Operation device suitable for curved surface

Abstract

The utility model provides an operation device suitable for a curved surface. The operation effect and the operation quality of curved surface operation can be improved. The working device adapting to the curved surface comprises a bearing mechanism; the operation assembly comprises a main operation table and a sub-operation table, and the main operation table is connected with the bearing mechanism; the connecting part comprises a plurality of movable connecting pieces, and the movable connecting pieces are arranged between the main working table and the sub working tables and are movably connected with the main working table and the sub working tables; the adsorption wheels are arranged in the central area of the main working table and the central areas of the branch working tables and located on the side, facing the working surface in the first direction, of the working assembly, the adsorption wheels can be adsorbed to the working surface, and the first direction intersects with the working surface.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular, to a work device suitable for curved surfaces. BACKGROUND

[0002] With the development of science and technology, large-scale machine equipment is increasingly widely used in various industries. However, when work needs to be done on the area of large-scale machine equipment located in high altitude, workers often need to be transported to high places for work, which is a dangerous operation mode with low work efficiency. Therefore, using industrial robots to work in high altitude areas is a safe and efficient choice.

[0003] The surface of machine equipment usually has many curved surfaces, even many irregularly shaped or curved curved surfaces. However, the existing work device has limited self-adaptive adjustment capability and is difficult to cope with large changes and irregular changes of the work surface. In addition, the pressure of the part of the work device in contact with the work surface on the work surface is often unevenly distributed, which makes it difficult for the work device to achieve uniform work on the work surface, affecting the work effect and work quality. Therefore, it is necessary to provide a work device suitable for curved surfaces to improve the work effect and work quality of curved surface work. CONTENT OF THE INVENTION

[0004] The present application provides a work device suitable for curved surfaces, which can improve the work effect and work quality of curved surface work.

[0005] In a first aspect, a work device suitable for curved surfaces is provided, comprising: a bearing mechanism; a work assembly, the work assembly comprising a main workbench and a sub-workbench, the main workbench being connected with the bearing mechanism; a connecting part, the connecting part comprising a plurality of movable connecting pieces, a plurality of the movable connecting pieces being arranged between the main workbench and the sub-workbench, and movably connecting the main workbench and the sub-workbench; a suction wheel, the suction wheel being arranged in the central area of the main workbench and the central area of the sub-workbench, and located on the side of the work assembly facing the work surface in a first direction, the suction wheel being capable of being adsorbed on the work surface, the first direction intersecting the work surface.

[0006] In the present application, the work device suitable for curved surfaces connects the main workbench and the sub-workbench through a plurality of movable connecting pieces, so that the sub-workbench has greater adjustment freedom and flexibility relative to the main workbench. The sub-workbench can not only rotate relative to the main workbench, but also adjust the position in the first direction, so that it can conform to the changes of complex surfaces.

[0007] Meanwhile, the central regions of the main workbench and the sub workbench are provided with adsorption wheels, which not only provide support for the main workbench and the sub workbench, but also cooperate with the movable connecting pieces to enable the parts of the main workbench and the sub workbench used for work to be self-adaptively adjusted to the changing curved surface, so that the parts of the main workbench and the sub workbench used for work are uniformly distributed in pressure on the work surface, and the work effect and work quality of the curved surface work are improved.

[0008] In combination with the first aspect, in some embodiments, the connecting part comprises a connecting plate, a first movable joint connecting the main workbench and the connecting plate, and a second movable joint connecting the connecting plate and the sub workbench.

[0009] The first movable joint and the second movable joint can provide multiple degrees of freedom for self-adaptive adjustment of the main workbench and the sub workbench, so that the work assembly can be flexibly adjusted in position and angle, thereby better adapting to the changes of the complex curved surface and improving the work effect and work quality of the curved surface work.

[0010] In combination with the first aspect, in some embodiments, the work assembly comprises a driving shaft, a connecting frame and a work part, the driving shaft, the connecting frame and the work part being fixedly connected, the connecting frame having a hollow structure and being connected to the central region of the work part.

[0011] The adsorption wheel comprises a rotating shaft and a wheel body, the rotating shaft extending in the first direction, the wheel body being arranged at one end of the rotating shaft in the first direction and facing the work surface, at least part of the rotating shaft being accommodated in the hollow structure and movably connected to the connecting frame, and the rotating shaft and the driving shaft having a gap in the first direction.

[0012] On one hand, the fixed connection of the driving shaft, the connecting frame and the work part enables the driving shaft to directly drive the work part; on the other hand, the movable connection of the rotating shaft of the adsorption wheel and the connecting frame enables the adsorption wheel to be mounted in the central region of the main workbench and the central region of the sub workbench and independently move with the work part. Such a structure not only avoids mutual interference between the two, but also improves the support stability of the adsorption wheel to the work assembly. In actual work, the work part can focus on work, while the adsorption wheel can independently provide stable support and timely adjust the position and angle of the work part with the change of the work surface, so that the work assembly can still maintain a good working state under complex working conditions, thereby improving the overall work efficiency and quality.

[0013] In some embodiments, the working device further comprises a scraping structure extending along a second direction and arranged between the working assembly and the carrier mechanism in a third direction, the first direction, the second direction and the third direction being perpendicular to each other; a recovery groove arranged between the first scraping strip and the carrier mechanism in the third direction, an opening of the recovery groove facing the first scraping strip in the third direction; and a flexible guide part connected to the first scraping strip at one end and accommodated in an accommodation space of the recovery groove at the other end.

[0014] The scraping structure can scrape off the attachments on the working surface, and the flexible guide part can guide the attachments such as sewage into the recovery groove, so that the sewage can be efficiently recovered. Meanwhile, the flexible guide part can enhance the adaptability and stability of the guiding process, ensuring that the sewage can flow smoothly into the recovery groove, and further improving the efficiency and reliability of the sewage recovery.

[0015] In some embodiments, the scraping structure further comprises a second scraping strip extending along the second direction and arranged between the recovery groove and the carrier mechanism in the third direction.

[0016] The second scraping strip can further remove the liquid that may be left on the working surface, especially for the working surface in front of the carrier mechanism. In this way, the attachments, especially the liquid, can be reduced, and the risk of skidding of the carrier mechanism due to the liquid left during the walking process can be reduced, and the stability and safety of the equipment operation can be improved.

[0017] In some embodiments, the working device further comprises a sliding rod extending along the first direction, one end of the sliding rod being movably connected to the recovery groove, and the other end being connected to the scraping structure; and an elastic member arranged around the sliding rod, one end of the elastic member being in abutment with the recovery groove, and the other end being in abutment with the scraping structure.

[0018] Through the cooperation of the sliding rod and the elastic member, the scraping structure can generate a certain pressure on the working surface, so that the scraping structure can be closely attached to the working surface, which is beneficial to improve the cleaning effect of the scraping structure on the working surface. Meanwhile, through the buffering effect of the elastic member, the scraping structure can maintain appropriate elasticity when contacting the working surface, which can reduce the possibility of damaging the working surface or the scraping structure itself due to rigid contact, and can prolong the service life of the equipment. In addition, the closely attached scraping structure can also adapt to the irregularity of the working surface, further improving the cleaning efficiency and quality.

[0019] In some embodiments, the first scraping strip comprises: a scraping plate extending along the second direction, having a first through slot extending along the second direction; a first clamping block having a second through slot extending along the second direction, the opening of the second through slot facing the scraping plate, the opening of the first through slot facing the first clamping block, the first through slot and the second through slot abutting and splicing to form a containing cavity; a first fixing strip, at least part of the first fixing strip extending along the second direction, connected with one end of the flexible guide part, the first fixing strip passing through the containing cavity; a second clamping block comprising a first fixing area and a second fixing area, the first fixing area being arranged on the side of the scraping plate and the first fixing strip away from the working surface in the first direction, the second fixing area being arranged on the side of the scraping plate opposite to the first through slot in the third direction, one of the second fixing area and the scraping plate being provided with a protrusion, and the other being provided with a groove, the protrusion and the groove being matched; a fixing member connecting the first clamping block and the second clamping block in the first direction.

[0020] The scraping plate and the flexible guide part are fixed by mutual engagement between multiple structures, avoiding the use of excessive additional fixing parts, simplifying the overall structure, reducing production cost and assembly complexity. By connecting in the form of engagement, the connection between each component is more compact and stable, effectively reducing the possibility of loosening or falling off of the scraping plate and the flexible guide part during use due to external force. At the same time, the simplification of this structure also facilitates maintenance and replacement of parts, further improving the practicality and service life of the equipment.

[0021] In some embodiments, the first fixing area is provided with a third through slot, the third through slot penetrating through the first fixing area in the first direction and extending in the third direction, the fixing member passing through the third through slot in the first direction, being fixedly connected with the first clamping block and being movable in the third direction in the third through slot.

[0022] By providing the third through slot in the first fixing area, the fixing member can move back and forth in the third through slot, in combination with the mutual engagement between the scraping plate, the first clamping block, the first fixing strip and the second clamping block, the quick installation and disassembly of the first fixing strip can be achieved, enhancing the flexibility and practicality of the equipment.

[0023] In some embodiments, the recovery tank comprises: a second fixing strip connected with the inner wall of the recovery tank, the second fixing strip being connected with the other end of the flexible guide part.

[0024] The one edge of the flexible guide part is fixed inside the recovery tank through the second fixed strip, and the sewage scraped by the first scraping strip can be transferred to the inside of the recovery tank along the flexible guide part. On the one hand, it can reduce the residue of sewage on the work surface, reduce secondary pollution, and also reduce the degree of wet slip of the work surface; on the other hand, it can guide the sewage to flow into the recovery tank, improve the efficiency and thoroughness of sewage recovery.

[0025] In combination with the first aspect, in some embodiments, the work device comprises: a fixed block connected with the recovery tank, the fixed block is provided with a through hole penetrating through the fixed block along a direction intersecting with the first direction, and the end of the first fixed strip on the side of the second direction passes through the through hole from the same side of the fixed block.

[0026] The part of the first fixed strip penetrating through the through hole can be subjected to the force of the fixed block, and the part of the first fixed strip in contact with the work surface can be subjected to the pressure towards the work surface, so that the part of the first fixed strip in contact with the work surface can be closely attached to the work surface, the efficiency and thoroughness of scraping the sewage can be enhanced, the residue of the sewage on the work surface can be reduced, and the cleaning effect can be improved. In addition, the curved part of the first fixed strip increases the area of the flexible guide part, so that the sewage can be more effectively guided to flow into the recovery tank, and the sewage recovery effect can be improved.

[0027] In combination with the first aspect, in some embodiments, the work device comprises: a connecting table connecting the bearing mechanism and the main work table, the connecting table is provided with the adsorption wheel on the side of the main work table in the first direction, and the third direction is perpendicular to the first direction.

[0028] The adsorption wheel provided on the connecting table of the main work table can realize the stable support of the main work table, and can flexibly adjust the position and angle of the connecting table according to the curved surface change of the work surface, and then drive the main work table and the sub work table to make corresponding adjustment. This self-adaptive adjustment mechanism is conducive to improving the adjustment accuracy of the work part, so that the part of the work part in contact with the work surface can uniformly distribute the pressure on the work surface, thereby improving the work effect and work quality of the curved surface work. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a structural schematic diagram of a work device provided by the present application which is suitable for a curved surface.

[0030] Figure 2 is a partial structural schematic diagram of a work device provided by the present application which is suitable for a curved surface.

[0031] Figure 3 is Figure 2 is a sectional structural schematic diagram of the structure in A-A direction in

[0032] Figure 4 is a partial structure diagram of a working device suitable for a curved surface provided by the present application.

[0033] Figure 5 is a partial structure diagram of a working device suitable for a curved surface provided by the present application.

[0034] Figure 6 is Figure 5 is an enlarged structure diagram of part B in FIG. 1.

[0035] Figure 7 is an exploded structure diagram of a first scraping strip provided by the present application.

[0036] Figure 8 is Figure 5 is an enlarged structure diagram of part D in FIG. 1.

[0037] Figure 9 is a partial structure diagram of a working device suitable for a curved surface provided by the present application. DETAILED DESCRIPTION

[0038] The embodiments of the present application will be further described below in conjunction with the drawings and examples. The detailed description and drawings of the following examples are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, i.e., the present application is not limited to the described examples.

[0039] In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the orientation or positional relationship only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable range of error. "Parallel" is not strictly parallel, but within the allowable range of error. All technical and scientific terms used in the present application have the same meaning as understood by those skilled in the art to which the present application belongs; the terms used in the specification of the present application are only for the purpose of describing the specific examples and are not intended to limit the present application; the specification, claims and above drawing description of the present application and the terms "include" and "have" and any variations thereof in the specification are intended to cover non-exclusive inclusion.

[0040] The directional terms appearing in the following description are the directions shown in the drawings and do not limit the specific structure of the present application. In the description of the present application, it should be further explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] In the present application, the term "embodiment" means that the specific features, structures or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in the present application can be combined with other embodiments.

[0042] In the present application, the term "and / or" is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can mean that there are A, A and B, and B. In addition, the character " / " in the present application generally represents that the front and rear associated objects are in an "or" relationship.

[0043] In the present application, "multiple" refers to more than two (including two), and similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0044] In the embodiments of the present application, the same reference signs represent the same parts, and for the sake of brevity, the detailed description of the same parts is omitted in different embodiments. It should be understood that the thickness, length and width of various components in the embodiments of the present application shown in the drawings, and the overall thickness, length and width of the integrated device are only exemplary and should not constitute any limitation on the present application.

[0045] The work device suitable for curved surfaces provided by the embodiments of the present application can be applied to flat surfaces or curved surfaces, and is especially suitable for vertical, inclined or not easily contacted wall surfaces. Specifically, it can be applied to the surface of a ship hull, an oil storage tank, a water storage tank, a bridge, a tower, a tower drum of a wind turbine and the like, and can also be applied to the surface of large industrial equipment (such as a boiler, a reactor and the like). Especially for complex and asymmetric curved surfaces, it can have good adaptability.

[0046] The work device suitable for curved surfaces provided in the embodiments of the present application can be used to realize detection and maintenance work of a surface of a machine device, for example, cleaning, spraying, rolling paint, welding, polishing, detection and other work on the work surface. The embodiments of the present application do not limit the application scenarios and work items of detection and maintenance, and the specific work items involved are only used as examples for illustration.

[0047] The work device suitable for curved surfaces provided in the embodiments of the present application will be specifically described below with reference to the accompanying drawings.

[0048] As shown in Figure 1 , the work device suitable for curved surfaces 1 provided in the embodiments of the present application includes a bearing mechanism 10, a work assembly 20, a connecting part 30 and a suction wheel 40.

[0049] The work assembly 20 includes a main work table 21 and a sub work table 22, and the main work table 21 is connected with the bearing mechanism 10. The connecting part 30 includes a plurality of movable connecting parts 31, which are arranged between the main work table 21 and the sub work table 22 and movably connect the main work table 21 and the sub work table 22. The suction wheel 40 is arranged at the central region of the main work table 21 and the central region of the sub work table 22 and is located on the side of the work assembly 20 facing the work surface in a first direction X, and the suction wheel 40 can be adsorbed on the work surface, and the first direction X intersects the work surface.

[0050] The bearing mechanism 10 refers to a part in the work device 1 suitable for curved surfaces for bearing other structures, which can walk on the work surface to perform work in a larger range. The bearing mechanism 10 can be a wall climbing robot, for example, which can walk on the vertical surface of a device such as a wind turbine tower.

[0051] The work assembly 20 refers to a part in the work device 1 suitable for curved surfaces for performing work on the work surface. For example, the work device 1 is a cleaning device, and the work assembly 20 can include a brush disc, a water pipe and other structures. In the embodiments of the present application, the work assembly 20 can include a plurality of work tables, each of which can be the same structure, for example, each of which can include a brush disc and other structures. Among them, the main work table 21 is connected with the bearing mechanism 10, and the sub work table 22 is connected with the main work table 21.

[0052] The connecting part 30 refers to a structure connecting the main work table 21 and the sub work table 22, as Figure 2As shown, the plurality of movable connecting pieces 31 of the connecting part 30 are arranged between the main workbench 21 and the sub workbench 22, specifically, each connecting part 30 between each sub workbench 22 and the main workbench 21 is provided with a plurality of movable connecting pieces 31. The plurality of movable connecting pieces 31 can be sequentially connected in one direction, for example, sequentially connected in a direction perpendicular to the first direction X, so that the main workbench 21 and the sub workbench 22 can adjust the height in the first direction X through the plurality of movable connecting pieces 31, and can rotate around the movable connecting piece 31 to adjust the relative angle with the work surface. The movable connecting piece 31 can be a movable connecting piece 31 capable of rotating around a shaft, or a ball joint connecting piece, for example, the movable connecting piece 31 can be a hinge or a hinge.

[0053] The adsorption wheel 40 refers to a wheel that has adsorption capability to the work surface and can walk along the work surface. The adsorption wheel 40 can be, for example, a passive wheel that rolls as the carrying mechanism 10 walks on the work surface, reducing the resistance of the work assembly 20 during walking. The adsorption wheel 40 is arranged in the central region of the work assembly 20 and is connected with each workbench. Specifically, one adsorption wheel 40 can be arranged in the central region of each main workbench 21 and each sub workbench 22, and the structure of the workbench for working can be arranged around the adsorption wheel 40.

[0054] The adsorption wheel 40 is arranged on the side of the work assembly 20 facing the work surface in the first direction X and is adsorbed to the work surface. The adsorption wheel 40 itself has an adjusting mechanism to adaptively adjust in the case of changes in the curvature of the work surface, and the workbench is connected with the adsorption wheel 40 and can be driven by the adsorption wheel 40 to adjust together with the changes in the work surface.

[0055] In the embodiment of the present application, the work device 1 adapted to the curved surface connects the main workbench 21 and the sub workbench 22 through a plurality of movable connecting pieces 31, so that the sub workbench 22 can have greater adjustment freedom and flexibility relative to the main workbench 21. The sub workbench 22 can not only rotate relative to the main workbench 21, but also adjust the position in the first direction X, so that it can conform to the changes of the complex surface.

[0056] At the same time, the central region of the main workbench 21 and the sub workbench 22 is provided with the adsorption wheel 40, which not only can provide support for the main workbench 21 and the sub workbench 22, but also can cooperate with the movable connecting piece 31 to enable the part of the main workbench 21 and the sub workbench 22 used for working to adaptively adjust to the changing curved surface, so that the part of the main workbench 21 and the sub workbench 22 used for working can uniformly distribute the pressure on the work surface, which is beneficial to improve the work effect and work quality of the curved surface work.

[0057] According to some embodiments of the present application, the connecting part 30 comprises a connecting plate 301, a first movable joint 311 and a second movable joint 312. The first movable joint 311 connects the main workbench 21 and the connecting plate 301, and the second movable joint 312 connects the connecting plate 301 and the sub workbench 22.

[0058] Figure 2 The structure of a specific connecting part 30 is shown, taking the connection of the main workbench 21 and the sub workbench 22 through the first movable joint 311 and the second movable joint 312 as an example.

[0059] The connecting part 30 is generally arranged on the side of the work assembly 20 away from the work assembly 20 along the first direction X, and in some embodiments, the connecting plate 301 can connect the central regions of the main workbench 21 and the sub workbench 22. In other embodiments, considering the compact arrangement between the main workbench 21 and the sub workbench 22, the main workbench 21 can be connected to the carrying mechanism 10 through the connecting table 211, and the part of the connecting part 30 connected to the main workbench 21 can be located on the connecting table 211 close to the central region of the main workbench 21.

[0060] Specifically, the connecting part 30 can comprise a connecting plate 301, a first movable joint 311 and a second movable joint 312. The first movable joint 311 connects the main workbench 21 and the connecting plate 301, and the main workbench 21 and the connecting plate 301 can rotate relative to each other through the first movable joint 311. The second movable joint 312 connects the sub workbench 22 and the connecting plate 301, and the sub workbench 22 and the connecting plate 301 can rotate relative to each other through the second movable joint 312. Since the first movable joint 311 and the second movable joint 312 are independently rotatable, the connecting plate 301 only serves to connect the main workbench 21 and the sub workbench 22, and therefore the sub workbench 22 can not only adjust the angle relative to the main workbench 21, but also adjust the relative height of the main workbench 21 and the sub workbench 22 under the cooperation of the first movable joint 311 and the second movable joint 312, so that the sub workbench 22 has higher degrees of freedom and flexibility relative to the main workbench 21.

[0061] In the embodiments of the present application, the connecting plate 301 serves to carry the first movable joint 311 and the second movable joint 312, and in some embodiments, the first movable joint 311 and the second movable joint 312 can be directly connected to each other. Alternatively, in the case where more movable joints are arranged between the main workbench 21 and the sub workbench 22, the multiple movable joints can be connected to each other through multiple connecting plates 301, or can be directly connected to each other.

[0062] The first movable joint 311 and the second movable joint 312 can provide multiple degrees of freedom for adaptive adjustment of the main workbench 21 and the sub workbench 22, so that the work assembly 20 can be flexibly adjusted in position and angle, thereby better adapting to changes in complex curved surfaces and improving the work effect and work quality of curved surface work.

[0063] According to some embodiments of the present application, the work assembly 20 comprises a driving shaft 23, a connecting frame 24 and a work part 25, which are fixedly connected, the connecting frame 24 has a hollow structure and is connected to the central region of the work part 25. The adsorption wheel 40 comprises a rotating shaft 41 and a wheel body 42, the rotating shaft 41 extends along the first direction X, the wheel body 42 is arranged at one end of the rotating shaft 41 facing the work surface in the first direction X, at least part of the rotating shaft 41 is accommodated in the hollow structure and is movably connected to the connecting frame 24, and the rotating shaft 41 and the driving shaft 23 have a gap in the first direction X.

[0064] Figure 3 As shown in the drawings, Figure 2 The cross-sectional structure of the main workbench 21 in the A-A direction is shown, and in the embodiments of the present application, the structure of the sub workbench 22 can be the same as that of the main workbench 21, so only the structure of the main workbench 21 is described as an example.

[0065] As shown in the drawings, Figure 3 The driving shaft 23 refers to the part that drives the work part 25 to work. The driving shaft 23 is usually connected to a driving motor and the work part 25, and the driving motor drives the work part 25 to work on the work surface through the driving shaft 23. For example, the driving shaft 23 can drive the work part 25 to rotate to realize cleaning work on the work surface.

[0066] The driving shaft 23 can be connected to the work part 25 through the connecting frame 24, the connecting frame 24 has a hollow structure, part of the driving shaft 23 is accommodated in the hollow structure and is fixedly connected to the connecting frame 24, and the work part 25 is fixedly connected to the outer surface of the connecting frame 24, so that the driving shaft 23, the connecting frame 24 and the work part 25 are connected as a whole and move together under the driving of the driving shaft 23.

[0067] The connecting frame 24 is connected to the central region of the work part 25, and at least part of the connecting frame 24 is arranged on the side of the central region of the work part 25 facing the work surface in the first direction X. One end of the connecting frame 24 away from the work surface in the first direction X is connected to the driving shaft 23, and the end facing the work surface is connected to the adsorption wheel 40.

[0068] Specifically, the adsorption wheel 40 comprises a rotating shaft 41 and a wheel body 42, the rotating shaft 41 is movably connected with the wheel body 42, and the wheel body 42 can rotate around the rotating shaft 41. The rotating shaft 41 extends along the first direction X, and at least a part of the rotating shaft 41 is accommodated in the hollow structure of the connecting frame 24 and movably connected with the connecting frame 24. That is, the rotating shaft 41 can rotate in the hollow structure relative to the connecting frame 24. In some embodiments, a bearing can be used to connect the rotating shaft 41 and the connecting frame 24 to reduce the friction therebetween.

[0069] As shown in Figure 3 , the rotating shaft 41 and the driving shaft 23 are both at least partially accommodated in the hollow structure of the connecting frame 24, and in the first direction X, the rotating shaft 41 and the driving shaft 23 have a gap therebetween to reduce the interference that can occur during independent rotation.

[0070] On the one hand, through the fixed connection of the driving shaft 23, the connecting frame 24 and the working part 25, the driving shaft 23 can directly drive the working part 25; on the other hand, the rotating shaft 41 of the adsorption wheel 40 is movably connected with the connecting frame 24, so that the adsorption wheel 40 can be installed in the central region of the main working table 21 and the central region of the sub-working table 22, and independently move with the working part 25. Such a structure not only avoids mutual interference between the two, but also improves the support stability of the adsorption wheel 40 to the working assembly 20. In actual work, the working part 25 can focus on work, while the adsorption wheel 40 can independently provide stable support, timely adjust the position and angle of the working part 25 with the change of the working surface, so that the working assembly 20 can still maintain good working condition under complex working conditions, thereby improving the overall working efficiency and quality.

[0071] According to some embodiments of the present application, the working device 1 comprises a scraping structure 50, a recovery groove 60 and a flexible guide part 70. The scraping structure 50 extends along the second direction Y and is arranged between the working assembly 20 and the carrying mechanism 10 in the third direction Z, and the first direction X, the second direction Y and the third direction Z are perpendicular to each other. The scraping structure 50 comprises a first scraping strip 51, the recovery groove 60 is arranged between the first scraping strip 51 and the carrying mechanism 10 in the third direction Z, and the opening of the recovery groove 60 faces the first scraping strip 51 in the third direction Z. One end of the flexible guide part 70 is connected with the first scraping strip 51, and the other end is accommodated in the accommodation space of the recovery groove 60.

[0072] Figure 4 A structural schematic diagram of a working device 1 is shown, wherein Figure 4 the structure of the working device 1 omits the carrying mechanism 10.

[0073] As shown in Figure 4As shown, the scraping structure 50 refers to a structure for scraping the residual adhering matter on the working surface. For example, in the cleaning working condition, the working assembly 20 brushes the working surface, and then the scraping structure 50 scrapes the residual sewage on the brushed surface. The scraping structure 50 extends along the second direction Y, covering the area where the working assembly 20 works. The scraping structure 50 is usually arranged between the working assembly 20 and the carrying mechanism 10 along the third direction Z, which refers to the walking direction of the carrying mechanism 10 in some embodiments. As the carrying mechanism 10 walks, the working assembly 20 works in front of the carrying mechanism 10 along the third direction Z, and the scraping structure 50 scrapes the adhering matter, such as sewage, cleaning liquid, etc., on the working surface behind the working assembly 20.

[0074] The scraping structure 50 includes a first scraping strip 51 and a second scraping strip 52. Along the third direction Z, the first scraping strip 51 is arranged between the working assembly 20 and the recovery groove 60, and the second scraping strip 52 is arranged between the recovery groove 60 and the carrying mechanism 10.

[0075] The first scraping strip 51 mainly scrapes the adhering matter generated in the working process of the working assembly 20, and is arranged on the side of the recovery groove 60 away from the gravity direction, so that the adhering matter scraped by the first scraping strip 51 can be recovered into the recovery groove 60 under the action of gravity.

[0076] The second scraping strip 52 mainly further cleans the working surface in front of the walking direction of the carrying mechanism 10, and is therefore arranged between the recovery groove 60 and the carrying mechanism 10. The second scraping strip 52 scrapes the adhering matter that the first scraping strip 51 may not completely remove, reducing the residual adhering matter, especially liquid, on the working surface in front of the carrying mechanism 10. In some embodiments, a plurality of second scraping strips 52 can be arranged along the second direction Y, and the plurality of second scraping strips 52 are arranged in sequence along the second direction Y. Each second scraping strip 52 can be individually attached to the working surface, which can better adapt to the change of the curved surface and maintain the attachment to the working surface in a larger range.

[0077] The recovery groove 60 refers to a device for collecting the adhering matter scraped by the scraping structure 50. The recovery groove 60 has an opening towards the third direction Z, and in the case of working on a vertical wall surface, the opening direction can be the opposite direction of the gravity direction. The recovery groove 60 includes a side wall and a bottom wall opposite to the opening. The bottom wall and the side wall enclose a containing space in which the adhering matter scraped by the scraping structure 50 can be contained. Further, the recovery groove 60 can be additionally connected to a conduit to guide the adhering matter collected in the recovery groove 60 out.

[0078] One end of the flexible guide portion 70 is connected with the first scraping strip 51, that is, one end of the flexible guide portion 70 is attached to the working surface through the first scraping strip 51, and when the first scraping strip 51 scrapes the attachments on the working surface, the attachments can be quickly transferred to the flexible guide portion 70.

[0079] The other end of the flexible guide portion 70 is accommodated in the recovery tank 60, specifically, can be accommodated in the accommodation space of the recovery tank 60. That is, the attachments on the flexible guide portion 70 can be further transferred from the flexible guide portion 70 to the recovery tank 60. For example, in the cleaning working condition, the residual liquid such as sewage and cleaning liquid of the working assembly 20 after brushing the working surface is scraped off from the working surface by the first scraping strip 51 and transferred to the flexible guide portion 70, and guided to the recovery tank 60 by the flexible guide portion 70.

[0080] By scraping the attachments on the working surface through the scraping structure 50 and guiding the sewage and other attachments to the recovery tank 60 by means of the flexible guide portion 70, efficient recovery of the sewage can be achieved. At the same time, the flexible guide portion 70 can enhance the adaptability and stability of the guiding process, ensure that the sewage can flow smoothly into the recovery tank 60, and further improve the efficiency and reliability of the sewage recovery.

[0081] In addition, the second scraping strip 52 can further remove the liquid that may be left on the working surface, especially effectively process the working surface in front of the traveling direction of the carrying mechanism 10. In this way, the attachments, especially the liquid, can be reduced, and the risk of slipping of the carrying mechanism 10 due to liquid residue during walking can be reduced, and the stability and safety of the equipment operation can be improved.

[0082] According to some embodiments of the present application, the working device 1 comprises a sliding rod 80 and an elastic member 90.

[0083] The sliding rod 80 extends along the first direction X, one end of the sliding rod 80 is movably connected with the recovery tank 60, and the other end is connected with the scraping structure 50, the elastic member 90 is arranged in the surrounding area of the sliding rod 80, one end of the elastic member 90 abuts against the recovery tank 60, and the other end abuts against the scraping structure 50.

[0084] Figure 5 Part of the structure in the working device 1 is shown, such as Figure 5 As shown, the sliding rod 80 connects the recovery tank 60 and the scraping structure 50, and the sliding rod 80 extends along the first direction X and can move back and forth in the first direction X relative to the recovery tank 60. In some embodiments, the sliding rod 80 can be connected with the recovery tank 60 through a connecting support, wherein the connecting support can be arranged inside the recovery tank 60 and fixedly connected with the recovery tank 60, and a through hole penetrating through the connecting support along the first direction X can be arranged on the connecting support, and the sliding rod 80 penetrates through the through hole and can move in the through hole.

[0085] The elastic member 90 may, for example, be a spring arranged around the surrounding area of the slide rod 80, and in some embodiments, the elastic member 90 may be sleeved on the slide rod 80. One end of the elastic member 90 in the first direction X is in abutment with the scraping structure 50, and the other end is in abutment with the recovery groove 60. In the case where the slide rod 80 is connected to the recovery groove 60 through the connecting support, the elastic member 90 may be in abutment with the connecting support. The elastic member 90 is generally in a compressed state between the recovery groove 60 and the scraping structure 50, and in the case where the scraping structure 50 is in contact with the working surface, a certain pressure is always applied to the scraping structure 50, so that the scraping structure 50 is tightly fitted with the working surface.

[0086] Through the cooperation of the slide rod 80 and the elastic member 90, the scraping structure 50 can generate a certain pressure on the working surface, so that the scraping structure 50 can be tightly fitted with the working surface, which is beneficial to improve the cleaning effect of the scraping structure 50 on the working surface. At the same time, through the buffering effect of the elastic member 90, the scraping structure 50 can maintain appropriate elasticity when in contact with the working surface, reducing the possibility of damaging the working surface or the scraping structure 50 itself due to rigid contact, and prolonging the service life of the equipment. In addition, the tightly fitted scraping structure 50 can also adapt to the irregularity of the working surface, further improving the cleaning efficiency and quality.

[0087] According to some embodiments of the present application, the first scraping strip 51 comprises a scraping plate 511, a first clamping block 512, a first fixed strip 513, a second clamping block 514 and a fixing member 515.

[0088] The scraping plate 511 extends along the second direction Y and has a first through groove 5111 extending along the second direction Y. The first clamping block 512 has a second through groove 5121 extending along the second direction Y, and the opening of the second through groove 5121 faces the scraping plate 511, and the opening of the first through groove 5111 faces the first clamping block 512. The first through groove 5111 and the second through groove 5121 abut and splice to form an accommodating cavity. At least part of the first fixed strip 513 extends along the second direction Y and is connected to one end of the flexible guide part 70, and the first fixed strip 513 passes through the accommodating cavity. The second clamping block 514 comprises a first fixed area 5141 and a second fixed area 5142. The first fixed area 5141 is arranged on the side of the scraping plate 511 and the first fixed strip 513 away from the working surface in the first direction X, and the second fixed area 5142 is arranged on the side of the scraping plate 511 opposite to the first through groove 5111 in the third direction Z. One of the second fixed area 5142 and the scraping plate 511 is provided with a protrusion 516, and the other is provided with a groove 517, and the protrusion 516 and the groove 517 cooperate. The fixing member 515 connects the first clamping block 512 and the second clamping block 514 in the first direction X.

[0089] The specific structure of the first scraping strip 51 is shown in Figure 6 and Figure 7 , wherein,Figure 6 Fig. 1 shows a schematic view of a cleaning device according to an embodiment of the present application, Figure 5 Fig. 2 shows an enlarged structural schematic view of part B in Fig. 1, Figure 7 Fig. 3 shows an exploded structural schematic view of the first scraping strip 51 in Fig. 1, Figure 7 Fig. 4 shows an enlarged structural schematic view of part E in Fig. 3.

[0090] As shown in Figs. 1 and 2, the scraping device 50 is arranged on the cleaning device 10, and is used to scrape the adhering objects on the working surface 20. The scraping device 50 comprises a first scraping strip 51 and a second scraping strip 52. The first scraping strip 51 is arranged on the first side 10a of the cleaning device 10, and the second scraping strip 52 is arranged on the second side 10b of the cleaning device 10. The first scraping strip 51 and the second scraping strip 52 are arranged to be parallel to each other, and are arranged to be perpendicular to the first direction X and the second direction Y. Figure 6 As shown in Figs. 1 and 2, the scraping device 50 is arranged on the cleaning device 10, and is used to scrape the adhering objects on the working surface 20. The scraping device 50 comprises a first scraping strip 51 and a second scraping strip 52. The first scraping strip 51 is arranged on the first side 10a of the cleaning device 10, and the second scraping strip 52 is arranged on the second side 10b of the cleaning device 10. The first scraping strip 51 and the second scraping strip 52 are arranged to be parallel to each other, and are arranged to be perpendicular to the first direction X and the second direction Y. Figure 7 As shown in Figs. 3 and 4, the scraping plate 511 refers to the part of the first scraping strip 51 that is in contact with the working surface, and is used to scrape the adhering objects on the working surface. The scraping plate 511 can be made of flexible material, such as rubber. The scraping plate 511 extends approximately along the second direction Y, and in the case that the working surface is curved, the scraping plate 511 can be deformed along the shape of the working surface under the action of the slide rod 80 and the elastic member 90, so that the scraping plate 511 can be attached to the working surface to improve the scraping effect. In some embodiments, the scraping plate 511 can be in a curved state under no force, and extends approximately along the second direction Y as a whole; the scraping plate 511 can be deformed along the first direction X under the force of being attached to the working surface. That is, the scraping plate 511 can extend along the shape of the working surface along the second direction Y. The scraping plate 511 has a first through groove 5111 on the side facing the first clamping block 512 along the third direction Z.

[0091] The first clamping block 512 is arranged on the side of the scraping plate 511 where the first through groove 5111 is arranged along the third direction Z. The first clamping block 512 has a second through groove 5121 that penetrates the first clamping block 512 along the second direction Y, and the opening of the second through groove 5121 faces the first through groove 5111 along the third direction Z. The first clamping block 512 is in abutment with the scraping plate 511, and the second through groove 5121 on the first clamping block 512 is in communication with the first through groove 5111 on the scraping plate 511, forming an accommodation cavity.

[0092] The first fixed strip 513 refers to the structure on the first scraping strip 51 that is used to fix the flexible guide part 70, that is, one side of the flexible guide part 70 is connected with the first fixed strip 513, and the flexible guide part 70 is clamped in the accommodation cavity formed by the first through groove 5111 and the second through groove 5121 along with the first fixed strip 513. In some embodiments, the first fixed strip 513 extends along the second direction Y, and can guide the adhering objects scraped by the scraping plate 511 to flow to the recycling groove 60 within the working range of the scraping plate 511; in other embodiments, the part of the first fixed strip 513 close to the end portion along the second direction Y can have a certain deformation to improve the attachment of the two ends of the scraping plate 511 along the second direction Y to the working surface.

[0093] The second clamping block 514 is arranged outside the squeegee 511 and the first clamping block 512, and includes a first fixed area 5141 and a second fixed area 5142. The first fixed area 5141 is arranged on the side of the squeegee 511 and the first fixed strip 513 away from the working surface in the first direction X, and the second fixed area 5142 is connected with the first fixed area 5141 and arranged on the side of the squeegee 511 opposite to the first through slot 5111 in the third direction Z. The second clamping block 514 and the squeegee 511 are connected through the matched protrusion 516 and the groove 517, and in some embodiments, the second fixed area 5142 is provided with the protrusion 516 protruding from the surface of the second fixed area 5142 in the third direction Z, and the side of the squeegee 511 opposite to the first through slot 5111 in the third direction Z is provided with the groove 517 matched with the protrusion 516 of the second fixed area 5142, that is, the protrusion 516 can be accommodated in the groove 517. In some embodiments, the squeegee 511 can be provided with the protrusion 516 and the second fixed area 5142 can be provided with the groove 517, which are matched with each other to realize the connection between the squeegee 511 and the second clamping block 514. Figure 6 and Figure 7 In the embodiment shown, the second fixed area 5142 is provided with the protrusion 516 protruding from the surface of the second fixed area 5142 in the third direction Z, and the side of the squeegee 511 opposite to the first through slot 5111 in the third direction Z is provided with the groove 517 matched with the protrusion 516 of the second fixed area 5142, that is, the protrusion 516 can be accommodated in the groove 517. In some embodiments, the squeegee 511 can be provided with the protrusion 516 and the second fixed area 5142 can be provided with the groove 517, which are matched with each other to realize the connection between the squeegee 511 and the second clamping block 514.

[0094] The fixing member 515 refers to the structure for fixing the first clamping block 512 and the second clamping block 514 in the first squeegee 51, and the squeegee 511, the first fixed strip 513, the first clamping block 512 and the second clamping block 514 are clamped with each other, so that the fixing member 515 connects the first clamping block 512 and the second clamping block 514, so that these structures are connected together as a whole.

[0095] The squeegee 511 and the flexible guide part 70 are fixed by clamping the structures with each other, which avoids using too many additional fixing parts, simplifies the overall structure, reduces the production cost and assembly complexity. The connection by clamping makes the connection between the components more close and stable, which can effectively reduce the possibility of loosening or falling off of the squeegee 511 and the flexible guide part 70 due to external force during use. At the same time, the simplification of the structure also facilitates the maintenance and replacement of the components, further improving the practicability and service life of the equipment.

[0096] According to some embodiments of the present application, the first fixed area 5141 is provided with a third through slot 5143, the third through slot 5143 penetrates the first fixed area 5141 in the first direction X and extends in the third direction Z, and the fixing member 515 passes through the third through slot 5143 in the first direction X and is fixedly connected with the first clamping block 512 and can move in the third direction Z in the third through slot 5143.

[0097] As Figure 7As shown, the first fixing area 5141 can be provided with a third through slot 5143, and the fixing member 515 passes through the third through slot 5143 and is connected with the first clamping block 512. In some embodiments, the fixing member 515 can pass through the third through slot 5143 and remain connected with the first clamping block 512, and in the case that the fixing member 515 has not fixed the first clamping block 512 and the second clamping block 514, the fixing member 515 can drive the first clamping block 512 to move in the third direction Z along the extension direction of the third through slot 5143, for example, to move away from the squeegee 511, so that the first clamping block 512, the first fixing strip 513 and the squeegee 511 can be separated from each other, realizing quick disassembly of the first clamping block 512, the first fixing strip 513 and the squeegee 511. In addition, in the case that the second clamping block 514, the first fixing strip 513 and the squeegee 511 are installed together, the fixing member 515 moves towards the squeegee 511, abuts against the squeegee 511, and fixes the connection between the first clamping block 512 and the second clamping block 514, so that quick installation of the first clamping block 512, the second clamping block 514, the first fixing strip 513 and the squeegee 511 can be realized.

[0098] By providing the third through slot 5143 in the first fixing area 5141, the fixing member 515 can move back and forth in the third through slot 5143, and in combination with the mutual clamping between the squeegee 511, the first clamping block 512, the first fixing strip 513 and the second clamping block 514, quick installation and disassembly of the first fixing strip 513 can be realized, enhancing the flexibility and practicability of the equipment.

[0099] According to some embodiments of the present application, the recovery tank 60 comprises a second fixing strip 61, which is connected with the inner wall of the recovery tank 60 and connected with the other end of the flexible guide part 70.

[0100] As shown in Figure 4 and Figure 5 , the second fixing strip 61 is arranged on the inner side of the recovery tank 60 and connected with the inner wall of the recovery tank 60. Specifically, the second fixing strip 61 can be arranged on the side wall of the recovery tank 60. The second fixing strip 61 is used to fix the other end of the flexible guide part 70 and is arranged inside the recovery tank 60, that is, the flexible guide part 70 is fixed inside the recovery tank 60. That is, one end of the flexible guide part 70 is fixed near the working surface by the first squeegee 51, and the other end is fixed on the inner wall of the recovery tank 60 by the second fixing strip 61, so that the flexible guide part 70 can direct the attachments such as sewage on the working surface to be transferred from the working surface to the recovery tank 60 during the process of guiding the attachments on the working surface.

[0101] The one edge of the flexible guide 70 is fixed inside the recovery tank 60 by the second fixed strip 61, and the sewage scraped by the first scraping strip 51 can be transferred to the inside of the recovery tank 60 along the flexible guide 70. On the one hand, it can reduce the residue of the sewage on the working surface, reduce secondary pollution, and also reduce the degree of wet and slippery of the working surface; on the other hand, it can guide the sewage to flow into the recovery tank 60, improve the efficiency and completeness of the sewage recovery.

[0102] According to some embodiments of the present application, the working device 1 comprises a fixed block 62 connected with the recovery tank 60, the fixed block 62 is provided with a through hole penetrating through the fixed block 62 along a direction intersecting the first direction X, and the end of the first fixed strip 513 on the second direction Y side passes through the through hole on the same side of the fixed block 62.

[0103] Figure 8 An enlarged structural schematic diagram of part D in Figure 5 is shown, as shown in Figure 8 In some embodiments, the first fixed strip 513 can be flexible, and the part close to the end in the second direction Y is deformed and connected with the fixed block 62 arranged on the side wall of the recovery tank 60.

[0104] In some embodiments, the fixed block 62 can be arranged on the side wall of the recovery tank 60, preferably on the side wall of the recovery tank 60 perpendicular to the working surface. The fixed block 62 is provided with a through hole, and the first fixed strip 513 passes through the through hole.

[0105] Specifically, one end of the first fixed strip 513 is located on the right side of the first fixed strip 513, and then this end passes through the through hole on the fixed block 62 from the right side of the fixed block 62; similarly, the other end of the first fixed strip 513 is located on the left side of the first fixed strip 513, and then this end on the left side of the first fixed strip 513 passes through the through hole on the fixed block 62 from the left side of the fixed block 62.

[0106] The through hole penetrates through the fixed block 62 along a direction intersecting the first direction X, and then the first fixed strip 513 passes through the through hole and is subjected to the force of the through hole, the direction of the force is perpendicular to the extension direction of the through hole, and the force can generate a pushing force on the part of the first fixed strip 513 close to the working surface, so that the part is more closely attached to the working surface.

[0107] On the other hand, the flexible guide 70 is arranged along the first fixed strip 513, and then the flexible guide 70 can be arranged along the bending of the first fixed strip 513, so that the flexible guide 70 can guide a larger range.

[0108] The portion of the first fixed strip 513 passing through the through hole can be subjected to the force of the fixing block 62, and a portion of the first fixed strip 513 in contact with the working surface can be subjected to a pressure towards the working surface, so that the portion of the first fixed strip 513 in contact with the working surface can be closely fitted to the working surface, the efficiency and completeness of scraping the sewage can be improved, the residual sewage on the working surface can be reduced, and the cleaning effect can be improved. In addition, the curved portion of the first fixed strip 513 increases the area of the flexible guide portion 70, so that the sewage can be more effectively guided to flow into the recovery tank 60, and the sewage recovery effect can be improved.

[0109] According to some embodiments of the present application, the working device 1 comprises a connecting table 211 connecting the bearing mechanism 10 and the main working table 21, and the connecting table 211 is provided with the suction wheel 40 on the side facing the working surface in the first direction X, and the third direction Z is perpendicular to the first direction X.

[0110] As shown in Figure 9 The connecting table 211 refers to a structure connecting the bearing mechanism 10 and the working assembly 20, specifically, the connecting table 211 can realize the connection between the bearing mechanism 10 and the working assembly 20 by connecting the bearing mechanism 10 and the main working table 21.

[0111] The connecting table 211 is provided with the suction wheel 40 on the side facing the working assembly 20 in the first direction X, and the suction wheel 40 has a certain adsorption capacity to the working surface and can always be fitted to the working surface during walking. At the same time, the part of the connecting table 211 connected with the bearing mechanism 10 is provided with a structure capable of self-adapting adjustment with the change of the curved surface, and then the suction wheel 40 can drive the connecting table 211 and the main working table 21 to adjust together during the adjustment with the change of the curved surface. In some embodiments, the main working table 21 can have a certain distance from the bearing mechanism 10, and then the suction wheel 40 is arranged between the main working table 21 and the bearing mechanism 10 in the third direction Z.

[0112] In some embodiments, the bearing mechanism 10 is fixedly connected with the recovery tank 60, the recovery tank 60 is provided with a connecting bracket, and the connecting table 211 is connected with the bearing mechanism 10 by connecting with the connecting bracket.

[0113] The suction wheel 40 arranged on the connecting table 211 of the main working table 21 can realize the stable support of the main working table 21, and can flexibly adjust the position and angle of the connecting table 211 according to the change of the curved surface of the working surface, and then drive the main working table 21 and the sub-working table 22 to adjust correspondingly. This self-adaptive adjustment mechanism is conducive to improving the adjustment accuracy of the working part 25, so that the pressure distribution of the portion of the working part 25 in contact with the working surface to the working surface is uniform, thereby improving the working effect and working quality of the curved surface working.

[0114] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A work device adapted to a curved surface, characterized by, Comprising: a bearing mechanism (10); a work assembly (20) comprising a main workbench (21) and a sub workbench (22), the main workbench (21) being connected with the bearing mechanism (10); a connecting part (30) comprising a plurality of movable connecting members (31), the plurality of movable connecting members (31) being arranged between the main workbench (21) and the sub workbench (22) and movably connecting the main workbench (21) and the sub workbench (22); a suction wheel (40) arranged at a central region of the main workbench (21) and a central region of the sub workbench (22) and located on a side of the work assembly (20) facing a work surface in a first direction (X), the suction wheel (40) being capable of being adsorbed on the work surface, the first direction (X) intersecting the work surface.

2. The work device according to claim 1, characterized in that, The connecting part (30) comprises: a connecting plate (301); a first movable joint (311) connecting the main workbench (21) and the connecting plate (301); a second movable joint (312) connecting the connecting plate (301) and the sub workbench (22).

3. The work device according to claim 1, wherein the work assembly (20) comprises a driving shaft (23), a connecting frame (24) and a work part (25), the driving shaft (23), the connecting frame (24) and the work part (25) being fixedly connected, the connecting frame (24) having a hollow structure and being connected with a central region of the work part (25); the suction wheel (40) comprises a rotating shaft (41) and a wheel body (42), the rotating shaft (41) extending along the first direction (X), the wheel body (42) being arranged at an end of the rotating shaft (41) facing the work surface in the first direction (X), at least a part of the rotating shaft (41) being accommodated in the hollow structure and movably connected with the connecting frame (24), the rotating shaft (41) and the driving shaft (23) having a gap in the first direction (X).

4. The work device according to claim 2, wherein the work assembly (20) comprises a driving shaft (23), a connecting frame (24) and a work part (25), the driving shaft (23), the connecting frame (24) and the work part (25) being fixedly connected, the connecting frame (24) having a hollow structure and being connected with a central region of the work part (25); the suction wheel (40) comprises a rotating shaft (41) and a wheel body (42), the rotating shaft (41) extending along the first direction (X), the wheel body (42) being arranged at an end of the rotating shaft (41) facing the work surface in the first direction (X), at least a part of the rotating shaft (41) being accommodated in the hollow structure and movably connected with the connecting frame (24), the rotating shaft (41) and the driving shaft (23) having a gap in the first direction (X).

5. The work device according to any one of claims 1 to 4, characterized by The work device comprises: a scraping structure (50) extending along a second direction (Y) and arranged between the work assembly (20) and the carrying mechanism (10) in a third direction (Z), the first direction (X), the second direction (Y) and the third direction (Z) being perpendicular to each other; a recovery groove (60) arranged between the first scraping strip (51) and the carrying mechanism (10) in the third direction (Z), the opening of the recovery groove (60) facing the first scraping strip (51) in the third direction (Z); a flexible guide part (70) having one end connected with the first scraping strip (51) and the other end accommodated in the accommodating space of the recovery groove (60).

6. The work device according to claim 5, wherein the scraping structure (50) comprises a second scraping strip (52) extending along the second direction (Y) and arranged between the recovery groove (60) and the carrying mechanism (10) in the third direction (Z).

7. The work device according to claim 6, characterized in that The work device comprises: a sliding rod (80) extending along the first direction (X), one end of the sliding rod (80) being movably connected with the recovery groove (60) and the other end being connected with the scraping structure (50); a resilient member (90) arranged in the surrounding area of the sliding rod (80), one end of the resilient member (90) being abutted with the recovery groove (60) and the other end being abutted with the scraping structure (50).

8. The work device according to claim 5, characterized by The first scraping strip (51) comprises: a scraping plate (511) extending along the second direction (Y) and having a first through groove (5111) extending along the second direction (Y); a first clamping block (512) having a second through groove (5121) extending along the second direction (Y), the opening of the second through groove (5121) facing the scraping plate (511) and the opening of the first through groove (5111) facing the first clamping block (512), the first through groove (5111) and the second through groove (5121) being abutted and spliced to form an accommodating cavity; a first fixed strip (513) extending along the second direction (Y) and connected with one end of the flexible guide part (70), the first fixed strip (513) penetrating through the accommodating cavity. A second clamping block (514) includes a first fixed area (5141) disposed on a side of the scraper (511) and the first fixed strip (513) facing away from the work surface in the first direction (X), and a second fixed area (5142) disposed on a side of the scraper (511) opposite the first through slot (5111) in the third direction (Z), one of the second fixed area (5142) and the scraper (511) is provided with a protrusion (516), and the other is provided with a groove (517), the protrusion (516) and the groove (517) cooperate; A fixing member (515) connects the first clamping block (512) and the second clamping block (514) in the first direction (X).

9. The work device according to claim 7, characterized in that, The first scraping strip (51) includes: A scraper (511) extends along the second direction (Y) and has a first through slot (5111) extending along the second direction (Y); A first clamping block (512) has a second through slot (5121) extending along the second direction (Y), the opening of the second through slot (5121) faces the scraper (511), the opening of the first through slot (5111) faces the first clamping block (512), and the first through slot (5111) and the second through slot (5121) abut and splice to form a containing cavity; A first fixed strip (513) extends along the second direction (Y) and is connected to one end of the flexible guide portion (70), and the first fixed strip (513) passes through the containing cavity; A second clamping block (514) includes a first fixed area (5141) disposed on a side of the scraper (511) and the first fixed strip (513) facing away from the work surface in the first direction (X), and a second fixed area (5142) disposed on a side of the scraper (511) opposite the first through slot (5111) in the third direction (Z), one of the second fixed area (5142) and the scraper (511) is provided with a protrusion (516), and the other is provided with a groove (517), the protrusion (516) and the groove (517) cooperate; A fixing member (515) connects the first clamping block (512) and the second clamping block (514) in the first direction (X).

10. The work device according to claim 8, wherein The first fixed area (5141) is provided with a third through slot (5143) penetrating through the first fixed area (5141) in the first direction (X) and extending in the third direction (Z), the fixing piece (515) passes through the third through slot (5143) in the first direction (X), is fixedly connected with the first clamping block (512), and can move in the third direction (Z) in the third through slot (5143).

11. The work device according to claim 9, characterized in that, The first fixed area (5141) is provided with a third through slot (5143) penetrating through the first fixed area (5141) in the first direction (X) and extending in the third direction (Z), the fixing piece (515) passes through the third through slot (5143) in the first direction (X), is fixedly connected with the first clamping block (512), and can move in the third direction (Z) in the third through slot (5143).

12. The work device of claim 8, wherein, The recovery tank (60) comprises: A second fixed strip (61) is connected with the inner wall of the recovery tank (60), and the other end of the second fixed strip (61) is connected with the flexible guide part (70).

13. The work device of claim 10, wherein, The recovery tank (60) comprises: A second fixed strip (61) is connected with the inner wall of the recovery tank (60), and the other end of the second fixed strip (61) is connected with the flexible guide part (70).

14. The work device of claim 11, wherein, The recovery tank (60) comprises: A second fixed strip (61) is connected with the inner wall of the recovery tank (60), and the other end of the second fixed strip (61) is connected with the flexible guide part (70).

15. The work device adapted to a curved surface according to claim 8, wherein, The work device comprises: A fixed block (62) is connected with the recovery tank (60), the fixed block (62) is provided with a through hole penetrating through the fixed block (62) in a direction intersecting with the first direction (X), and the end of the first fixed strip (513) on the second direction (Y) side passes through the through hole from the same side of the fixed block (62).

16. The work device adapted to a curved surface according to claim 5, wherein, The work device comprises: A connecting table (211) is connected with the bearing mechanism (10) and the main work table (21), the connecting table (211) is provided with the adsorption wheel (40) on the side of the work surface in the first direction (X), and the third direction (Z) is perpendicular to the first direction (X).

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