescopic mechanism (25) comprises a first connecting rod (251) and a second connecting rod (252), one end of the first connecting rod (251) is connected with the support (21), the other end of the first connecting rod (251) is connected with one end of the second connecting rod (252), the other end of the second connecting rod (252) is connected with the work part (22), the first connecting rod (251) and the second connecting rod (252) have an included angle and are provided with a torsional elastic element (253), and the torsional elastic element (253) is used for resisting the rotation of the first connecting rod (251) and the second connecting rod (252) in the direction of approaching each other.

15. The work device of claim 14, wherein, The work assembly (20) comprises a limiting piece (26) arranged between the first connecting rod (251) and the second connecting rod (252), and the limiting piece (26) is used for limiting rotation of the first connecting rod (251) and the second connecting rod (252) in a direction away from each other.

16. A working robot adapted to a curved surface, characterized in that Comprise: A walking mechanism (2) for walking on a work surface; The work device of adapting to a curved surface as claimed in any one of claims 1 to 15, wherein a mounting frame (11) of the work device is connected with the walking mechanism (2).

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