Spraying device for repairing outer wall

Abstract

The invention relates to a spraying device for outer wall repairing, and relates to the technical field of unmanned aerial vehicle high-altitude spraying, the spraying device comprises a mounting frame, a spraying assembly, an axial compensation assembly, an angle compensation assembly and a swing compensation assembly, and the mounting frame is mounted on a spraying unmanned aerial vehicle; the spraying assembly is arranged on the mounting frame and is used for spraying paint to a target position; the axial compensation assembly comprises a compensation part and a driving part, and the compensation part is arranged on the mounting frame and used for adjusting the distance between the spraying assembly and the target position so as to keep the distance between the spraying assembly and the target position unchanged; the driving part is arranged on the mounting frame and is used for providing power for the compensation part; the angle compensation assembly is arranged on the mounting frame and used for adjusting the pitching angle of the spraying assembly. The swing compensation assembly is arranged on the spraying assembly and used for adjusting the swing angle of the spraying assembly on the horizontal plane. The method has the effect of improving the stability of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of drone high-altitude spraying, and in particular to a spraying device for exterior wall repair. Background Art

[0002] Spraying drones use drone platforms equipped with special spraying systems to achieve precise spraying operations at high altitudes, over large areas or in complex environments. Its essence is to combine traditional spraying technology with the mobility and intelligence of drones, break through the physical limitations of manual spraying, and improve operation efficiency and quality.

[0003] At present, the general spraying device is to use a drone to drive an automatic spray gun to move to the construction site, and then start the automatic spray gun, which sprays the paint on the construction site, thereby easily improving the spraying efficiency.

[0004] However, during the spraying process, the wind field formed by the rotation of the blades can change the spraying position, and during the spraying process, a recoil force will be generated when the paint is sprayed outward through the nozzle. The recoil force acts on the drone and interferes with the flight stability of the drone, causing the drone to fly unstably, which can easily affect the spraying effect. Summary of the invention

[0005] In order to improve the stability of the drone, the present application provides a spraying device for exterior wall repair.

[0006] The present application provides a spraying device for exterior wall repair, which adopts the following technical solution: A spraying device for exterior wall repair, comprising: A mounting frame, mounted on the spraying drone; Spraying assembly, including: Spraying department, including: At least two support members, the support members are arranged on the mounting frame, and adjacent support members are connected; at least one nozzle, the nozzle being disposed on the support member; A spray gun, which is arranged on the mounting frame and connected to an external material tank; A connecting pipe, one end of which is connected to the spray head, and the other end of which is connected to the spray gun; An adjusting part, disposed on the spraying part and used for adjusting the balance of the spraying part on a horizontal plane; Axial compensation assembly, comprising: A compensation part, which is arranged on the mounting frame and is used to adjust the distance between the spraying assembly and the target position to keep the distance between the two unchanged, comprises a support column, an optical axis and a moving frame; A driving unit, which is disposed on the mounting frame and is used to provide power to the compensation unit, and includes an integrated controller, an infrared sensor, a motor 1, a driving gear and a spur rack; An angle compensation component, disposed on the mounting frame and used to adjust the pitch angle of the spraying component; Swing compensation assembly, comprising: Two pressure sensors are respectively located on both sides of the support and at the same level. The pressure sensors are fixed on the support and electrically connected to the integrated controller. The pressure sensors are used to output pressure signals on both sides of the support; Angle sensor 2 is fixed on the mounting frame and electrically connected to the integrated controller, and the angle sensor 2 is used to output a swing angle signal of the mounting frame in a horizontal plane; Motor 3, fixedly mounted on one of the supporting members and electrically connected to the integrated controller; The fixed block is fixedly arranged on an adjacent supporting member and is fixedly connected to the output shaft of the motor three.

[0007] By adopting the above technical solution, the compensation unit can sense the relative displacement between the spraying drone and the target position in real time, and the driving unit can adjust the position of the spraying component in time to maintain the preset spraying distance, thereby avoiding the problem of too large or too small atomized particles of the paint due to the change in distance, thereby making it easy to ensure the uniformity of the coating. The spray gun guides the paint in the material tube into the connecting pipe, and then transports it to the nozzle through the connecting pipe. The nozzle atomizes the paint. By increasing the number of nozzles, the spraying area can be expanded at one time, which can improve the spraying efficiency. During the spraying process, the pitch angle of the spraying drone is sensed in real time by the angle compensation component, which adjusts the angle of the spraying component in time, thereby easily reducing coating overlap or omission caused by angle deviation; Through the swing compensation component, the angle sensor 2 detects the swing angle of the mounting frame in the horizontal plane in real time, and outputs the swing angle signal to the integrated controller. At the same time, the pressure sensor detects the pressure borne by the support member in real time, and outputs the pressure signal to the integrated controller. In the absence of wind, the swing angle of the mounting frame in the horizontal plane changes due to the adjustment of the drone. At this time, the two pressure sensors detect the same thing and no swing compensation is performed; In the case of wind coming from one side, the wind force acts on a pressure sensor, and the integrated controller responds to the pressure signal and compares the pressure signals output by the two pressure sensors. When the pressure signals are inconsistent, the integrated controller controls the motor three to start, and the output shaft of the motor three drives the fixed block to rotate. Based on the swing angle signal output by the angle sensor two, the fixed block drives the support member to compensate the angle toward the side with greater pressure, so that the spraying assembly can be aligned with the target position, thereby improving the spraying accuracy; Through the adjustment of three-dimensional angles, the spraying accuracy and stability of the spraying equipment in complex working environments can be significantly improved, thereby easily improving the spraying effect.

[0008] Optionally, the compensation unit includes: The support columns are provided in two groups, and the arrangement direction of the two groups of support columns is perpendicular to the spraying direction of the spraying assembly on the horizontal plane. Each group of support columns is provided with two, and the arrangement direction of the two support columns is parallel to the spraying direction of the spraying assembly. The support columns are fixed on the mounting frame; The optical axes are provided with two, the two optical axes correspond to the two groups of support columns one by one, and the two ends of the optical axis are fixedly connected to the two support columns respectively; The two optical axes are arranged on the movable frame, and the movable frame is slidably connected with the optical axes.

[0009] By adopting the above technical solution, when the distance between the spraying component and the target position increases, the driving unit drives the movable frame to move along the optical axis, so that the movable frame approaches the target position, and the distance between the spraying component and the target position can be adjusted in time, thereby easily ensuring the accuracy of spraying.

[0010] Optionally, the driving unit includes: The integrated controller is fixed on the mounting frame; The infrared sensor is fixed on the mounting frame and electrically connected to the integrated controller, and the infrared sensor is used to output a distance signal between the mounting frame and the target position; The motor 1 is fixed on the mobile frame, and the motor 1 is electrically connected to the integrated controller; The driving gear is coaxially and fixedly connected to the output shaft of the motor 1; The spur rack is fixed on the mounting frame and meshes with the driving gear.

[0011] By adopting the above technical solution, the infrared sensor measures the distance between the mounting frame and the target position in real time, and outputs the distance signal between the mounting frame and the target position to the integrated controller. The integrated controller responds to the distance signal and controls the motor to start. The output shaft of the motor drives the driving gear to rotate. Since the spur rack is meshed with the driving gear, the teeth of the spur rack exert a force on the driving gear, so that the movable frame can move, thereby realizing real-time and precise control of the spraying distance, thereby improving the accuracy of the spraying.

[0012] Optionally, the angle compensation component includes: A rotating frame, rotatably connected to the mobile frame, and the spraying assembly is arranged on the rotating frame; Angle sensor 1, fixedly mounted on the mounting frame and electrically connected to the integrated controller, the angle sensor 1 being used to output an angle signal indicating that the mounting frame deviates from a horizontal plane; Motor 2 is fixedly mounted on the mobile frame, and its output shaft is fixedly connected to the rotating frame. Motor 2 is electrically connected to the integrated controller.

[0013] By adopting the above technical solution, angle sensor 1 detects the pitch angle of the mounting frame in real time, and outputs an angle signal of the mounting frame deviating from the horizontal plane to the integrated controller. The integrated controller responds to the angle signal of the mounting frame deviating from the horizontal plane, and controls motor 2 to start. The output shaft of motor 2 drives the rotating frame to rotate, so that the rotating frame can drive the spray assembly to reset in time, and the spray assembly can be aligned with the target position, thereby improving the accuracy of spraying.

[0014] Optionally, the adjustment unit includes: A counterweight block is provided on the support member and is located at an end away from the nozzle; At least one folding tube, one end of which is rotatably connected to one of the supporting members, and the other end of which is rotatably connected to the other supporting member; At least one locking member has one end rotatably connected to one of the supporting members and the other end clamped to the other supporting member.

[0015] By adopting the above technical solution, the center of gravity of the spraying part can be changed by adjusting the position or weight of the counterweight block, and balance adjustment can be achieved; when the spraying is completed, the locking piece is opened and the folding tube can be manually folded to facilitate the storage of the spraying component and avoid damage caused by collision, thereby easily extending the service life of the spraying component.

[0016] Optionally, a quick-release assembly is also included, and the quick-release assembly includes: Two T-blocks are fixedly mounted on the bottom of the mounting frame; Two connecting blocks, corresponding to the two T-blocks one by one, the connecting blocks are provided with T-slots, and the T-blocks are slidably connected in the T-slots; A connection card, fixedly mounted on the connection block and connected to the spraying drone; Wherein, positioning plungers are provided on both ends of the T-block and the connecting block.

[0017] By adopting the above technical solution, when disassembly is required, the positioning plunger is pulled out and the T-block is pulled so that the T-block slides out of the T-slot, making it easy to inspect and repair the stabilizing adjustment device; conversely, during installation, the T-block is inserted into the T-slot and then the positioning plunger is inserted to achieve fixed installation with the spraying drone, thereby improving the convenience of operation.

[0018] Optionally, limit blocks are respectively fixedly provided at both ends of the optical axis.

[0019] By adopting the above technical solution, the limit block has the function of absorbing impact and can effectively protect the movable frame. At the same time, it can limit the axial movement of the movable frame and prevent the movable frame from sliding out of the optical axis, thereby significantly improving the reliability of the optical axis system.

[0020] In summary, the present application includes at least one of the following beneficial technical effects: By setting up an axial compensation component, the problem of paint atomization particles being too large or too small due to distance changes can be avoided, making it easy to ensure coating uniformity; By setting an angle compensation component, it is easy to reduce coating overlap or omission caused by angle deviation; By setting up a swing compensation component, the posture change of the spray component can be compensated in time, so that the spray component can spray accurately and reduce the coating misalignment caused by angle deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of an embodiment of the present application; Figure 2 It is a structural schematic diagram of a quick-release assembly in an embodiment of the present application; Figure 3 yes Figure 2 Magnified view at A in the middle; Figure 4 is a schematic diagram of the structure of the spraying assembly in an embodiment of the present application; Figure 5 It is a structural schematic diagram of a foldable tube in an embodiment of the present application; Figure 6 is a schematic diagram of the structure of the axial compensation assembly in an embodiment of the present application; Figure 7 It is a schematic diagram of the structure of the angle compensation component in the embodiment of the present application.

[0022] Description of reference numerals: 1. Mounting frame; 2. Quick release assembly; 21. T-block; 22. Connecting block; 221. T-slot; 23. Connecting card; 24. Positioning plunger; 3. Spraying assembly; 31. Spraying part; 311. Support; 3111. Sleeve; 312. Spray head; 3121. Fork joint; 313. Spray gun; 3131. Trigger; 314. Connecting pipe; 3141. Front fixing pipe; 3142. Rear fixing pipe; 32. Adjusting part; 321. Counterweight; 322. Folding pipe; 323. Locking piece; 4 , axial compensation assembly; 41, compensation part; 411, support column; 412, optical axis; 4121, limit block; 413, moving frame; 42, driving part; 421, integrated controller; 422, infrared sensor; 423, motor one; 424, driving gear; 425, spur rack; 5, angle compensation assembly; 51, rotating frame; 52, angle sensor one; 53, motor two; 6, swing compensation assembly; 61, pressure sensor; 62, angle sensor two; 63, motor three; 64, fixing block. DETAILED DESCRIPTION

[0023] The following is combined with Figure 1-7 This application is described in further detail.

[0024] The embodiment of the present application discloses a spraying device for exterior wall repair, which is used on a spraying drone. A spraying device for exterior wall repair includes a mounting frame 1, a quick-release assembly 2, a spraying assembly 3, an axial compensation assembly 4, an angle compensation assembly 5, and a swing compensation assembly 6. The mounting frame 1 is mounted on the spraying drone; the quick-release assembly 2 is arranged on the mounting frame 1, and is used to fix or disassemble the stabilization adjustment device on the spraying drone; the spraying assembly 3 is arranged on the mounting frame 1, and is used to spray paint on the target position; the axial compensation assembly 4 is arranged on the mounting frame 1, and is used to adjust the distance between the spraying assembly 3 and the target position to keep the distance between the two unchanged; the angle compensation assembly 5 is arranged on the mounting frame 1, and is used to adjust the pitch angle of the spraying assembly 3; the swing compensation assembly 6 is arranged on the spraying assembly 3, and is used to adjust the swing angle of the spraying assembly 3 on the horizontal plane.

[0025] When in use, the quick-release component 2 first fixes the stabilization adjustment device on the spraying drone. After taking off, the spraying component 3 sprays paint on the target position. When disturbed by external force, the axial compensation component 4 adjusts the distance between the spraying component 3 and the target position to keep the distance between the two unchanged, so as to eliminate the influence of position offset caused by recoil. The angle compensation component 5 adjusts the pitch angle of the spraying component 3 to eliminate the influence of angle offset caused by the wind field. The swing compensation component 6 adjusts the swing angle of the spraying component 3 on the horizontal plane to eliminate the influence of swing deviation caused by wind from both sides. Through the adjustment of three-dimensional angles, the stability of the spraying equipment in complex working environments can be significantly improved, thereby facilitating the improvement of spraying accuracy and thus improving the spraying effect.

[0026] The mounting frame 1 is in the shape of a rectangular plate and is located on the top of the spraying drone. The quick-release assembly 2 includes a T-block 21, a connecting block 22 and a connecting card 23. Two T-blocks 21 and two connecting blocks 22 are provided. The two T-blocks 21 are arranged along the width direction of the mounting frame 1. The two connecting blocks 22 correspond to the two T-blocks 21 one by one. The T-block 21 is fixed to the bottom of the mounting frame 1.

[0027] The connection block 22 is provided with a T-slot 221, and the T-block 21 is slidably connected in the T-slot 221. Positioning plungers 24 are provided on both ends of the T-block 21 and the connection block 22. The top end of the connection card 23 is fixedly arranged on the two connection blocks 22, and the bottom end is connected to the spraying drone.

[0028] During use, when disassembly is required, the positioning plunger 24 is pulled out and the T-block 21 is pulled so that the T-block 21 slides out of the T-slot 221, making it easy to inspect and repair the stabilizing adjustment device; conversely, during installation, the T-block 21 is inserted into the T-slot 221, and then the positioning plunger 24 is inserted to achieve fixed installation with the spraying drone, thereby improving the convenience of operation.

[0029] The spraying assembly 3 includes a spraying part 31 and an adjusting part 32. The spraying part 31 includes at least two support members 311, at least one nozzle 312, a spray gun 313 and a connecting pipe 314. In the embodiment of the present application, three support members 311 are provided. The three support members 311 are adjacently connected. The support member 311 located at the tail is installed on the mounting frame 1. The axial direction of the support member 311 is arranged parallel to the length direction of the mounting frame 1. The support member 311 is a carbon tube, which has the characteristics of small mass and can reduce the load of the drone.

[0030] In the embodiment of the present application, two nozzles 312 are provided, and the two nozzles 312 are arranged symmetrically in the horizontal direction. In other embodiments, the nozzles 312 can be provided in a plurality, and the plurality of nozzles 312 are distributed in a circumferential array. The spray gun 313 is fixedly mounted on the mounting frame 1, and a trigger 3131 is provided on the spray gun 313. In the embodiment of the present application, the connecting pipe 314 is a high-pressure corrosion-resistant hose, which has excellent properties of pressure resistance and corrosion resistance. The connecting pipe 314 is fixedly connected to the support member 311 by an aluminum buckle.

[0031] The two ends of the connecting pipe 314 are respectively connected to the front fixing pipe 3141 and the rear fixing pipe 3142. The end of the front fixing pipe 3141 away from the connecting pipe 314 is connected to the nozzle 312 through the bifurcated joint 3121. The front fixing pipe 3141 is fixedly connected to the support member 311 through an aluminum buckle. The end of the rear fixing pipe 3142 away from the connecting pipe 314 is connected to the spray gun 313. The rear fixing pipe 3142 is fixedly installed on the mounting frame 1.

[0032] The adjusting part 32 includes a counterweight 321, at least one folding tube 322 and at least one locking member 323. The counterweight 321 is fixedly sleeved on the end of the support member 311 and is located on the tail support member 311. In the embodiment of the present application, two folding tubes 322 and two locking members 323 are provided. The folding tube 322 is located between two adjacent support members 311, and its two ends are fixedly connected to the ends of the two support members 311 respectively. The folding tube 322 is a hose or a corrugated tube.

[0033] The ends of two adjacent support members 311 are fixedly sleeved with sleeves 3111, and the folded tube member 322 is located in the sleeves 3111. The end of the locking member 323 is hinged to one sleeve 3111, and the locking member 323 is clamped to the adjacent sleeve 3111, and the clamping position is close to the hinge axis.

[0034] When in use, the center of gravity of the spraying part 31 is changed by adjusting the position of the counterweight block 321 to improve the stability of the device. The flow rate of the paint in the spray gun 313 is adjusted by adjusting the trigger 3131. The spray gun 313 guides the paint in the material tube to the connecting tube 314 through the rear fixed tube 3142, and transports it to the front fixed tube 3141 through the connecting tube 314, and sprays it out from the spray head 312 through the bifurcated joint 3121, thereby completing the spraying operation at the target position. After spraying is completed, rotate the locking member 323 to disengage the locking member 323 from the connecting pipe 314, and then rotate the supporting member 311 to fold it, so as to facilitate the storage of the spraying part 31 and avoid damage caused by collision, thereby easily extending the service life of the spraying assembly 3.

[0035] The axial compensation assembly 4 includes a compensation part 41 and a driving part 42. The compensation part 41 includes a support column 411, an optical axis 412 and a movable frame 413. Two groups of support columns 411 are provided. The arrangement direction of the two groups of support columns 411 is perpendicular to the length direction of the mounting frame 1. Each group of support columns 411 is provided with two support columns, and the arrangement direction of the two support columns 411 is parallel to the length direction of the mounting frame 1. The support columns 411 are vertically fixed on the top surface of the mounting frame 1.

[0036] Two optical axes 412 are provided, and the two optical axes 412 correspond to the two groups of support columns 411 one by one, and the two ends of the optical axis 412 are respectively fixedly connected to the two support columns 411 in one group. The two optical axes 412 are penetrated on the moving frame 413, and the moving frame 413 is slidably connected with the optical axis 412, and the sliding direction is the axial direction of the optical axis 412. The two ends of the optical axis 412 are respectively fixed with limit blocks 4121, and the limit blocks 4121 can be made of elastic material.

[0037] The driving unit 42 includes an integrated controller 421, an infrared sensor 422, a motor 423, a driving gear 424 and a spur rack 425. The integrated controller 421 is fixed on the mounting frame 1. The infrared sensor 422 is fixed on the mounting frame 1 and is located at one end of the mounting frame 1 close to the target position. The infrared sensor 422 is electrically connected to the integrated controller 421, and the infrared sensor 422 is used to output a distance signal between the mounting frame 1 and the target position.

[0038] The motor 1 423 is fixedly mounted on the bottom end of the mobile frame 413 and is electrically connected to the integrated controller 421. The driving gear 424 is coaxially fixedly connected to the output shaft of the motor 1 423. The spur rack 425 is fixedly mounted on the mounting frame 1 and meshes with the driving gear 424. The axial direction of the spur rack 425 is parallel to the length direction of the mounting frame 1.

[0039] When in use, the infrared sensor 422 measures the distance between the mounting bracket 1 and the target position in real time, and outputs a distance signal between the mounting bracket 1 and the target position to the integrated controller 421. The integrated controller 421 responds to the distance signal and controls the motor 423 to start. The output shaft of the motor 423 drives the driving gear 424 to rotate. The teeth of the spur rack 425 apply a force to the driving gear 424, so that the movable bracket 413 moves along the length direction of the mounting bracket 1, thereby realizing real-time and precise control of the spraying distance, thereby improving the accuracy of the spraying.

[0040] The angle compensation assembly 5 includes a rotating frame 51, an angle sensor 1 52 and a motor 2 53. The rotating frame 51 is rotatably connected to the top of the mobile frame 413, and the rear fixed tube 3142 and the support member 311 are fixedly mounted on the rotating frame 51. The angle sensor 1 52 is fixedly mounted on the mounting frame 1 and is electrically connected to the integrated controller 421. The angle sensor 1 52 is used to output an angle signal of the mounting frame 1 deviating from the horizontal plane in the vertical direction.

[0041] The second motor 53 is fixed on the moving frame 413 , the output shaft of the second motor 53 is fixedly connected to the rotating frame 51 , and the axis direction is parallel to the width direction of the mounting frame 1 , and the second motor 53 is electrically connected to the integrated controller 421 .

[0042] When in use, angle sensor 1 52 detects the pitch angle of the mounting frame 1 in real time, and outputs an angle signal of the mounting frame 1 deviating from the horizontal plane in the vertical direction to the integrated controller 421. The integrated controller 421 responds to the angle signal of the mounting frame 1 deviating from the horizontal plane, and controls motor 2 53 to start. The output shaft of motor 2 53 drives the rotating frame 51 to rotate, so that the rotating frame 51 can drive the support member 311 to reset in time, so that the nozzle 312 can be aligned with the target position, thereby improving the accuracy of spraying.

[0043] The swing compensation assembly 6 includes a pressure sensor 61, a second angle sensor 62, a third motor 63 and a fixing block 64. Two pressure sensors 61 are provided. The two pressure sensors 61 are respectively located on both sides of the support member 311 and at the same horizontal height.

[0044] The pressure sensor 61 is fixed on the support 311 and is located at one end of the support 311 close to the nozzle 312. The pressure sensor 61 is electrically connected to the integrated controller 421. The pressure sensor 61 is used to output pressure signals on both sides of the support 311. The angle sensor 2 62 is fixed on the mounting frame 1 and is electrically connected to the integrated controller 421. The angle sensor 2 62 is used to output the swing angle signal of the mounting frame 1 in the horizontal plane.

[0045] In the embodiment of the present application, the motor 3 63 is fixedly mounted on the support member 311 near the nozzle 312 and is electrically connected to the integrated controller 421. The fixing block 64 is fixedly mounted on the adjacent support member 311 and is fixedly connected to the output shaft of the motor 3 63.

[0046] When in use, the angle sensor 2 62 detects the swing angle of the mounting frame 1 in the horizontal plane in real time, and outputs a swing angle signal to the integrated controller 421. At the same time, the pressure sensor 61 detects the pressure borne by the support member 311 in real time, and outputs a pressure signal to the integrated controller 421. In the absence of wind, the swing angle of the mounting frame 1 in the horizontal plane changes due to the adjustment of the drone. At this time, the two pressure sensors 61 detect the same thing, and no swing compensation is performed; When wind comes from one side, the wind acts on a pressure sensor 61, and the integrated controller 421 responds to the pressure signal and compares the pressure signals output by the two pressure sensors 61. When the pressure signals are inconsistent, the integrated controller 421 controls the motor three 63 to start, and the output shaft of the motor three 63 drives the fixed block 64 to rotate. Based on the swing angle signal output by the angle sensor two 62, the fixed block 64 drives the support member 311 to compensate the angle toward the side with greater pressure, so that the nozzle 312 can be aligned with the target position, thereby improving the spraying accuracy.

[0047] The implementation principle of the spraying device for exterior wall repair in the embodiment of the present application is as follows: the quick-release assembly 2 first fixes the stabilizing adjustment device on the spraying drone, adjusts the position of the counterweight block 321 to change the center of gravity of the spraying part 31, and adjusts the flow rate of the paint in the spray gun 313 by adjusting the trigger 3131; After being lifted off, the spray gun 313 guides the paint in the material tube to the connecting tube 314 through the rear fixed tube 3142, transports it to the front fixed tube 3141 through the connecting tube 314, and sprays it out from the nozzle 312 through the bifurcated joint 3121, completing the spraying operation at the target position; During operation, the infrared sensor 422 measures the distance between the mounting frame 1 and the target position in real time, and outputs the distance signal between the mounting frame 1 and the target position to the integrated controller 421. The integrated controller 421 controls the motor 423 to drive the driving gear 424 to rotate. The teeth of the spur rack 425 exert a force on the driving gear 424, so that the moving frame 413 moves along the length direction of the mounting frame 1, thereby realizing real-time and accurate control of the spraying distance. The angle sensor 1 52 detects the pitch angle of the mounting frame 1 in real time, and outputs an angle signal of the mounting frame 1 deviating from the horizontal plane in the vertical direction to the integrated controller 421. The integrated controller 421 controls the motor 2 53 to drive the rotating frame 51 to rotate, so that the rotating frame 51 can drive the support member 311 to reset in time; The angle sensor 2 62 detects the swing angle of the mounting frame 1 in the horizontal plane in real time, and outputs a swing angle signal to the integrated controller 421. At the same time, the pressure sensor 61 detects the pressure borne by the support member 311 in real time, and outputs a pressure signal to the integrated controller 421. When wind comes from one side, the wind acts on a pressure sensor 61, and the integrated controller 421 responds to the pressure signal and compares the pressure signals output by the two pressure sensors 61. When the pressure signals are inconsistent, the integrated controller 421 controls the motor three 63 to drive the fixed block 64 to rotate. Based on the swing angle signal output by the angle sensor two 62, the fixed block 64 drives the support 311 to compensate the angle toward the side with greater pressure, so that the nozzle 312 can be aligned with the target position. Through the adjustment of the three-dimensional angle, the stability of the spraying equipment in a complex working environment can be significantly improved, thereby facilitating the improvement of the spraying accuracy and thus improving the spraying effect.

[0048] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A spraying device for exterior wall repair, used for spraying drones, characterized in that: include: A mounting frame (1) mounted on the spraying drone; A spraying assembly (3), comprising: The spraying unit (31) comprises: at least two support members (311), the support members (311) being arranged on the mounting frame (1), and adjacent support members (311) being connected; at least one nozzle (312), the nozzle (312) being arranged on the support member (311); A spray gun (313) is disposed on the mounting frame (1) and is connected to an external material tank; A connecting pipe (314), one end of which is connected to the spray head (312) and the other end of which is connected to the spray gun (313); An adjusting portion (32) is disposed on the spraying portion (31) and is used to adjust the balance of the spraying portion (31) on a horizontal plane; The axial compensation assembly (4) comprises: A compensation portion (41), disposed on the mounting frame (1) and used to adjust the distance between the spraying assembly (3) and the target position to keep the distance between the two constant, comprising a support column (411), an optical axis (412) and a movable frame (413); A driving unit (42), which is disposed on the mounting frame (1) and is used to provide power for the compensation unit (41), and comprises an integrated controller (421), an infrared sensor (422), a motor 1 (423), a driving gear (424), and a spur rack (425); An angle compensation component (5) is arranged on the mounting frame (1) and is used to adjust the pitch angle of the spraying component (3); The swing compensation component (6) comprises: two pressure sensors (61), respectively located on two sides of the support member (311) and at the same level; the pressure sensors (61) are fixedly mounted on the support member (311) and are electrically connected to the integrated controller (421); the pressure sensors (61) are used to output pressure signals on two sides of the support member (311); Angle sensor 2 (62) is fixedly mounted on the mounting frame (1) and is electrically connected to the integrated controller (421), the angle sensor 2 (62) being used to output a swing angle signal of the mounting frame (1) in a horizontal plane; A third motor (63) is fixedly mounted on one of the support members (311) and is electrically connected to the integrated controller (421); The fixed block (64) is fixedly mounted on an adjacent support member (311) and is fixedly connected to the output shaft of the motor three (63).

2. A spraying device for exterior wall repair according to claim 1, characterized in that: The compensation part (41) comprises: The support columns (411) are provided in two groups, and the arrangement direction of the two groups of support columns (411) is perpendicular to the spraying direction of the spraying assembly (3) on a horizontal plane. Each group of support columns (411) is provided with two support columns, and the arrangement direction of the two support columns (411) is parallel to the spraying direction of the spraying assembly (3). The support columns (411) are fixed on the mounting frame (1); Two optical axes (412) are provided, the two optical axes (412) correspond one-to-one to the two groups of support columns (411), and the two ends of the optical axis (412) are respectively fixedly connected to the two support columns (411); The two optical axes (412) are inserted into the movable frame (413), and the movable frame (413) is slidably connected to the optical axes (412).

3. A spraying device for exterior wall repair according to claim 2, characterized in that: The driving unit (42) comprises: The integrated controller (421) is fixedly mounted on the mounting frame (1); The infrared sensor (422) is fixedly mounted on the mounting frame (1) and is electrically connected to the integrated controller (421), and the infrared sensor (422) is used to output a distance signal between the mounting frame (1) and a target position; The motor 1 (423) is fixedly mounted on the mobile frame (413), and the motor 1 (423) is electrically connected to the integrated controller (421); The driving gear (424) is coaxially and fixedly connected to the output shaft of the motor 1 (423); The spur gear rack (425) is fixedly mounted on the mounting frame (1) and meshes with the driving gear (424).

4. A spraying device for exterior wall repair according to claim 3, characterized in that: The angle compensation component (5) comprises: A rotating frame (51) rotatably connected to the movable frame (413), wherein the spraying assembly (3) is arranged on the rotating frame (51); Angle sensor one (52), fixedly mounted on the mounting frame (1) and electrically connected to the integrated controller (421), the angle sensor one (52) being used to output an angle signal indicating that the mounting frame (1) deviates from a horizontal plane; Motor 2 (53) is fixedly mounted on the movable frame (413), and its output shaft is fixedly connected to the rotating frame (51). Motor 2 (53) is electrically connected to the integrated controller (421).

5. A spraying device for exterior wall repair according to claim 1, characterized in that: The adjusting unit (32) comprises: A counterweight block (321) is disposed on the support member (311) and is located at an end away from the nozzle (312); at least one folding tube (322), one end of which is rotatably connected to one of the support members (311), and the other end of which is rotatably connected to another support member (311); At least one locking member (323) has one end rotatably connected to one of the support members (311) and the other end clamped to the other support member (311).

6. A spraying device for exterior wall repair according to claim 1, characterized in that: It also includes a quick-release assembly (2), wherein the quick-release assembly (2) includes: Two T-shaped blocks (21) are fixedly mounted on the bottom of the mounting frame (1); Two connecting blocks (22) corresponding to the two T-shaped blocks (21) one by one, the connecting blocks (22) being provided with T-shaped slots (221), and the T-shaped blocks (21) being slidably connected in the T-shaped slots (221); A connection card (23) is fixedly mounted on the connection block (22) and connected to the spraying drone; Wherein, positioning plungers (24) are provided on both ends of the T-shaped block (21) and the connecting block (22).

7. A spraying device for exterior wall repair according to claim 2, characterized in that: Limit blocks (4121) are respectively fixedly disposed at both ends of the optical axis (412).

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