A spraying device for exterior wall repair

Abstract

The present application relates to a spraying device for exterior wall repair, belonging to the technical field of high-altitude spraying by drones. It includes a mounting frame, a spraying assembly, an axial compensation assembly, an angle compensation assembly, and a swing compensation assembly. The mounting frame is installed on the spraying drone; the spraying assembly is arranged on the mounting frame and is used for spraying paint on the target position; the axial compensation assembly includes a compensation part and a driving part. The compensation part is arranged on the mounting frame and is used for adjusting the distance between the spraying assembly and the target position to keep the distance between the two 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 is used for adjusting the pitching angle of the spraying assembly; the swing compensation assembly is arranged on the spraying assembly and is used for adjusting the swing angle of the spraying assembly on the horizontal plane. The present application has the effect of improving the stability of the drone.

Description

Technical Field

[0001] This application relates to the technical field of high-altitude spraying of unmanned aerial vehicles, and in particular to a spraying device for exterior wall repair. Background Art

[0002] A spraying unmanned aerial vehicle is equipped with a dedicated spraying system on the unmanned aerial vehicle platform to achieve precise spraying operations at high altitudes, over large areas, or in complex environments. Its essence is to combine traditional spraying processes with the mobility and intelligence of unmanned aerial vehicles, breaking through the physical limitations of manual spraying and improving operation efficiency and quality.

[0003] Currently, a general spraying device is to drive an automatic spray gun to move to the construction position by an unmanned aerial vehicle, and then start the automatic spray gun. The automatic spray gun sprays the paint on the construction position, thereby easily improving the spraying efficiency.

[0004] However, during the spraying process, the wind field formed by the rotation of the propeller blades can change the spraying position. And during the spraying process, when the paint is sprayed outwards through the nozzle, a recoil force will be generated. The recoil force acts on the unmanned aerial vehicle, interfering with the flight stability of the unmanned aerial vehicle, resulting in unstable flight of the unmanned aerial vehicle, and thus easily affecting the spraying effect. Summary of the Invention

[0005] In order to improve the stability of the unmanned aerial vehicle, this application provides a spraying device for exterior wall repair.

[0006] A spraying device for exterior wall repair provided by this application adopts the following technical solutions:

[0007] A spraying device for exterior wall repair includes:

[0008] A mounting frame, installed on the spraying unmanned aerial vehicle;

[0009] A spraying assembly, including:

[0010] A spraying part, including:

[0011] At least two support members, the support members are arranged on the mounting frame, and adjacent support members are connected;

[0012] At least one nozzle, the nozzle is arranged on the support member;

[0013] A spray gun, arranged on the mounting frame and connected to an external material tank;

[0014] A connecting pipe, one end of which is communicated with the nozzle, and the other end is communicated with the spray gun;

[0015] An adjusting part, arranged on the spraying part and used for adjusting the balance of the spraying part on the horizontal plane;

[0016] Axial compensation assembly, comprising:

[0017] A compensation part, arranged on the mounting bracket and used for adjusting the distance between the spraying assembly and the target position to keep the distance between the two unchanged, including a support column, an optical axis and a moving bracket;

[0018] A driving part, arranged on the mounting bracket and used for providing power for the compensation part, including an integrated controller, an infrared sensor, a first motor, a driving gear and a straight rack;

[0019] An angle compensation assembly, arranged on the mounting bracket and used for adjusting the pitching angle of the spraying assembly;

[0020] A swing compensation assembly, comprising:

[0021] Two pressure sensors, respectively located on both sides of the support member and at the same horizontal height, the pressure sensors are fixedly arranged on the support member and electrically connected to the integrated controller, and the pressure sensors are used for outputting the pressure signals on both sides of the support member;

[0022] An angle sensor II, fixedly arranged on the mounting bracket and electrically connected to the integrated controller, and the angle sensor II is used for outputting the swing angle signal of the mounting bracket in the horizontal plane;

[0023] A third motor, fixedly arranged on one of the support members and electrically connected to the integrated controller;

[0024] A fixed block, fixedly arranged on an adjacent support member and fixedly connected to the output shaft of the third motor.

[0025] By adopting the above technical solution, the relative displacement between the spraying drone and the target position is sensed in real time by the compensation part, and the position of the spraying assembly is adjusted in time by the driving part to maintain the preset spraying distance, avoiding the problem of too large or too small atomized particles caused by the distance change of the coating material, so as to easily ensure the uniformity of the coating;

[0026] The spray gun guides the coating material in the material pipe into the connecting pipe, transports it to the nozzle through the connecting pipe, and the nozzle atomizes the coating material. The spraying area for one time can be enlarged by increasing the number of nozzles, and the spraying efficiency can be improved;

[0027] During the spraying process, the pitching angle of the spraying drone is sensed in real time by the angle compensation assembly, and the angle of the spraying assembly is adjusted in time by the angle compensation assembly, so as to easily reduce the coating overlap or omission caused by the angle deviation;

[0028] Through the swing compensation component, the angle sensor II continuously detects the swing angle of the mounting bracket on the horizontal plane and outputs a swing angle signal to the integrated controller. Meanwhile, the pressure sensor continuously detects the pressure borne by the support and outputs a pressure signal to the integrated controller;

[0029] In the case of no wind, due to the adjustment of the drone, the swing angle of the mounting bracket on the horizontal plane changes. At this time, the two pressure sensors detect the same value, and no swing compensation is performed;

[0030] In the case of wind from one side, the wind force acts on one pressure sensor. 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 III to start. The output shaft of the motor III drives the fixed block to rotate. Based on the swing angle signal output by the angle sensor II, the fixed block drives the support to compensate the angle towards the side with greater pressure, so that the spraying component can be aligned with the target position, thereby improving the spraying accuracy;

[0031] Through the adjustment of the three-dimensional angle, the spraying accuracy and stability of the spraying equipment in a complex working environment can be significantly improved, thus facilitating the improvement of the spraying effect.

[0032] Optionally, the compensation part includes:

[0033] There are two groups of the support columns. The arrangement direction of the two groups of support columns is perpendicular to the spraying direction of the spraying component on the horizontal plane. Each group of support columns has two, and the arrangement direction of the two support columns is parallel to the spraying direction of the spraying component. The support columns are fixed on the mounting bracket;

[0034] There are two optical axes, and the two optical axes correspond to the two groups of support columns one by one. The two ends of the optical axis are respectively fixedly connected to the two support columns;

[0035] The moving frame is sleeved on the two optical axes, and the moving frame is slidably connected to the optical axes.

[0036] By adopting the above technical solution, when the distance between the spraying component and the target position increases, the driving part drives the moving frame to move along the optical axis, so that the moving frame approaches the target position, and the distance between the spraying component and the target position can be adjusted in time, thereby facilitating the guarantee of the spraying accuracy.

[0037] Optionally, the driving part includes:

[0038] The integrated controller is fixed on the mounting bracket;

[0039] The infrared sensor is fixedly installed on the mounting bracket and is electrically connected to the integrated controller. The infrared sensor is used to output a distance signal between the mounting bracket and the target position.

[0040] The first motor is fixedly installed on the moving bracket and is electrically connected to the integrated controller.

[0041] The driving gear is coaxially and fixedly connected to the output shaft of the first motor.

[0042] The straight rack is fixedly installed on the mounting bracket and meshes with the driving gear.

[0043] By adopting the above technical solution, the infrared sensor measures the distance between the mounting bracket and the target position in real time and outputs a distance signal between the mounting bracket and the target position to the integrated controller. The integrated controller responds to the distance signal and controls the first motor to start. The output shaft of the first motor drives the driving gear to rotate. Since the straight rack meshes with the driving gear, the teeth of the straight rack exert a force on the driving gear, enabling the moving bracket to move, thereby realizing real-time and precise control of the spraying distance and improving the accuracy of spraying.

[0044] Optionally, the angle compensation component includes:

[0045] A rotating frame is rotatably connected to the moving bracket, and the spraying component is installed on the rotating frame.

[0046] The first angle sensor is fixedly installed on the mounting bracket and is electrically connected to the integrated controller. The first angle sensor is used to output an angle signal of the mounting bracket deviating from the horizontal plane.

[0047] The second motor is fixedly installed on the moving bracket, and its output shaft is fixedly connected to the rotating frame. The second motor is electrically connected to the integrated controller.

[0048] By adopting the above technical solution, the first angle sensor detects the pitch angle of the mounting bracket in real time and outputs an angle signal of the mounting bracket deviating from the horizontal plane to the integrated controller. The integrated controller responds to the angle signal of the mounting bracket deviating from the horizontal plane and controls the second motor to start. The output shaft of the second motor drives the rotating frame to rotate, enabling the rotating frame to drive the spraying component to reset in time and the spraying component to align with the target position, thereby improving the accuracy of spraying.

[0049] Optionally, the adjusting part includes:

[0050] A counterweight is arranged on the support member and is located at the end far from the nozzle.

[0051] At least one folding pipe fitting, with one end rotatably connected to one of the support members and the other end rotatably connected to the other support member;

[0052] At least one locking member, with one end rotatably connected to one of the support members and the other end snap-connected to the other support member.

[0053] By adopting the above technical solutions, by adjusting the position or weight of the counterweight, the center of gravity of the spraying part can be changed, and balance adjustment can be achieved; when the spraying is completed, the locking member is opened, and the folding pipe fitting can be manually folded, which is convenient for the storage of the spraying assembly, avoids damage caused by collision, and thus is easy to extend the service life of the spraying assembly.

[0054] Optionally, it further includes a quick-release assembly, and the quick-release assembly includes:

[0055] Two T-shaped blocks, both fixedly arranged at the bottom of the mounting frame;

[0056] Two connecting blocks, corresponding to the two T-shaped blocks one by one. T-shaped grooves are formed on the connecting blocks, and the T-shaped blocks are slidably connected in the T-shaped grooves;

[0057] A connecting card, fixedly arranged on the connecting block and connected to the spraying drone;

[0058] Wherein, positioning plungers are respectively inserted through both ends of the T-shaped block and the connecting block.

[0059] By adopting the above technical solutions, when disassembly is required, the positioning plunger is pulled out, and the T-shaped block is pulled to make the T-shaped block slide out of the T-shaped groove, which is convenient for the maintenance of the stability adjustment device; conversely, during installation, the T-shaped block is inserted into the T-shaped groove, and then the positioning plunger is inserted to realize the fixed installation with the spraying drone, thereby improving the operation convenience.

[0060] Optionally, limit blocks are respectively fixedly arranged at both ends of the optical axis.

[0061] By adopting the above technical solutions, the limit blocks have the function of absorbing impact, can effectively protect the moving frame, and at the same time, can limit the axial movement of the moving frame to prevent the moving frame from sliding out of the optical axis, thereby significantly improving the reliability of the optical axis system.

[0062] In summary, the present application includes at least one of the following beneficial technical effects:

[0063] By setting the axial compensation assembly, the problem that the atomized particles of the paint are too large or too small due to the distance change is avoided, so as to easily ensure the coating uniformity;

[0064] By setting the angle compensation assembly, it is easy to reduce the coating overlap or omission caused by the angle deviation;

[0065] By setting up a swing compensation component, the attitude change of the spraying component can be compensated in a timely manner, enabling the spraying component to spray accurately and reducing the coating misalignment caused by angle deviation. Description of the Drawings

[0066] Figure 1 is a schematic structural diagram of an embodiment of the present application;

[0067] Figure 2 is a schematic structural diagram of the quick-release component in the embodiment of the present application;

[0068] Figure 3 is Figure 2 an enlarged view of part A in

[0069] Figure 4 is a schematic structural diagram of the spraying component in the embodiment of the present application;

[0070] Figure 5 is a schematic structural diagram of the folding pipe fitting in the embodiment of the present application;

[0071] Figure 6 is a schematic structural diagram of the axial compensation component in the embodiment of the present application;

[0072] Figure 7 is a schematic structural diagram of the angle compensation component in the embodiment of the present application.

[0073] Description of the Reference Numerals:

[0074] 1. Mounting frame; 2. Quick-release component; 21. T-shaped block; 22. Connecting block; 221. T-shaped groove; 23. Connecting card; 24. Positioning plunger; 3. Spraying component; 31. Spraying part; 311. Support member; 3111. Sleeve; 312. Nozzle; 3121. Bifurcation 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 fitting; 323. Locking member; 4. Axial compensation component; 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 I; 424. Driving gear; 425. Straight rack; 5. Angle compensation component; 51. Rotating frame; 52. Angle sensor I; 53. Motor II; 6. Swing compensation component; 61. Pressure sensor; 62. Angle sensor II; 63. Motor III; 64. Fixed block. Detailed Embodiments

[0075] The following further Figure 1-7 describes the present application in detail with reference to the attached drawings.

[0076] An 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 installed on the spraying drone; the quick-release assembly 2 is arranged on the mounting frame 1 and is used to fix or disassemble the stability 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.

[0077] During use, the quick-release assembly 2 first fixes the stability adjustment device on the spraying drone. After taking off, the spraying assembly 3 sprays paint on the target position. Under the influence of external force interference, the axial compensation assembly 4 adjusts the distance between the spraying assembly 3 and the target position to keep the distance between the two unchanged, so as to eliminate the influence of position deviation caused by recoil. The angle compensation assembly 5 adjusts the pitch angle of the spraying assembly 3 to eliminate the influence of angle deviation caused by the wind field. The swing compensation assembly 6 adjusts the swing angle of the spraying assembly 3 on the horizontal plane to eliminate the influence of swing deviation caused by the wind from both sides. Through the adjustment of three-dimensional angles, the stability of the spraying equipment in a complex working environment can be significantly improved, thereby making it easy to improve the spraying accuracy and further improving the spraying effect.

[0078] The mounting frame 1 is in the shape of a rectangular plate and is located at the top of the spraying drone. The quick-release assembly 2 includes a T-shaped block 21, a connecting block 22, and a connecting clip 23. There are two T-shaped blocks 21 and two connecting blocks 22. The two T-shaped blocks 21 are arranged along the width direction of the mounting frame 1. The two connecting blocks 22 correspond to the two T-shaped blocks 21 one by one. The T-shaped block 21 is fixed to the bottom of the mounting frame 1.

[0079] A T-shaped groove 221 is formed in the connecting block 22, and the T-shaped block 21 is slidably connected in the T-shaped groove 221. Positioning plungers 24 are inserted through both ends of the T-shaped block 21 and the connecting block 22. The top end of the connecting clip 23 is fixed to the two connecting blocks 22, and the bottom end is clamped with the spraying drone.

[0080] During use, when disassembly is required, the positioning plunger 24 is pulled out, and the T-shaped block 21 is pulled to make the T-shaped block 21 slide out of the T-shaped groove 221, which is convenient for overhauling the stability adjustment device; on the contrary, during installation, the T-shaped block 21 is inserted into the T-shaped groove 221, and then the positioning plunger 24 is inserted to realize the fixed installation with the spraying drone, thereby improving the operation convenience.

[0081] 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 spray head 312, a spray gun 313, and a connecting pipe 314. In the embodiment of the present application, three support members 311 are provided, and the three support members 311 are connected adjacent to each other. The support member 311 at the tail is installed on the mounting frame 1. The axial direction of the support member 311 is parallel to the length direction of the mounting frame 1. The support member 311 is a carbon tube, and the carbon tube has the characteristic of small mass, which can reduce the load of the drone.

[0082] In the embodiment of the present application, two spray heads 312 are provided, and the two spray heads 312 are symmetrically arranged along the horizontal direction. In other embodiments, multiple spray heads 312 can be provided, and the multiple spray heads 312 are circumferentially arrayed. The spray gun 313 is fixedly installed 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 characteristics of compression resistance and corrosion resistance. The connecting pipe 314 is fixedly connected to the support member 311 through an aluminum buckle.

[0083] The two ends of the connecting pipe 314 are respectively communicated with a front fixing pipe 3141 and a rear fixing pipe 3142. The end of the front fixing pipe 3141 away from the connecting pipe 314 is communicated with the spray head 312 through a bifurcated joint 3121, and 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 communicated with the spray gun 313, and the rear fixing pipe 3142 is fixedly installed on the mounting frame 1.

[0084] The adjusting part 32 includes a counterweight 321, at least one folding pipe fitting 322, and at least one locking part 323. The counterweight 321 is fixedly sleeved on the end of the support member 311 and is located on the support member 311 at the tail. In the embodiment of the present application, both the folding pipe fitting 322 and the locking part 323 are provided with two. The folding pipe fitting 322 is located between two adjacent support members 311, and both ends are fixedly connected to the ends of the two support members 311 respectively. The folding pipe fitting 322 can be a hose or a corrugated pipe.

[0085] Sleeves 3111 are fixedly sleeved on the ends of two adjacent support members 311 respectively, and the folding pipe fitting 322 is located inside the sleeves 3111. The end of the locking part 323 is hinged to one sleeve 3111, and the locking part 323 is clamped with the adjacent sleeve 3111, and the clamping position is close to the hinge axis.

[0086] During use, when the device is working, adjust the position of the counterweight 321 to change the center of gravity of the spraying part 31, improving the stability of the device. By adjusting the trigger 3131, adjust the flow rate of the paint in the spray gun 313. The spray gun 313 guides the paint in the material pipe through the rear fixed pipe 3142 into the connecting pipe 314, transports it through the connecting pipe 314 to the front fixed pipe 3141, and sprays it out through the nozzle 312 via the bifurcated joint 3121 to complete the spraying operation on the target position.

[0087] After the spraying is completed, rotate the locking member 323 to disengage the locking member 323 from the connecting pipe 314, and then rotate the support member 311 to fold it, facilitating the storage of the spraying part 31 and avoiding damage caused by collision, thereby easily extending the service life of the spraying assembly 3.

[0088] The axial compensation assembly 4 includes a compensation part 41 and a driving part 42. The compensation part 41 includes support columns 411, optical axes 412, and a moving frame 413. There are two sets of support columns 411, and the arrangement direction of the two sets of support columns 411 is perpendicular to the length direction of the mounting frame 1. Each set of support columns 411 has two, 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.

[0089] There are two optical axes 412, and the two optical axes 412 correspond to the two sets of support columns 411 one by one. The two ends of the optical axis 412 are respectively fixedly connected to two support columns 411 in a set. The two optical axes 412 pass through the moving frame 413, and the moving frame 413 is slidably connected to the optical axis 412, and the sliding direction is the axial direction of the optical axis 412. Limit blocks 4121 are respectively fixedly provided at the two ends of the optical axis 412, and the limit blocks 4121 can be made of elastic materials.

[0090] The driving part 42 includes an integrated controller 421, an infrared sensor 422, a motor 423, a driving gear 424, and a straight rack 425. The integrated controller 421 is fixedly provided on the mounting frame 1. The infrared sensor 422 is fixedly provided 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 the distance signal between the mounting frame 1 and the target position.

[0091] The motor 423 is fixedly provided at the bottom end of the moving 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 423. The straight rack 425 is fixedly provided on the mounting frame 1 and meshes with the driving gear 424, and the axial direction of the straight rack 425 is parallel to the length direction of the mounting frame 1.

[0092] During 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 first motor 423 to start. The output shaft of the first motor 423 drives the drive gear 424 to rotate, and the teeth of the straight rack 425 exert a force on the drive gear 424, causing the moving frame 413 to move along the length direction of the mounting bracket 1, thereby realizing real-time and precise control of the spraying distance, and further improving the accuracy of spraying.

[0093] The angle compensation assembly 5 includes a rotating frame 51, a first angle sensor 52 and a second motor 53. The rotating frame 51 is rotatably connected to the top of the moving frame 413, and the rear fixed pipe 3142 and the support member 311 are both fixed on the rotating frame 51. The first angle sensor 52 is fixed on the mounting bracket 1 and is electrically connected to the integrated controller 421. The first angle sensor 52 is used to output an angle signal of the mounting bracket 1 deviating from the horizontal plane in the vertical direction.

[0094] 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 bracket 1. The second motor 53 is electrically connected to the integrated controller 421.

[0095] During use, the first angle sensor 52 detects the pitching angle of the mounting bracket 1 in real time, and outputs an angle signal of the mounting bracket 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 bracket 1 deviating from the horizontal plane and controls the second motor 53 to start. The output shaft of the second motor 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.

[0096] The swing compensation assembly 6 includes a pressure sensor 61, a second angle sensor 62, a third motor 63 and a fixed block 64. There are two pressure sensors 61, and the two pressure sensors 61 are respectively located on both sides of the support member 311 and at the same horizontal height.

[0097] The pressure sensor 61 is fixed on the support member 311 and is located at one end of the support member 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 a pressure signal on both sides of the support member 311. The second angle sensor 62 is fixed on the mounting bracket 1 and is electrically connected to the integrated controller 421. The second angle sensor 62 is used to output a swing angle signal of the mounting bracket 1 in the horizontal plane.

[0098] In the embodiment of the present application, the third motor 63 is fixedly arranged on the support member 311 close to the nozzle 312 and is electrically connected to the integrated controller 421. The fixing block 64 is fixedly arranged on the adjacent support member 311 and is fixedly connected to the output shaft of the third motor 63.

[0099] During use, the second angle sensor 62 detects the swing angle of the mounting frame 1 on 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.

[0100] In the case of no wind, due to the adjustment of the drone, the swing angle of the mounting frame 1 on the horizontal plane changes. At this time, the two pressure sensors 61 detect the same value, and no swing compensation is performed.

[0101] In the case of wind coming from one side, the wind force acts on one of the pressure sensors 61. 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 third motor 63 to start. The output shaft of the third motor 63 drives the fixing block 64 to rotate. Based on the swing angle signal output by the second angle sensor 62, the fixing block 64 drives the support member 311 to compensate the angle towards the side with greater pressure, so that the nozzle 312 can be aligned with the target position, thereby improving the spraying accuracy.

[0102] 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 stable adjustment device on the spraying drone, adjusts the position of the counterweight 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.

[0103] After taking off, the spray gun 313 guides the paint in the material pipe to the connecting pipe 314 through the rear fixing pipe 3142, transports it to the front fixing pipe 3141 through the connecting pipe 314, and sprays it out from the nozzle 312 through the bifurcated joint 3121 to complete the spraying operation on the target position.

[0104] During the working process, the infrared sensor 422 measures the distance between the mounting frame 1 and the target position in real time and outputs a distance signal between the mounting frame 1 and the target position to the integrated controller 421. The integrated controller 421 controls the first motor 423 to drive the driving gear 424 to rotate. The teeth of the straight 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 to realize real-time and accurate control of the spraying distance.

[0105] The angle sensor 1 52 detects the pitch angle of the mounting bracket 1 in real time, and outputs an angle signal of the deviation of the mounting bracket 1 from the horizontal plane in the vertical direction to the integrated controller 421. The integrated controller 421 controls the second motor 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;

[0106] The angle sensor 2 62 detects the swing angle of the mounting bracket 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;

[0107] In the case of wind coming from one side, the wind force acts on one pressure sensor 61. 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 third motor 63 to drive the fixed block 64 to rotate. Based on the swing angle signal output by the angle sensor 2 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. 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 further improving the spraying effect.

[0108] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within 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 adjustment 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), one end of which is rotatably connected to one of the support members (311), and the other end of which is clamped to the other support member (311); 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: 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).

6. 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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