Angle-adjustable adaptive surface working mechanism and surface working device

Abstract

This application provides an angle-adjustable adaptive surface working mechanism and device. The adaptive surface working mechanism includes: a connecting block for connection to a carrier device carrying the surface working mechanism, and the connecting block is rotatable relative to the carrier device about a first axis perpendicular to the working surface; an adjusting arm, the first end of which is connected to the connecting block, and the adjusting arm is rotatable relative to the connecting block about a second axis perpendicular to the first axis; and a working component connected to a second end of the adjusting arm, and the working component is rotatable relative to the adjusting arm about a third axis parallel to the second axis. This application ensures that the working mechanism maintains the optimal working angle for surfaces with large torsion angles, chord lengths, and varying thicknesses, thereby improving work quality and efficiency.

Description

Technical Field

[0001] This application relates to the field of surface operation technology, and in particular to an angle-adjustable adaptive surface operation mechanism and surface operation device. Background Technology

[0002] With the development of modern industry, large structural components with complex curved surfaces are increasingly widely used, such as wind turbine blades, aircraft wings, ship hulls, and large storage tanks. These structures often require high-altitude, high-risk operations during manufacturing, installation, maintenance, inspection, and repair, such as lightning protection system inspection of wind turbine blades, surface grinding, coating repair, and non-destructive testing.

[0003] Currently, working devices for the aforementioned curved surfaces are typically only suitable for workpieces with a specific range of curvature. For example, if different blade models are used, or the blades rotate to different angles, their curvature and angle will differ. Existing fixed-angle working mechanisms cannot adapt to the angle and curvature of the workpiece surface. In other words, existing surface working mechanisms cannot guarantee the optimal working angle when dealing with complex curved surfaces like wind turbine blades, which have large twist angles, chord lengths, and constantly changing thicknesses. This leads to insufficient contact between the working tool and the surface or uneven force distribution, resulting in low work quality and efficiency. Therefore, ensuring that the working mechanism maintains the optimal working angle for surfaces with large twist angles, chord lengths, and constantly changing thicknesses, thereby improving work quality and efficiency, is a pressing technical problem that needs to be solved. Utility Model Content

[0004] This application provides an angle-adjustable adaptive surface working mechanism and surface working device to solve one or more of the above-mentioned technical problems existing in the prior art.

[0005] According to one aspect of this application, an angle-adjustable adaptive surface working mechanism is disclosed, comprising: A connecting block is used to connect to a carrier device that carries the surface working mechanism, and the connecting block is rotatable relative to the carrier device about a first axis perpendicular to the working surface. An adjusting arm, the first end of which is connected to the connecting block, and the adjusting arm is rotatable relative to the connecting block about a second axis perpendicular to the first axis; A working component is connected to the second end of the adjusting arm, and the working component is rotatable relative to the adjusting arm about a third axis parallel to the second axis.

[0006] In some embodiments of this application, the adaptive surface working mechanism includes: A first limiting part is fixed to the first end of the adjusting arm and is used to limit the adjusting arm so that the adjusting arm swings in a direction away from the working surface; The second limiting part is fixed to the second end of the adjusting arm and is used to limit the working component so that the working component swings toward the working surface.

[0007] In some embodiments of this application, the first limiting portion and / or the second limiting portion includes: A limiting plate is fixedly connected to the adjusting arm. The limiting plate has an arc-shaped guide groove and a baffle. The baffle is located on the outer side of the end of the adjusting arm. An angle adjustment screw is disposed in the arc-shaped guide groove, and the angle adjustment screw is connected to the adjustment arm.

[0008] In some embodiments of this application, the adaptive surface working mechanism includes a first torsion spring and a second torsion spring. Both the first and second torsion springs include a spring body and an end. The end of the first torsion spring is connected to the connecting block and the adjusting arm, respectively. The end of the second torsion spring is connected to the adjusting arm and the working assembly, respectively. The ends of the first and second torsion springs are respectively located on opposite sides of the adjusting arm, and each spring body is mounted on a corresponding rotating shaft; and / or, The adaptive surface working mechanism includes a drive mechanism disposed between the transport device and the connecting block, and the drive mechanism drives the connecting block to rotate around the first axis.

[0009] In some embodiments of this application, the working component includes a connecting part, a fixing part, and a working body. The connecting part is hinged to the second end of the adjusting arm. The fixing part is located at the end of the connecting part away from the adjusting arm and is connected to the connecting part. The working body is disposed on the side of the fixing part facing the working surface.

[0010] In some embodiments of this application, the working body is a flexible conductive component, which is retractable relative to the fixed part in a direction perpendicular to the working surface.

[0011] In some embodiments of this application, the fixing part is rotatable relative to the connecting part about a fourth axis perpendicular to both the first and second axes; and / or, The fixing part includes a first clamping part and a second clamping part. Each of the first and second clamping parts has a conductive component mounting half-groove on an opposite side. Two corresponding conductive component mounting half-grooves on the two clamping parts form a conductive component mounting groove. The flexible conductive component is mounted in the conductive component mounting groove, and a screw mounting hole is provided between each adjacent conductive component mounting groove; and / or, The flexible conductive component is a deformable copper wire or a telescopic probe.

[0012] In some embodiments of this application, the working component includes a return spring, the two ends of which are respectively connected to the connecting portion and the fixing portion; and / or, The conductive component mounting groove is a sawtooth-shaped groove.

[0013] In some embodiments of this application, the number of return springs is two, and the two return springs are disposed opposite to each other on both sides of the fixing part.

[0014] According to another aspect of this application, a surface working device is also disclosed, the surface working device including an angle-adjustable adaptive surface working mechanism as described in any of the above embodiments, the surface working device further including: Transport equipment; An adsorption mechanism is provided on the transport device, and the adsorption mechanism is used to adsorb onto the working surface.

[0015] The adaptive surface working mechanism with adjustable angle described in the above embodiments of this application includes a connecting block, an adjusting arm, and a working component. The connecting block can rotate around a first axis, the adjusting arm can rotate around a second axis, and the working component can rotate around a third axis. Through the ingenious combination and coordinated movement of the connecting block, adjusting arm, and working component, the working component of this structure successfully overcomes the inherent defects of traditional rigid working mechanisms, such as poor adaptability and inability to conform to complex curved surfaces. In other words, the adaptive surface working mechanism of this application allows the working component (such as a grinding disc or detection probe) installed at its end to flexibly adjust its posture. When the angle of the working surface changes (such as the rotation of a wind turbine blade), the working component of this surface working mechanism, based on a combination of active and passive adjustment, can always maintain a preset optimal contact angle with the local curved surface of the current working point, thereby improving work quality and efficiency.

[0016] In addition, limiting parts are provided for the adjusting arm and the working component respectively. The two limiting parts can limit the rotation direction and rotation angle of the adjusting arm and the working component respectively. This structure can realize precise, safe and reliable motion control of the adjusting arm and the working component.

[0017] Additional advantages, objectives, and features of this application will be set forth in part in the description which follows, and will in part become apparent to those skilled in the art upon review of the following description, or may be learned by practice of the application. The objectives and other advantages of this application can be realized and obtained by means of the structures specifically pointed out in the specification and drawings.

[0018] Those skilled in the art will understand that the purposes and advantages that can be achieved with this application are not limited to those specifically described above, and that the above and other purposes that this application can achieve will be more clearly understood from the following detailed description. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, do not constitute a limitation thereof. The components in the drawings are not drawn to scale but are merely for illustrating the principles of this application. For ease of illustration and description of certain parts of this application, corresponding portions in the drawings may be enlarged, i.e., may appear larger relative to other components in an exemplary device actually manufactured according to this application. In the drawings: Figure 1 This is a schematic diagram of the structure of an adaptive surface working mechanism according to an embodiment of this application. Figure 1 .

[0020] Figure 2 This is a schematic diagram of the structure of an adaptive surface working mechanism according to an embodiment of this application. Figure 2 .

[0021] Figure 3 This is a schematic diagram of the structure of a working component according to an embodiment of this application.

[0022] Figure 4 This is a schematic diagram of the structure of a working component according to another embodiment of this application.

[0023] Figure 5 for Figure 4 A schematic diagram of the working component from another angle.

[0024] Figure 6 This is a schematic diagram of the structure of an adaptive surface working mechanism according to another embodiment of this application.

[0025] Figure 7 This is a schematic diagram of the structure of a limiting plate according to an embodiment of this application.

[0026] Figure 8 This is a schematic diagram of the structure of an aerial work device according to an embodiment of this application.

[0027] Figure 9 This is a schematic diagram of the structure of the connection part of the working component according to an embodiment of this application.

[0028] Figure 10 This is a schematic diagram of the structure of the fixing part of the working component according to an embodiment of this application.

[0029] Figure 11 This is a top view of the fixing part according to an embodiment of this application.

[0030] Figure 12 This is a full sectional view of the fixing part according to an embodiment of this application.

[0031] Figure label: Carrying device 100, Adsorption mechanism 200, Connecting block 310, First rotating shaft 311, Adjusting arm 320, Second rotating shaft 321, Working assembly 330, Third rotating shaft 335, Limiting plate 410, Angle adjusting screw 420, Arc-shaped guide groove 411, Baffle 412, First torsion spring 510, Second torsion spring 520, Drive mechanism 610, Connecting part 331, Fixing part 332, Working body 333, Return spring 334, Fourth rotating shaft 335, First clamping part 3321, Second clamping part 3322, Screw mounting hole 3323, Conductive component mounting groove 3324 Detailed Implementation

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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).

[0038] 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.

[0039] Figure 1 This is a schematic diagram of the structure of an adaptive surface working mechanism according to an embodiment of this application. Figure 1 , Figure 2 This is a schematic diagram of the structure of an adaptive surface working mechanism according to an embodiment of this application. Figure 2 ,like Figure 1 and Figure 2 As shown, the angle-adjustable adaptive surface working mechanism includes at least a connecting block 310, an adjusting arm 320, and a working component 330.

[0040] A connecting block 310 is used to connect with a carrier device 100 that carries the surface working mechanism, and the connecting block 310 is rotatable relative to the carrier device 100 about a first axis perpendicular to the working surface; an adjusting arm 320, the first end of which is connected to the connecting block 310, and the adjusting arm 320 is rotatable relative to the connecting block 310 about a second axis perpendicular to the first axis; a working component 330 is connected to the second end of the adjusting arm 320, and the working component 330 is rotatable relative to the adjusting arm 320 about a third axis parallel to the second axis.

[0041] The aforementioned transport device 100, such as a drone or robot, can have an angle-adjustable adaptive surface working mechanism connected to the transport device 100 via a connecting block 310; for example... Figure 1 and Figure 2 As shown, the first rotating shaft 311 serves as the connecting shaft between the connecting block 310 and the transport device 100, the second rotating shaft 321 serves as the connecting shaft between the adjusting arm 320 and the connecting block 310, and the third rotating shaft 335 serves as the connecting shaft between the working component 330 and the adjusting arm 320. Specifically, the first axis is the axis of the first rotating shaft 311, the second axis is the axis of the second rotating shaft 321, and the third axis is the axis of the third rotating shaft 335. In this embodiment, the connecting block 310 is rotatable relative to the transport device 100 about the first axis, the adjusting arm 320 is rotatable relative to the connecting block 310 about the second axis, and the working component 330 is rotatable relative to the adjusting arm 320 about the third axis. Furthermore, the first axis is perpendicular to the working surface, and the second axis is perpendicular to the third axis. The axes are parallel, and both the second and third axes are perpendicular to the first axis. The surface working mechanism in this embodiment has at least three joints. The joint between the connecting block 310 and the carrying device 100 can adjust the posture of the working component 330 in a plane parallel to the working surface. The joint between the adjusting arm 320 and the connecting block 310 can adjust the posture of the adjusting arm 320, and the joint between the adjusting arm 320 and the working component 330 can adjust the posture of the working component 330. The adaptive surface working mechanism in this embodiment, through the ingenious combination and coordinated movement of the connecting block 310, the adjusting arm 320 and the working component 330, enables the working component 330 at the end to flexibly adjust its posture, thereby maintaining a preset optimal contact angle with the working surface at different angles.

[0042] Furthermore, the adaptive surface working mechanism may also include limiting portions for limiting the rotation direction and rotation angle of the adjusting arm 320 and the working component 330; exemplarily, the limiting portions include a first limiting portion and a second limiting portion; the first limiting portion is fixed to a first end of the adjusting arm 320, for limiting the adjusting arm 320 to swing in a direction away from the working surface; the second limiting portion is fixed to a second end of the adjusting arm 320, for limiting the working component 330 to swing in a direction closer to the working surface. Exemplarily, the initial state of the adjusting arm 320 and the working component 330 may be as follows: Figure 1 and Figure 2 In the state shown, the adjusting arm 320, connecting block 310, and working component 330 are in a parallel state. The first and second limiting parts are used to restrict the adjusting arm 320 and working component 330 from moving in opposite directions, which can also be understood as... Figure 1 The working component 330 rotates counterclockwise, while the adjusting arm 320 rotates clockwise.

[0043] refer to Figure 1 The first and second limiting parts have the same structure. Specifically, the first and second limiting parts are located on opposite sides of the adjusting arm 320, and both limiting parts are connected to the adjusting arm 320 via detachable connectors such as screws or bolts. It is understood that in other embodiments, the structures of the two limiting parts may differ, or they may be located on the same side of the adjusting arm 320, as long as the two limiting parts can respectively restrict the adjusting arm 320 and the working component 330 to rotate in different directions.

[0044] In the above embodiments, the directions away from the working surface and the directions closer to the working surface are both referenced to the normal working state of the adaptive surface working mechanism. That is, at this time, the adaptive surface working mechanism is located on one side of the working surface, and the working component 330 of the adaptive surface working mechanism faces the working surface. Based on the limiting part, the adjusting arm 320 and the working component 330 can rotate in different directions. This not only adjusts the angle of the working component 330, but also makes it easy to return the working component 330 to the normal working position. For example, when the angle-adjustable adaptive surface working mechanism of this application performs lightning protection testing on wind turbine blades, since the blades are rotating, when testing a certain blade, the working component 330 may be mistakenly placed behind the blade. In this state, the working component 330 is in an abnormal working position. At this time, the joint between the adjusting arm 320 and the connecting block 310 can make the adjusting arm 320 rotate in a preset direction and restore the working component 330 to the normal working position (facing the working surface).

[0045] Furthermore, the first limiting part and / or the second limiting part includes a limiting plate 410 and an angle adjusting screw 420. The limiting plate 410 is fixedly connected to the adjusting arm 320. The limiting plate 410 has an arc-shaped guide groove 411 and a baffle 412. The baffle 412 is located on the outer side of the end of the adjusting arm 320. The angle adjusting screw 420 is disposed in the arc-shaped guide groove 411 and is connected to the adjusting arm 320. In this embodiment, the limiting plate 410 is provided with an arc-shaped guide groove 411, and the angle adjusting screw 420 is disposed on the arc-shaped guide groove 411. The angle adjusting screw 420 is specifically connected to the adjusting arm 320. By fastening the angle adjusting screw 420 in the arc-shaped guide groove 411, the limiting plate 410 can be fastened to the adjusting arm 320. In addition, by loosening the angle adjusting screw 420 and rotating the limiting plate 410, the arc-shaped guide groove 411 of the limiting plate 410 can be moved along the angle adjusting screw 420, thereby adjusting the angle of the limiting plate 410. This allows for the adjustment of the initial angle between the working component 330 and the adjusting arm 320, as well as the adjustment of the initial angle between the adjusting arm 320 and the connecting block 310. It also allows for the adjustment of the rotation angle range of the adjusting arm 320 and the rotation angle range of the working component 330.

[0046] like Figure 7 As shown, an arc-shaped guide groove 411 is provided at one end of the limiting plate 410, while a fixing hole for connecting with the adjusting arm 320 is located at the other end of the limiting plate 410. A baffle 412 is specifically located on one side of the limiting plate 410; the baffle 412 is specifically provided on the outer side of the end of the adjusting arm 320, that is, when the adjusting arm 320 and the working assembly 330 rotate to their extreme positions, they respectively abut against the baffle 412 of their respective limiting plates 410. Exemplarily, the baffle 412 includes a vertical portion and an inclined portion, such as... Figure 1 As shown, the vertical portion of the baffle 412 is used to abut against the outer side of the adjusting arm 320, while the inclined portion of the baffle 412 serves as an abutment portion for contacting the connecting block 310 and the working component 330, and is specifically located on the outer side of the connecting block 310 and the working component 330. In the initial state of the adaptive surface working mechanism, there is a gap between the inclined portion and the outer side of the corresponding working component 330 or the outer side of the connecting block 310, the size of which corresponds to the rotation angle range of the adjusting arm 320 or the working component 330.

[0047] exist Figure 1 and Figure 2 In the adaptive surface working mechanism shown, the first limiting part and the second limiting part have the same structure, and the first limiting part and the second limiting part are located on opposite sides of the adjusting arm 320. In this embodiment, the two limiting parts are arranged opposite to each other, that is, the ends of the arc-shaped guide grooves 411 of the two limiting parts are arranged opposite to each other.

[0048] It is understood that the structure and setting method of the limiting part listed in the above embodiments are only examples. In other embodiments, the number, structure and setting method of the limiting part can be set according to actual needs, as long as the rotation direction and / or rotation angle of the working component 330 and the adjusting arm 320 can be limited.

[0049] In one embodiment, the adaptive surface working mechanism includes a first torsion spring 510 and a second torsion spring 520. Both the first torsion spring 510 and the second torsion spring 520 include a spring body and an end. The end of the first torsion spring 510 is connected to the connecting block 310 and the adjusting arm 320, respectively. The end of the second torsion spring 520 is connected to the adjusting arm 320 and the working component 330, respectively. The end of the first torsion spring 510 and the end of the second torsion spring 520 are respectively disposed on opposite sides of the adjusting arm, and each spring body is disposed on a corresponding rotating shaft.

[0050] In the above embodiments, torsion springs are provided at the joint positions between the working component 330 and the adjusting arm 320, and at the joint positions between the adjusting arm 320 and the connecting block 310. The torsion springs are twisted when the joints rotate, storing elastic potential energy. When the external force disappears, the energy stored in the torsion springs drives the joints, causing the adjusting arm 320 and the working component 330 to return to their initial positions. Furthermore, when the joint is subjected to impact or encounters an unexpected obstacle, the torsion springs can deform to absorb energy, providing a buffering effect. This effectively protects the joint's structure from damage.

[0051] like Figure 1 and Figure 2 As shown, the spring body of the torsion spring is sleeved on the corresponding rotating shaft, and one end of the two ends of the torsion spring is connected to the corresponding movable part, and the other end is connected to the corresponding fixed part. In order to accommodate the different rotation directions of the adjusting arm 320 and the working component 330, the first torsion spring 510 and the second torsion spring 520 are respectively arranged on opposite sides of the adjusting arm 320; specifically, the first torsion spring 510 and the first limiting part are respectively located on opposite sides of the adjusting arm 320, and the second torsion spring 520 and the second limiting part are also respectively located on opposite sides of the adjusting arm 320.

[0052] In some embodiments, the adaptive surface working mechanism includes a drive mechanism 610 disposed between the transport device 100 and the connecting block 310, the drive mechanism 610 driving the connecting block 310 to rotate about the first axis. Figure 6As shown, the output shaft of the drive mechanism 610 serves as the first rotating shaft between the connecting block 310 and the transport device 100. The connecting block 310 rotates with the output shaft of the drive mechanism 610. Specifically, the drive mechanism may include a geared motor, which can be fixed to the transport device 100 via a motor bracket. The connecting block 310 is further fixedly connected to the output shaft of the geared motor. In this embodiment, the rotation of the connecting block 310 is driven by the drive mechanism 610. That is, the drive mechanism 610 drives the integrated structure composed of the connecting block 310, the adjusting arm 320, and the working component 330 to rotate in a plane parallel to the working surface, thereby adjusting the posture of the integrated structure.

[0053] Furthermore, the working component 330 includes a connecting part 331, a fixing part 332, and a working body 333. The connecting part 331 is hinged to the second end of the adjusting arm 320. The fixing part 332 is located at the end of the connecting part 331 away from the adjusting arm 320 and is connected to the connecting part 331. The working body 333 is disposed on the side of the fixing part 332 facing the working surface.

[0054] like Figure 3 and Figure 4 As shown, the connecting part 331 is located at the end of the fixing part 332. The fixing part 332 is used to install the working body 333, which is a component used for working on the working surface. The connecting part 331 of the working component 330 has a shaft hole, which connects the connecting part 331 to the end of the adjusting arm 320 through the third rotating shaft 335, thus realizing the hinged connection between the working component 330 and the adjusting arm 320. The connection between the connecting part 331 and the fixing part 332 can be a fixed connection or a hinged connection; and the working body 333 can be a grinding head for grinding operations or a detection probe for lightning protection detection. It is understood that the specific types of working bodies 333 listed in this embodiment are only examples. In other embodiments, the working body 333 can also be other components besides grinding heads and detection probes, such as exploration components.

[0055] Furthermore, the specific working area on the working surface can be the area that comes into contact with the working body 333. For example, when performing lightning protection testing on the blades of a wind turbine generator, the working area on the working surface is specifically the lightning arrester on the blade, and the working body 333 is specifically a flexible conductive component. The flexible conductive component can also be designed to extend and retract relative to the fixed part 332 in a direction perpendicular to the working surface. This structure further ensures the testing accuracy of the flexible conductive component.

[0056] For example, the flexible conductive component is a deformable copper wire or a telescopic probe. When the flexible conductive component is a telescopic probe, the telescopic probe may include a probe body and a sleeve. In this case, the sleeve is fixed to the fixing part 332, while the probe body is located inside the sleeve and can move within the sleeve. This embodiment sets the flexible conductive component to a structure that is telescopic relative to the fixing part 332, which can ensure better contact between the probe and the point to be detected, thereby avoiding false detections caused by poor contact and improving the accuracy of the detection results.

[0057] in addition, Figure 10 This is a schematic diagram of the structure of the fixing part of the working component according to an embodiment of this application. In this embodiment, the fixing part 332 may be further provided with a first clamping part 3321 and a second clamping part 3322. In this case, the flexible conductive component is specifically clamped and fixed by the first clamping part 3321 and the second clamping part 3322. For example, refer to... Figure 11 Each of the first clamping part 3321 and the second clamping part 3322 has a conductive component mounting half-groove on its opposite side, and the two corresponding conductive component mounting half-grooves on the two clamping parts form a complete conductive component mounting groove 3324. In addition, a screw mounting hole 3323 is provided between each two adjacent conductive component mounting grooves 3324 (see reference). Figure 12 The axis of the screw mounting hole 3323 is perpendicular to the axis of the conductive component mounting groove 3324. The screw within the screw mounting hole 3323 allows for the clamping and loosening of the first clamping part 3321 and the second clamping part 3322, thereby enabling the operation of the flexible conductive component and the adjustment of its distance from the working surface. Furthermore, the conductive component mounting half-groove can specifically be a semi-circular groove or a serrated groove. When the conductive component mounting half-groove is a semi-circular groove, the two corresponding conductive component mounting half-grooves on the two clamping parts form a complete cylindrical conductive component mounting groove 3324. When the conductive component mounting half-groove is a serrated groove, the V-shaped teeth of the serrated groove will "bite" into the cylindrical surface of the probe, forming a mechanical interlock. This structure effectively resists the rotation of the probe when subjected to tangential force or torque, thus improving the stability of lightning protection detection.

[0058] In some embodiments of this utility model, the fixed part 332 in the working component 330 is rotatable relative to the connecting part 331 about a fourth axis that is perpendicular to both the first and second axes. In this embodiment, the connecting part 331 and the fixed part 332 in the working component 330 are hinged together by a fourth rotating shaft 335, where the fourth axis is the axis of the fourth rotating shaft 335. Figure 9As shown, the fourth rotating shaft 335 can be specifically set on the connecting part 331. At this time, the end of the fixing part 332 that is used to connect with the connecting part 331 is provided with a shaft hole. Then, the fourth rotating shaft 335 is installed in the shaft hole of the fixing part 332, thus realizing the hinged connection between the connecting part 331 and the fixing part 332.

[0059] Furthermore, the working component 330 also includes a return spring 334, with its two ends connected to the connecting portion 331 and the fixing portion 332, respectively. Specifically, both ends of the return spring 334 are provided with spring hooks. The connecting portion 331 and the fixing portion 332 can each have mounting holes or loops for installing the spring hooks at corresponding positions, allowing the spring hooks of the return spring 334 to be installed in the corresponding mounting holes or loops. In this embodiment, the return spring 334 is used to achieve the torsional return of the working body 333 and the fixing portion 332.

[0060] For example, there are two return springs 334, which are arranged opposite to each other on both sides of the fixing part 332. Figure 5 As shown, two return springs 334 are symmetrically arranged on both sides of the fixed part 332. The two symmetrically arranged return springs 334 can not only ensure that the working body 333 can be stably reset when it rotates counterclockwise or clockwise, but also stabilize the working body 333 in a certain position when it is not subjected to external force.

[0061] According to another aspect of this application, a surface working device is also disclosed, the surface working device including an angle-adjustable adaptive surface working mechanism as described in any of the above embodiments, the surface working device further including: a carrying device 100; an adsorption mechanism 200 disposed on the carrying device 100, and the adsorption mechanism 200 being used to adsorb onto the working surface.

[0062] In one embodiment, the transport device 100 may specifically be a drone, such as... Figure 8 As shown, the surface operation device is an aerial operation device at this time. Both the adsorption mechanism 200 and the adaptive surface operation mechanism of the aerial operation device are located on the side of the UAV facing the work surface. During actual operation, the adsorption mechanism 200 adsorbs onto the work surface. The adsorption mechanism 200 can be vacuum adsorption, magnetic adsorption, etc., and the adsorption mechanism 200 ensures that the adaptive surface operation mechanism remains stable in the work position during operation.

[0063] It is understood that the carrier device 100 listed in the above embodiments is a drone, which is only one embodiment. In other embodiments, the carrier device 100 may also be a robot, etc., as long as it is a device that can carry the adaptive surface operation mechanism to the required operation position.

[0064] As can be seen from the above embodiments, the adaptive surface working mechanism of this application, through the ingenious combination and coordinated movement of the connecting block 310, adjusting arm 320, and working component 330, successfully overcomes the inherent defects of traditional rigid working mechanisms, such as poor adaptability and inability to conform to complex curved surfaces. That is, the adaptive surface working mechanism of this application allows the working component 330 (such as a grinding disc, detection probe, etc.) installed at its end to flexibly adjust its posture; when the angle of the working surface changes (such as the rotation of a wind turbine blade), the working component 330 of the surface working mechanism, based on a combination of active and passive adjustment, can always maintain a preset optimal contact angle with the local curved surface of the current working point, thereby improving work quality and efficiency.

[0065] The adaptive surface working mechanism provided in this application can be applied to planar 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, wind turbine towers and blades, as well as the surfaces of large industrial equipment (such as boilers, reactors, etc.). It is especially adaptable to complex, asymmetric curved surfaces.

[0066] The adaptive surface processing mechanism 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 work 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.

[0067] 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. An angle-adjustable adaptive surface working mechanism, characterized in that, include: A connecting block (310) is used to connect to a carrier (100) that carries the surface working mechanism, and the connecting block (310) is rotatable relative to the carrier (100) about a first axis perpendicular to the working surface. An adjusting arm (320) has its first end connected to the connecting block (310), and the adjusting arm (320) is rotatable relative to the connecting block (310) about a second axis perpendicular to the first axis. The working component (330) is connected to the second end of the adjusting arm (320), and the working component (330) is rotatable relative to the adjusting arm (320) about a third axis parallel to the second axis.

2. The adaptive surface engaging member of claim 1, wherein, The adaptive surface working mechanism includes: The first limiting part is fixed to the first end of the adjusting arm (320) and is used to limit the adjusting arm (320) so that the adjusting arm (320) swings in a direction away from the working surface; The second limiting part is fixed to the second end of the adjusting arm (320) and is used to limit the working component (330) so that the working component (330) swings toward the working surface.

3. The adaptive surface engaging member of claim 2, wherein, The first limiting part and / or the second limiting part include: A limiting plate (410) is fixedly connected to the adjusting arm (320). The limiting plate (410) has an arc-shaped guide groove (411) and a baffle (412). The baffle (412) is located on the outer side of the end of the adjusting arm (320). An angle adjusting screw (420) is disposed in the arc-shaped guide groove (411), and the angle adjusting screw (420) is connected to the adjusting arm (320).

4. The self-leveling work tool of claim 3, wherein, The adaptive surface working mechanism includes a first torsion spring (510) and a second torsion spring (520). Both the first torsion spring (510) and the second torsion spring (520) include a spring body and an end. The end of the first torsion spring (510) is connected to the connecting block (310) and the adjusting arm (320) respectively. The end of the second torsion spring (520) is connected to the adjusting arm (320) and the working assembly (330) respectively. The ends of the first torsion spring (510) and the second torsion spring (520) are respectively located on opposite sides of the adjusting arm, and each spring body is mounted on a corresponding rotating shaft; and / or, The adaptive surface working mechanism includes a drive mechanism (610) disposed between the transport device (100) and the connecting block (310), and the drive mechanism (610) drives the connecting block (310) to rotate around the first axis.

5. The adaptive surface engaging member of claim 1, wherein, The working component (330) includes a connecting part (331), a fixing part (332), and a working body (333). The connecting part (331) is hinged to the second end of the adjusting arm (320). The fixing part (332) is located at the end of the connecting part (331) away from the adjusting arm (320). The fixing part (332) is connected to the connecting part (331). The working body (333) is disposed on the side of the fixing part (332) facing the working surface.

6. The adaptive surface engaging member of claim 5, wherein, The working body (333) is a flexible conductive component, which is retractable relative to the fixed part (332) in a direction perpendicular to the working surface.

7. The adaptive surface engaging member of claim 6, wherein, The fixing part (332) is rotatable relative to the connecting part (331) about a fourth axis that is perpendicular to both the first axis and the second axis; and / or, The fixing part (332) includes a first clamping part (3321) and a second clamping part (3322). Each of the first clamping part (3321) and the second clamping part (3322) has a conductive component mounting half-groove on its opposite side. Two corresponding conductive component mounting half-grooves on the two clamping parts form a conductive component mounting groove (3324). The flexible conductive component is installed in the conductive component mounting groove (3324), and a screw mounting hole (3323) is provided between each adjacent conductive component mounting groove (3324); and / or, The flexible conductive component is a deformable copper wire or a telescopic probe.

8. The adaptive surface engaging member of claim 7, wherein, The working component (330) includes a return spring (334), the two ends of which are respectively connected to the connecting part (331) and the fixing part (332); and / or, The conductive component mounting groove is a sawtooth-shaped groove.

9. The adaptive surface engaging member of claim 8, wherein, There are two return springs (334), which are arranged opposite to each other on both sides of the fixing part (332).

10. A surface working device, characterized in that The surface working device includes an angle-adjustable adaptive surface working mechanism as described in any one of claims 1 to 9, and the surface working device further includes: Transport device (100); An adsorption mechanism (200) is provided on the transport device (100) and is used to adsorb onto the working surface.

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