Unmanned aerial vehicle spraying mechanism

Abstract

The unmanned aerial vehicle spraying mechanism comprises a connecting plate, a material storage tank is fixedly connected to the connecting plate, a sealing cover is installed on the material storage tank, a connecting mechanism is fixedly connected to the material storage tank, and a first shell is connected to the connecting mechanism; a top cover is installed on the first shell, a pump body is fixedly connected to the interior of the first shell, a hose is connected to the pump body, a pneumatic connector is connected to the hose, a pressure tank is fixedly connected to the pneumatic connector, the pressure tank is fixedly connected with the first shell, and a C-type self-locking quick connector is fixedly connected to the pressure tank. The C-type self-locking quick connector penetrates through the first shell and is fixedly connected with the first shell, remote control is conducted through the unmanned aerial vehicle, the spray head and the spray rod are made to break away from the ground, fly into the air and can be moved to the designated position to be used, the positions of the spray head and the spray rod can be effectively controlled through the first steering engine and the second steering engine, multi-angle adjustment can be conducted, and the unmanned aerial vehicle is convenient to use. And therefore, the paint can be better sprayed.

Description

Technical Field

[0001] The present invention relates to the field of spraying, and particularly to a spraying mechanism for an unmanned aerial vehicle (UAV). Background Art

[0002] Currently, operating at high altitudes in cities is a relatively difficult and troublesome process. First, high-altitude scaffolding needs to be built, and then the operation can be carried out. It is also very difficult to transport tools, equipment, and materials to the operation site. Especially when painting or decontaminating high-altitude objects on the road, the road needs to be closed and traffic interrupted. Such high-altitude operations are very unsafe, and moreover, a large amount of equipment, a large number of workers, a long construction period, and high costs are required.

[0003] Currently, compared with the booming consumer UAV market, the development of the industrial UAV market is slightly slower. Especially in the field of "high-altitude painting", the traditional solutions still rely on manpower and high-altitude work vehicles, which cannot meet the requirements of the current industry in terms of flexibility and safety. And there are almost no competing products that can be applied to this field.

[0004] UAVs have been widely applied in various fields of industrial and agricultural production. Using UAVs to replace humans for high-risk high-altitude operations is gradually being applied. Currently, the spraying robots on the market have problems such as poor adaptability, complex installation, and poor environmental adaptability. To address these problems, a UAV spraying solution with a drag operation has emerged on the market. In this solution, the paint on the ground is transported to the UAV in the air through a long hose, and then the spray bar and nozzle carried by the UAV are used for high-altitude spraying operations. The advantage of this solution is that it solves the problem of poor environmental adaptability of traditional spraying robots, but there are also certain disadvantages. For example, the long hose dragged at high altitudes will bring great instability and safety hazards to the flight of the UAV. At the same time, for small-range spraying movements, the UAV also needs to be moved, which will cause a significant decline in spraying quality. Therefore, there are more or less certain disadvantages in the current UAV spraying operations on the market. Summary of the Invention

[0005] The purpose of the present invention is to provide a spraying mechanism for an unmanned aerial vehicle to solve the above technical problems.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions to achieve:[[]]END

[0007] A spraying mechanism for an unmanned aerial vehicle includes a connecting plate, a storage tank is fixedly connected to the connecting plate, a sealing cover is installed on the storage tank, a connecting mechanism is fixedly connected to the storage tank, and a first housing is connected to the connecting mechanism.

[0008] A top cover is installed on the first housing. A pump body is fixedly connected inside the first housing. A hose is connected to the pump body. A pneumatic joint is connected to the hose. A pressure tank is fixedly connected to the pneumatic joint. The pressure tank is fixedly connected to the first housing. A C-type self-locking quick connector is fixedly connected to the pressure tank. The C-type self-locking quick connector penetrates through the first housing and is fixedly connected to the first housing;

[0009] A fixed connection is provided on the pneumatic joint with an automatic start-stop device. The automatic start-stop device is fixedly connected to the first housing. A pressure sensor and a navigation switch are installed on the automatic start-stop device;

[0010] A power supply is installed inside the first housing. A power interface is installed on the first housing. A ball valve is installed on the first housing.

[0011] Preferably, a second housing is fixedly connected to the connecting plate. The second housing consists of two upper and lower positioning boxes. The two positioning boxes are rotatably connected. The positioning box above the connecting plate is fixedly connected to the connecting plate. The positioning box below the connecting plate is rotatably connected to the connecting plate;

[0012] A step-down board is installed inside the positioning box above the connecting plate. A PWM relay, a first servo motor, and a remote control receiver are installed on the step-down board. The first servo motor is fixedly connected to the positioning box below the connecting plate;

[0013] A solenoid valve is installed inside the positioning box below the connecting plate. A second servo motor is arranged on the right side of the relay. The second servo motor is fixedly connected to the positioning box. A coupling is fixedly connected to the second servo motor. A rotating block is fixedly connected to the coupling. A spray bar is installed on the rotating block. Nozzles are installed on the spray bar.

[0014] Preferably, the connecting mechanism includes a connecting box. The connecting box is fixedly connected to the top of the storage tank. A corresponding connecting groove is opened at the bottom of the first housing. The connecting box is inserted into the connecting groove;

[0015] A reciprocating lead screw is rotatably connected to the connecting box. A threaded plate is threadedly connected to the reciprocating lead screw. A moving frame is fixedly connected to the threaded plate. The moving frame is slidably connected to the connecting box. A second magnetic block is fixedly connected to the top of the moving frame.

[0016] Preferably, the inside of the reciprocating lead screw is in a cavity state. A piston plate is slidably connected inside the reciprocating lead screw. The piston plate is connected to the reciprocating lead screw through a fourth spring. An extrusion rod is fixedly connected to the piston plate. The extrusion rod penetrates through the reciprocating lead screw and extends to the outside of the reciprocating lead screw;

[0017] A fifth gear is fixedly connected to the reciprocating lead screw.

[0018] Preferably, a first limit box is fixedly connected to the left side of the storage tank. A limit block is fixedly connected to the inner wall of the cavity of the first limit box. A top plate is arranged above the limit block. The top plate is slidably connected to the first limit box. A top rod is fixedly connected to the top of the top plate. A second limit box is arranged above the first limit box. The second limit box is fixedly connected to the first housing. The top rod is inserted into the second limit box;

[0019] The bottom of the top plate is connected to the first limit box through a third spring;

[0020] The reciprocating lead screw penetrates through the connection box and extends into the first limit box.

[0021] Preferably, a plurality of heat dissipation boxes are fixedly connected inside the first housing. A third rotating shaft is arranged through the heat dissipation box. The third rotating shaft is rotatably connected to the heat dissipation box. Blades are fixedly connected to both ends of the third rotating shaft;

[0022] A third gear is fixedly connected to the middle of the third rotating shaft. A rack is engaged with the third gear. A slide plate is fixedly connected to the rack. The slide plate is connected to the first housing through a second spring. A plurality of grooves are arranged through the first housing. Second magnetic blocks are arranged inside the grooves. The first magnetic block repels the second magnetic block magnetically.

[0023] Preferably, a heat dissipation fan is fixedly connected inside the first housing. The heat dissipation fan extends to the outside of the first housing. A rotating box is rotatably connected to the heat dissipation fan. A spray pipe is fixedly connected to the rotating box. A second rotating shaft is fixedly connected to the rotating box. A first rotating shaft is arranged below the second rotating shaft. An installation frame is rotatably connected to the first rotating shaft. The installation frame is fixedly connected to the first housing. Pulley wheels are fixedly connected to both the first rotating shaft and the second rotating shaft. The two pulley wheels are connected through a connecting belt. A first gear is fixedly connected to the first rotating shaft. A pressing connection mechanism is engaged with the first gear.

[0024] Preferably, the pressing connection mechanism includes a fixed pipe. The fixed pipe is fixedly connected to the installation frame. An installation box is fixedly connected inside the fixed pipe. A pull rod is arranged through the installation box. Both ends of the pull rod extend to the outside of the fixed pipe. A slider is fixedly connected to the pull rod. The slider is slidably connected to the installation box;

[0025] An installation plate is fixedly connected to the left side of the installation box. A rotating plate is rotatably connected to the installation plate. An auxiliary shaft is rotatably connected to the rotating plate. A track groove is formed on the slider. The auxiliary shaft is located inside the track groove. The slider is connected to the installation box through a first spring;

[0026] The left end of the pull rod is fixedly connected with a second gear, the second gear meshes with the first gear, the left end of the pull rod is fixedly connected with a connecting sleeve, and the connecting sleeve is inserted into the fifth gear.

[0027] The beneficial effects of the present invention are as follows:

[0028] 1. The present invention is remotely controlled by a drone, enabling the nozzle and the spray rod to fly into the air away from the ground and move to a designated position for use. Moreover, through the first servo and the second servo, the positions of the nozzle and the spray rod can be effectively controlled, and multi-angle adjustment can be performed, enabling better spraying.

[0029] 2. A cooling fan is arranged inside the first housing of the present invention. The cooling fan not only has a cooling effect but also can drive the first gear to rotate by means of wind power. With the help of the first gear and the second gear, the moving frame with the second magnetic block inside the connecting box can move back and forth arbitrarily. In this way, the second magnetic block will continuously act on the first magnetic block, and the first magnetic block will cause the rack to act on the third gear, thereby enabling the fan blades to rotate continuously. The fan blades are located inside the first housing, which can accelerate the air flow inside the first housing and further play a role in cooling and heat dissipation.

[0030] 3. In the present invention, the storage tank for storing paint and the first housing are spliced together, which is convenient for disassembly. However, under the action of controlling the pull rod, not only can the driving force of the first gear and the second gear be applied to the reciprocating lead screw, causing the reciprocating lead screw to drive the second magnetic block to act on the fan blades to accelerate air flow, but also the extrusion rod can be extruded and the water source can be squeezed, so that the ejector rod is inserted into the second limiting box. In this way, the connecting box will be limited. Since both ends of the connecting box are limited in this way, the phenomenon of moving and falling off will not occur, effectively stabilizing the installation of the storage tank. Description of the Drawings

[0031] Figure 1 is a schematic structural diagram of the present invention;

[0032] Figure 2 The internal structure of the first housing of the present invention;

[0033] Figure 3 is a schematic internal structure diagram of the second housing of the present invention;

[0034] Figure 4 is a schematic connection diagram of the first housing of the present invention and the fan;

[0035] Figure 5 is Figure 4 an enlarged schematic view of part A;

[0036] Figure 6 is a schematic diagram of the pressing connection mechanism of the present invention;

[0037] Figure 7 Schematic structural diagram of the connecting sleeve of the present invention;

[0038] Figure 8 Schematic connection diagram of the heat dissipation box and the first housing of the present invention;

[0039] Figure 9 is Figure 8 Enlarged schematic view of part B;

[0040] Figure 10 is Figure 8 Enlarged schematic view of part C;

[0041] Figure 11 Schematic internal structure diagram of the reciprocating lead screw of the present invention;

[0042] Figure 12 Schematic structure diagram inside the moving frame of the present invention;

[0043] Figure 13 Physical wiring diagram of the automatic start-stop circuit of the present invention;

[0044] Figure 14 Wiring diagram of the remote control circuit of the present invention.

[0045] Reference numerals: 1, connecting plate; 2, ball valve; 3, sealing cover; 4, top cover; 5, first housing; 6, storage tank; 7, spray rod; 8, pump body; 9, pressure tank; 10, hose; 11, pneumatic joint; 12, automatic start-stop device; 13, aviation switch; 14, pressure sensor; 15, power supply; 16, power supply interface; 17, C-type self-locking quick joint; 18, mounting bracket; 19, PWM relay; 20, first servo; 21, step-down board; 22, remote control receiver; 23, nozzle; 24, second housing; 25, coupling; 26, second servo; 27, solenoid valve; 28, heat dissipation fan; 29, rotating box; 30, connecting sleeve; 31, first gear; 32, second gear; 33, pull rod; 34, first rotating shaft; 35, second rotating shaft; 36, pulley; 37, connecting belt; 38, mounting plate; 39, mounting box; 40, slider; 41, auxiliary shaft; 42, rotating plate; 43, first spring; 44, fixed pipe; 45, moving frame; 46, first magnet; 47, fan blade; 48, heat dissipation box; 49, third rotating shaft; 50, third gear; 51, connecting box; 52, second magnet; 53, rack; 54, second spring; 55, sliding plate; 56, reciprocating lead screw; 57, third spring; 58, limiting block; 59, top plate; 60, ejector rod; 61, first limiting box; 62, second limiting box; 63, extrusion rod; 64, fourth spring; 65, piston plate; 66, threaded plate. Detailed implementation manners

[0046] In order to make the technical means, creative features, achieved purposes and effects realized by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments and drawings. However, the following embodiments are only the preferred embodiments of the present invention, not all of them. Based on the embodiments in the implementation manner, other embodiments obtained by those skilled in the art without creative work all fall within the protection scope of the present invention.

[0047] The specific embodiments of the present invention will be described below in conjunction with the drawings.

[0048] Embodiment 1:

[0049] As Figure 1-14 shown, a spraying mechanism for an unmanned aerial vehicle includes a connecting plate 1, a storage tank 6 is fixedly connected to the connecting plate 1, a sealing cover 3 is installed on the storage tank 6, a connecting mechanism is fixedly connected to the storage tank 6, and a first housing 5 is connected to the connecting mechanism;

[0050] A top cover 4 is installed on the first housing 5, a pump body 8 is fixedly connected inside the first housing 5, a hose 10 is connected to the pump body 8, a pneumatic joint 11 is connected to the hose 10, a pressure tank 9 is fixedly connected to the pneumatic joint 11, the pressure tank 9 is fixedly connected to the first housing 5, and a C-type self-locking quick joint 17 is fixedly connected to the pressure tank 9. The C-type self-locking quick joint 17 penetrates through the first housing 5 and is fixedly connected to the first housing 5;

[0051] An automatic start-stop device 12 is fixedly connected to the pneumatic joint 11, the automatic start-stop device 12 is fixedly connected to the first housing 5, and a pressure sensor 14 and a navigation switch 13 are installed on the automatic start-stop device 12;

[0052] A power supply 15 is installed inside the first housing 5, a power supply interface 16 is installed on the first housing 5, and a ball valve 2 is installed on the first housing 5;

[0053] A second housing 24 is fixedly connected to the connecting plate 1. The second housing 24 is composed of two upper and lower positioning boxes, and the two positioning boxes are rotatably connected. The positioning box above the connecting plate 1 is fixedly connected to the connecting plate 1, and the positioning box below the connecting plate 1 is rotatably connected to the connecting plate 1;

[0054] A step-down board 21 is installed inside the positioning box above the connecting plate 1. A PWM relay 19, a first servo 20, and a remote control receiver 22 are installed on the step-down board 21. The first servo 20 is fixedly connected to the positioning box below the connecting plate 1;

[0055] Inside the positioning box located below the connecting plate 1, a solenoid valve 27 is installed. A second servo 26 is arranged on the right side of the relay. The second servo 26 is fixedly connected to the positioning box. A coupling 25 is fixedly connected to the second servo 26. A rotating block is fixedly connected to the coupling 25. A spray bar 7 is installed on the rotating block. Nozzles 23 are installed on the spray bar 7.

[0056] The spraying base station mainly consists of a base station housing, a spraying control device, and an automatic start-stop device 12. Among them, the spraying control device consists of a pump body 8, a pressure storage tank, a pneumatic joint 11, a C-type self-locking quick joint 17, and a hose 10. The automatic start-stop device 12 consists of a pressure sensor 14, a PWM relay 19, a navigation switch 13, and a triode.

[0057] Among them, the housing of the base station includes a spraying device housing and a storage bucket housing. Since the main weight and volume of the spraying device come from the housing of the base station, therefore, reasonably designing the structure of the base station housing and correctly selecting the material of the base station housing can effectively reduce the weight and volume of the device, and can also improve the seismic resistance of the device, thereby realizing the stable operation of the UAV operation. So now we start to reasonably design the housing structure and material of the spraying base station device.

[0058] Design of the spraying device housing

[0059] The spraying device housing is a main component of the spraying base station. Among them, the spraying device and the automatic start-stop system are installed in the spraying device housing. Therefore, the spraying device housing needs to bear the weight of the spraying device and the automatic start-stop system, and requires a certain load-bearing capacity. Among them, the spraying device housing also needs to be quickly installed and disassembled with the storage bucket housing. So a quick-disassembly structure also needs to be designed. At the same time, the spraying device housing needs to be fixed on the UAV. Because the load capacity of the UAV is limited, in order to ensure the stability of the UAV during flight, the housing needs to be designed for light weight, miniaturization, and seismic resistance.

[0060] The spraying device housing provides an installation position for the spraying device and the automatic start-stop system. A power interface 16, a power output interface, a heat dissipation port for the pump body 8, and a pressure value observation window are provided on the surface of the housing. The installation positions of the pump body 8, the power supply 15, and the automatic start-stop device 12 are designed inside the housing. To meet the quick installation with the storage bucket, a slide rail is designed on the lower surface of the housing

[0061] Selection of the material for the spraying device housing

[0062] The volume of the spraying device housing is small, and the weight requirement is light. The spraying device and the automatic start-stop system it mainly bears are light in weight, so it does not require a large load-bearing capacity. Therefore, plastic is selected as the raw material for the spraying device housing in this case.

[0063] Acrylonitrile-butadiene-styrene copolymer: A plastic with high strength, impact resistance, and wear resistance, having good mechanical properties and chemical resistance, as well as good electrical insulation and heat resistance.

[0064] By analyzing the parameter requirements of the spraying device housing, it is decided to use acrylonitrile-butadiene-styrene copolymer material.

[0065] Manufacturing process of the spraying device housing

[0066] Considering the precision requirements of the spraying device housing and the relatively low load-bearing capacity requirements, and combining with the material used for the housing, it is decided to use 3D printing technology to complete the production of the housing.

[0067] 3D printing technology can quickly form the required objects. Currently, the main types of 3D printing technology on the market are: 1. Fused deposition modeling: This technology uses a fusible plastic and manufactures objects layer by layer by melting and stacking. 2. Stereolithography: This technology uses light to solidify resin to manufacture objects. 3. Selective laser sintering: This technology is mainly used to manufacture metal objects. The principle is to use a high-power laser to sinter metal powder to achieve the purpose of manufacturing objects. 4. Selective laser melting: This technology uses a powder and solidifies the powder by rapid sintering to manufacture objects.

[0068] In this case, fused deposition modeling technology is adopted because the raw material cost of this technology is relatively low, there are more types of materials to choose from, and it is non-toxic and odorless. The manufacturing process of 3D printing technology is: First, convert the designed model file into STL format, then import the STL model file into the slicing software for slicing, and then transfer it to the 3D printer. The 3D printer will stack materials layer by layer to build the object.

[0069] Design of the storage barrel housing

[0070] Material selection for the storage barrel housing

[0071] The storage barrel is mainly used for storing coatings. Considering that the coatings have certain corrosiveness, the material of the storage barrel needs to have corrosion resistance, and at the same time, it needs to have a certain load-bearing capacity and lightness. Combining the above requirements and the commonly used materials on the market, it is decided to use PE polyethylene material.

[0072] Design of the storage barrel housing model

[0073] The surface of the storage barrel is designed with protruding threads to facilitate the installation of the ball valve 2. To increase the strength of the storage barrel, grooves are designed on the surface. To meet the modular installation requirements, trapezoidal slide rails are designed on the surface.

[0074] The spraying control device is an important part of the entire UAV spraying device, mainly providing the power source for the entire spraying process. Considering that the entire operation process is at high altitude, in order to reduce the complexity of operation, the device needs to have automation capabilities and also minimize the mass and volume of the entire device.

[0075] Different spraying methods and control methods have different effects on the stable operation of the entire system. Therefore, this chapter details the design of the spraying method and the automatic control method.

[0076] Selection of Spraying Method

[0077] Air spraying: First, increase the air pressure in air spraying, and then let the pressurized high-pressure gas pass through the nozzle of nozzle 23. The paint will be sprayed out together with the high-pressure gas, atomizing the paint into fine particles and fully atomizing it. Air spraying is further divided into siphon type, gravity type, or pressure-feed type. Air spraying has the characteristics of simple operation, low cost, applicability to various colors and materials, and applicability to objects of various shapes.

[0078] Since the spraying device designed in this paper needs to be mounted on a UAV, it must first meet the characteristics of small volume and light weight. Moreover, the working environment is at high altitude, so the electrostatic spraying method is not advisable. Because airless spraying requires a very high working pressure, which is difficult to meet at high altitude, it is decided to adopt the air spraying method.

[0079] Selection of Pump Body 8

[0080] Combined with the spraying device designed in this paper, the pump needs to have relatively small volume and mass, and the ultimate pressure must not be less than 0.6 Mpa.

[0081] The working principle of the air pump is that the engine drives the air pump crankshaft, thereby driving the piston to pump air, thus increasing the pressure in pressure tank 9. Since the air output flow of the air pump is directly proportional to the power of the electric motor and the area of the piston, in order to reduce the volume and mass of the air pump, certain restrictions must be imposed on the air output. After comprehensive consideration, a small air pump with an ultimate pressure of 0.7 Mpa, a flow rate of 40 L / min, and a weight of about 300 g is decided to be adopted.

[0082] Selection and Calculation of Pressure Tank 9

[0083] Since there will be fluctuations in the pressure when the air pump discharges air, in order to make the pressure more stable, a pressure tank 9 needs to be installed to stabilize the pressure. At the same time, pressure tank 9 also plays the role of storing gas and pre-removing water.

[0084] The common pressure tanks 9 on the market at present are as follows: 1. Cylindrical pressure vessels. The main advantage of this pressure vessel is that it is relatively easy to manufacture and the device installation is relatively convenient. 2. Spherical containers, also called spherical tanks, which are mainly used to store gases and liquids. Compared with cylindrical containers, its main advantages are uniform stress and higher load-bearing capacity. The main disadvantage is that it is difficult to manufacture and the structure is complex. 3. Square containers. Square containers are prone to deformation and cause accidents, and the design cost is relatively high, so they are relatively rare on the market.

[0085] The volume of the pressure tank 9 plays an important role in spraying. A suitable volume can effectively reduce the start-up frequency and working time of the air pump, and effectively extend the service life of the air pump. Considering that the volume and mass of the whole device cannot be too large, the volume of the pressure tank 9 is calculated below.

[0086] It is known that the flow rate of the air pump is 40L / min. The flow rate consumed by spraying varies with different spraying raw materials. Considering the actual use situation, taking latex paint as an example, the flow rate requirement for spraying latex paint is below 8L / min, and the calculation is now carried out with a flow rate of 3L / min. In order to meet the pressure requirements for spraying, it is now required that when the absolute pressure of the pressure tank 9 decreases to less than 0.3mpa, the air pump starts, and when the absolute pressure of the pressure tank 9 increases to more than 0.4mpa, the air pump stops. Now assume that the volume of the pressure tank 9 is VL.

[0087] From =, it is obtained that

[0088] When the absolute pressure of the pressure tank 9 is pressurized to 0.3mpa, it is equivalent to compressing 3V L of gas into a container with a volume of V L, and 2V L of gas needs to be filled into the container. Similarly, when the absolute pressure of the pressure tank 9 is pressurized to 0.4mpa, 3V L of gas needs to be filled into the container. It can be concluded from this that reducing from 0.4mpa to 0.3mpa requires consuming V L of gas. Since the air pump will not work during this period, the time that the air pump can maintain normal spraying operation can be obtained.

[0089] It is known that Q = 3L / min. From this, the time that the air pump can maintain normal spraying operation is obtained. Considering the volume and mass requirements of the pressure tank 9, a cylindrical pressure tank 9 with a volume of 0.5L is decided to be used, and the air pump starts once every about 10s.

[0090] Design of the spraying pipeline

[0091] The spraying device is mainly composed of a pump body 8, a pressure tank 9, a pneumatic air pipe joint, a C-type self-locking quick joint 17, and a hose 10. The working process is that the pump body 8 is connected to the pressure sensor 14 and one end of the pressure tank 9 through the pneumatic air pipe joint and the hose 10 respectively, and the pressure is measured and the pressure tank 9 is pressurized. The other end of the pressure tank 9 is connected to the C-type self-locking quick joint 17, and the C-type self-locking quick joint 17 is connected to the rotating device through the hose 10 and the pneumatic air pipe joint to realize the spraying operation.

[0092] Selection of hose 10

[0093] At present, the gas transmission on the market mainly adopts PU pneumatic hose 10, which is made of polyurethane material through extrusion process. It has good elasticity, so it is not easy to get tangled. PU pneumatic hose 10 has the advantages of good flexibility, good resilience, good wear resistance, non-toxicity, and no irritating odor. Therefore, the hose 10 decided to use PU pneumatic hose 10 this time.

[0094] Design of automatic start-stop device 12

[0095] Since the working environment of this design is at high altitude, if you want to control the pressure of the pressure tank 9, you can only control the air pump to work by the automatic start-stop system. The device has the functions of fully automatic operation, adjustable pressure range, and digital display of current pressure.

[0096] Selection of pressure sensor 14

[0097] In order to realize the automatic operation of the entire device, the pressure sensor 14 is indispensable. The pressure sensor 14 is a component that can convert the pressure signal into an electrical signal. The pressure sensor 14 is composed of a pressure sensing element and a signal processing module. According to different test pressure types, the pressure sensor 14 can be divided into a gauge pressure sensor, a differential pressure sensor and an absolute pressure sensor. The pressure sensor 14 selected this time must have the following features: digital display of pressure value; adjustable pressure range; and the ability to convert the pressure signal into an electrical signal output. In combination with the above requirements, it was decided to use the Panasonic DP-102 digital vacuum positive and negative pressure sensor 14.

[0098] Design of automatic start-stop circuit

[0099] This start-stop circuit needs to output an electrical signal to control the air pump to start when the pressure decreases to less than 0.3 MPa, and stop outputting the electrical signal to control the air pump to stop when the pressure increases to more than 0.4 MPa. The system consists of a pressure sensor 14, a relay, and a rocker switch. The pressure sensor 14 is responsible for detecting the pressure and controlling the output of the analog electrical signal; the relay is controlled by the pressure sensor 14 to control the start and stop of the air pump; the rocker switch is responsible for the on and off of the power supply 15 of the entire device.

[0100] The rotary spraying device mainly consists of a rotary housing, a rotating device, a solenoid valve 27 device, a spray rod 7, a spray head 23, and a remote control system. The rotating device consists of a servo motor, a coupling 25, bearings, and a fixing device for the spray rod 7. The remote control system consists of a remote control receiver 22, a step-down board 21, and a PWM relay 19.

[0101] The main function of the rotary spraying device is to provide different directions for the spraying operation process, realizing multi-angle spraying without the movement of the unmanned aerial vehicle (UAV), thereby reducing the spraying instability caused by the movement of the UAV. Since the rotary spraying device is in the high altitude, it also needs to have portability and remote control capabilities. Therefore, the following designs are made for the portability and remote control method of the rotary spraying device in this chapter.

[0102] Design of the rotating device housing model

[0103] The rotating device mainly consists of upper and lower parts. The upper part is the fixed part, with a power interface 16, servo motor and solenoid valve 27 interfaces on the outer surface. The internal design has installation positions for the servo motor and the remote control device, and at the same time, a flange installation position is provided for the connection of the upper and lower parts. The lower part is mainly the rotating part, responsible for connecting the spray rod 7 and the spray head 23, and at the same time, installation positions for the servo motor and the solenoid valve 27 are provided inside.

[0104] Design of the rotary transmission device

[0105] The transmission system designed in this article is a direct drive method. Generally, a coupling 25 is used to connect the two shafts together in the direct drive method. To reduce friction and make it rotate smoothly, a bearing support is added to the connection part. The following is the selection calculation for the coupling 25 and the bearing.

[0106] Selection design calculation of the coupling 25

[0107] The coupling 25 is a device that connects two shafts to rotate coaxially at the same speed.

[0108] There are two main categories of couplings 25, namely rigid couplings 25 and flexible couplings 25. A rigid coupling 25 means that the two shafts must be strictly on the same axis, and there is no space for relative movement between the two shafts. This type of coupling 25 has a simple structure, low price, convenient installation, and wide application. Commonly used ones include flange couplings 25, sleeve couplings 25, and split-muff couplings 25, etc.

[0109] The flexible coupling 25 is further divided into an inelastic element flexible coupling 25 and an elastic element flexible coupling 25. The difference between the inelastic element flexible coupling 25 and the elastic element flexible coupling 25 is that the inelastic element flexible coupling 25 has no buffering and vibration damping ability, while the elastic element flexible coupling 25 has buffering and vibration damping functions. Common inelastic element flexible couplings 25 include slider 40 couplings 25, gear couplings 25, universal couplings 25, chain couplings 25, etc.; common elastic element flexible couplings 25 include elastic bushing pin couplings 25, elastic pin couplings 25, diaphragm couplings 25, tire couplings 25, serpentine spring couplings 25, leaf spring couplings 25, etc.

[0110] Type Selection

[0111] For the rotating device designed in this paper, the rotational speed is low, there is no impact, and the shaft has high stiffness. Therefore, a flange coupling with a simple structure and low cost is adopted.

[0112] (2) Load Calculation

[0113] The theoretical torque required in the azimuth direction for this paper is 1.3 N·m, and the theoretical torque in the pitch direction is 5 N·m. Looking up the table, we get K A = 1.3

[0114] From T ca = K A T, we can obtain

[0115] T ca = K A T1 = 1.3 × 1.3 N·m = 1.69 N·m (5-1)

[0116] T ca = K A T1 = KT2 = 5 × 1.3 N·m = 6.5 N·m (5-2)

[0117] (3) Model Selection

[0118] Checking from GB / T 5843-2003, the minimum shaft diameter of the flange coupling is for GY1, GYS1, GYH1 type flange couplings. The minimum shaft diameter of this type of flange coupling is 12 mm, which is still larger than the shaft diameter of the steering gear. Therefore, it is necessary to design a flange coupling, requiring the nominal torque to be not less than 7 N·m and the allowable maximum rotational speed to be 100 r / min. 5.3.2 Selection of Bearings

[0119] Bearings are divided into two categories: sliding friction bearings (referred to as sliding bearings) and rolling friction bearings (referred to as rolling bearings). Among them, rolling bearings have a small friction coefficient, are convenient to select and maintain. In addition, the rotational speed of this design work is relatively low, with small impact and vibration. Therefore, rolling bearings are adopted in this design. Since the bearing is only subjected to a unidirectional axial load. So thrust ball bearings are used this time.

[0120] Calculation and Selection of Steering Gear

[0121] A steering gear is a position servo driver. The internal controller and mechanical structure enable it to rotate at a relatively accurate angle. At the same time, the built-in reducer allows it to output a large torque. Considering that the torques required in the azimuth direction and the pitch direction are different and vary greatly, different steering gears are selected for the two directions.

[0122] In the azimuth direction, since it is directly connected coaxially and there are bearings, the required torque is greatly reduced. Therefore, it is decided to adopt the MG996R model steering gear.

[0123] In the pitch direction, the length of the spray rod is about 50 cm, the mass is about 1 KG, and the mass is evenly distributed; the mass of the nozzle is about 0.5 KG, which is fixed at one end of the spray rod.

[0124] From T = Fr, we get

[0125] T1 = F1r1 = 9.8×0.25 = 2.45 N·m (5 - 3)

[0126] T2 = F2r2 = 4.9×0.5 = 2.45 N·m (5 - 4)

[0127] So the torque required for the steering gear is:

[0128] T = T1 + T2 = 4.5 N·m (5 - 5)

[0129] Therefore, it is decided to adopt the DS5160 model steering gear.

[0130] Selection of Remote Control Method

[0131] Since this spraying device is mainly used in high-altitude environments, the rotation device needs to be remotely controlled. There are two steering gears responsible for azimuth and pitch rotations and a solenoid valve 27 for controlling the gas switch that need to be remotely controlled in the rotation device. Therefore, the remote control device needs to have multiple remote control channels, and the remote control distance needs to be not less than 300 meters. Since the unmanned aerial vehicle also needs to be remotely controlled, and the unmanned aerial vehicle remote control has multiple channels and a sufficient remote control distance. To reduce the number of remote controllers, it is therefore chosen to integrate the remote control of the steering gear and the solenoid valve 27 on the unmanned aerial vehicle remote controller.

[0132] By comparing the existing drone remote controllers on the market and combining with the remote control design requirements, the Ruidi AT9S Pro remote controller was finally selected.

[0133] Design of the remote control circuit

[0134] The remote control circuit mainly includes a remote control receiver 22, a PWM relay 19 module, and a 12V to 5V step-down module. The 12V to 5V step-down module is mainly used to supply power to the remote control receiver 22. Since the servo needs to be controlled by a PWM signal and the remote control receiver 22 can directly output a PWM signal, the servo can be directly connected to the remote control receiver 22. The solenoid valve 27 needs to be controlled by on-off power, and the operating voltage is 12V. Therefore, to achieve remote control, a PWM relay 19 module is required. When the relay is closed, the gas passes through, and when the relay is opened, the gas is stopped.

[0135] Selection of the nozzle 23

[0136] Since this spraying system is air spraying, a pneumatic nozzle 23 needs to be selected. The working principle of the pneumatic nozzle 23 is to atomize the paint into fine paint droplets through compressed air and spray them onto the surface of the object to be painted under the drive of the air flow. This spraying device requires that the spray pattern of the nozzle 23 shall not be less than 200mm, and at the same time, two spraying patterns, circular and fan-shaped, can be switched. After comprehensive consideration, the Lumina ST-5 type nozzle 23 was decided to be selected;

[0137] The paint is pumped through the pump body 8 to the spray bar 7 and the nozzle 23 for spraying. Subsequently, the first servo 20 controls the left and right swing of the spray bar 7 and the nozzle 23, and the second servo 26 controls the up and down swing of the spray bar 7 and the nozzle 23.

[0138] Embodiment 2:

[0139] As Figure 1-12 shown, in the case where other parts are the same as those in Embodiment 1, the difference between this embodiment and Embodiment 1 is that the connecting mechanism includes a connecting box 51, the connecting box 51 is fixedly connected to the top of the storage tank 6, a corresponding connecting groove is opened at the bottom of the first housing 5, and the connecting box 51 is inserted into the connecting groove;

[0140] A reciprocating lead screw 56 is rotatably connected to the connecting box 51. A threaded plate 66 is threadedly connected to the reciprocating lead screw 56. A moving frame 45 is fixedly connected to the threaded plate 66. The moving frame 45 is slidably connected to the connecting box 51. A second magnet 52 is fixedly connected to the top of the moving frame 45;

[0141] The inside of the reciprocating lead screw 56 is in a cavity state. A piston plate 65 is slidably connected inside the reciprocating lead screw 56. The piston plate 65 is connected to the reciprocating lead screw 56 through a fourth spring 64. An extrusion rod 63 is fixedly connected to the piston plate 65. The extrusion rod 63 penetrates through the reciprocating lead screw 56 and extends to the outside of the reciprocating lead screw 56;

[0142] The reciprocating screw rod 56 is fixedly connected with a fifth gear;

[0143] A first limit box 61 is fixedly connected to the left side of the storage tank 6, a limit block 58 is fixedly connected to the inner wall of the inner cavity of the first limit box 61, a top plate 59 is arranged above the limit block 58, the top plate 59 is slidably connected to the first limit box 61, a top rod 60 is fixedly connected to the top of the top plate 59, a second limit box 62 is arranged above the first limit box 61, the second limit box 62 is fixedly connected to the first shell 5, and the top rod 60 is plugged into the second limit box 62;

[0144] The bottom of the top plate 59 is connected to the first limit box 61 through the third spring 57;

[0145] The reciprocating screw rod 56 passes through the connecting box 51 and extends to the inside of the first limiting box 61;

[0146] A plurality of heat dissipation boxes 48 are fixedly connected inside the first housing 5. A third rotating shaft 49 is provided through the heat dissipation box 48. The third rotating shaft 49 is rotatably connected to the heat dissipation box 48. Both ends of the third rotating shaft 49 are fixedly connected to the fan blades 47.

[0147] A third gear 50 is fixedly connected in the middle of the third rotating shaft 49, a rack 53 is meshed on the third gear 50, a slide plate 55 is fixedly connected to the rack 53, the slide plate 55 is connected to the first housing 5 via a second spring 54, a plurality of grooves are provided through the first housing 5, a second magnetic block 52 is provided inside the groove, and the first magnetic block 46 and the second magnetic block 52 are magnetically repelled;

[0148] By pressing the pull rod 33, the pull rod 33 drives the slider 40 to move, and the movement of the slider 40 will move the auxiliary shaft 41, so that the auxiliary shaft 41 moves in the track groove;

[0149] When the auxiliary shaft 41 needs to move to the right side of the track groove, the pull rod 33 will drive the connecting sleeve 30 to plug into the fifth gear, and in this process, the connecting sleeve 30 will squeeze the squeezing rod 63, the squeezing rod 63 will squeeze the piston plate 65, and the piston plate 65 will squeeze the water source into the first limit box 61, so that the water source will squeeze the top plate 59 and the top rod 60 will move up, and the top rod 60 will move up and plug into the second limit box 62, so that the connecting box 51 will be limited forward and backward, so that the first shell 5 and the storage tank 6 will not be separated;

[0150] When separation is required, the connecting sleeve 30 is separated from the fifth gear by pressing the pressure rod. In this way, when the squeezing force is lost, they will return to their original state, thereby facilitating disassembly.

[0151] Embodiment 3:

[0152] like Figure 1-12As shown, when other parts are the same as those in Example 1, the difference between this embodiment and Example 1 is that: a heat dissipation fan 28 is fixedly connected inside the first shell 5, and the heat dissipation fan 28 extends to the outside of the first shell 5. A rotating box 29 is rotatably connected to the heat dissipation fan 28, and a nozzle is fixedly connected to the rotating box 29. A second rotating shaft 35 is fixedly connected to the rotating box 29, and a first rotating shaft 34 is arranged below the second rotating shaft 35. A mounting frame 18 is rotatably connected to the first rotating shaft 34, and the mounting frame 18 is fixedly connected to the first shell 5. Pulleys 36 are fixedly connected to the first rotating shaft 34 and the second rotating shaft 35, and the two pulleys 36 are connected by a connecting belt 37. A first gear 31 is fixedly connected to the first rotating shaft 34, and a pressing connection mechanism is meshed on the first gear 31;

[0153] The pressing connection mechanism includes a fixed tube 44, which is fixedly connected to the mounting frame 18, and a mounting box 39 is fixedly connected inside the fixed tube 44. A pull rod 33 is provided through the mounting box 39, and both ends of the pull rod 33 extend to the outside of the fixed tube 44. A slider 40 is fixedly connected to the pull rod 33, and the slider 40 is slidably connected to the mounting box 39;

[0154] The left side of the installation box 39 is fixedly connected to the installation plate 38, the installation plate 38 is rotatably connected to the rotating plate 42, the rotating plate 42 is rotatably connected to the auxiliary shaft 41, the slider 40 is provided with a track groove, the auxiliary shaft 41 moves inside the track groove, and the slider 40 is connected to the installation box 39 through the first spring 43;

[0155] The left end of the pull rod 33 is fixedly connected with the second gear 32, the second gear 32 is meshed with the first gear 31, and the left end of the pull rod 33 is fixedly connected with the connecting sleeve 30, the connecting sleeve 30 is plugged with the fifth gear;

[0156] By starting the heat dissipation fan 28, the heat dissipation fan 28 will infuse all the gas in the first housing 5 into the rotating box 29, so that the gas will be ejected from the nozzle, and the nozzle will drive the rotating box 29 to rotate, and the rotation of the rotating box 29 drives the first rotating shaft 34 to rotate, and the first rotating shaft 34 drives the second rotating shaft 35 to rotate through the connecting belt 37 and the pulley 36, and the second rotating shaft 35 drives the first gear 31 to rotate through the first rotating shaft 34, and the first gear 31 drives the second gear 32 to rotate;

[0157] Since the connecting sleeve 30 is inserted into the fifth gear, the fifth gear can be driven to rotate. In this way, the fifth gear drives the reciprocating lead screw 56 to rotate, the reciprocating lead screw 56 drives the threaded plate 66 to move, the threaded plate 66 drives the moving frame 45 to move, and the moving frame 45 drives a plurality of second magnetic blocks 52 to move reciprocally. In this way, the second magnetic blocks 52 can continuously act on the first magnetic block 46, and the first magnetic block 46 causes the rack 53 to act on the third gear 50, so that the fan blade 47 can continuously rotate. The fan blade 47 is located inside the first housing 5, which can accelerate the air flow inside the first housing 5 and further play a role in cooling and heat dissipation.

[0158] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. An unmanned aerial vehicle spraying mechanism, comprising a connecting plate (1), characterized in that: A storage tank (6) is fixedly connected to the connecting plate (1). A sealing cover (3) is installed on the storage tank (6). A connecting mechanism is fixedly connected to the storage tank (6), and a first housing (5) is connected to the connecting mechanism; A top cover (4) is installed on the first housing (5). A pump body (8) is fixedly connected inside the first housing (5). A hose (10) is connected to the pump body (8). A pneumatic joint (11) is connected to the hose (10). A pressure tank (9) is fixedly connected to the pneumatic joint (11). The pressure tank (9) is fixedly connected to the first housing (5). A C-type self-locking quick connector (17) is fixedly connected to the pressure tank (9). The C-type self-locking quick connector (17) penetrates through the first housing (5) and is fixedly connected to the first housing (5); An automatic start-stop device (12) is fixedly connected to the pneumatic joint (11). The automatic start-stop device (12) is fixedly connected to the first housing (5). A pressure sensor (14) and a navigation switch (13) are installed on the automatic start-stop device (12); A power supply (15) is installed inside the first housing (5). A power supply interface (16) is installed on the first housing (5). A ball valve (2) is installed on the first housing (5).

2. The drone spraying mechanism according to claim 1, wherein: A second housing (24) is fixedly connected to the connecting plate (1). The second housing (24) is composed of two upper and lower positioning boxes. The two positioning boxes are rotatably connected. The positioning box above the connecting plate (1) is fixedly connected to the connecting plate (1), and the positioning box below the connecting plate (1) is rotatably connected to the connecting plate (1); A step-down board (21) is installed inside the positioning box above the connecting plate (1). A PWM relay (19), a first servo motor (20), and a remote control receiver (22) are installed on the step-down board (21). The first servo motor (20) is fixedly connected to the positioning box below the connecting plate (1); A solenoid valve (27) is installed inside the positioning box below the connecting plate (1). A second servo motor (26) is arranged on the right side of the relay. The second servo motor (26) is fixedly connected to the positioning box. A coupling (25) is fixedly connected to the second servo motor (26). A rotating block is fixedly connected to the coupling (25). A spray bar (7) is installed on the rotating block. Nozzles (23) are installed on the spray bar (7).

3. The drone spraying mechanism according to claim 1, characterized in that: The connecting mechanism includes a connecting box (51). The connecting box (51) is fixedly connected to the top of the storage tank (6). A corresponding connecting groove is opened at the bottom of the first housing (5). The connecting box (51) is inserted into the connecting groove; A reciprocating lead screw (56) is rotatably connected to the connecting box (51). A threaded plate (66) is threadedly connected to the reciprocating lead screw (56). A moving frame (45) is fixedly connected to the threaded plate (66). The moving frame (45) is slidably connected to the connecting box (51). A second magnetic block (52) is fixedly connected to the top of the moving frame (45).

4. The drone spraying mechanism according to claim 3, characterized in that: The inside of the reciprocating lead screw (56) is in a cavity state. A piston plate (65) is slidably connected inside the reciprocating lead screw (56). The piston plate (65) is connected to the reciprocating lead screw (56) through a fourth spring (64). An extrusion rod (63) is fixedly connected to the piston plate (65). The extrusion rod (63) penetrates through the reciprocating lead screw (56) and extends to the outside of the reciprocating lead screw (56). A fifth gear is fixedly connected to the reciprocating lead screw (56).

5. The drone spraying mechanism according to claim 4, wherein: A first limit box (61) is fixedly connected to the left side of the storage tank (6). A limit block (58) is fixedly connected to the inner wall of the cavity of the first limit box (61). A top plate (59) is arranged above the limit block (58). The top plate (59) is slidably connected to the first limit box (61). A top rod (60) is fixedly connected to the top of the top plate (59). A second limit box (62) is arranged above the first limit box (61). The second limit box (62) is fixedly connected to the first housing (5). The top rod (60) is inserted into the second limit box (62). The bottom of the top plate (59) is connected to the first limit box (61) through a third spring (57). The reciprocating lead screw (56) penetrates through the connection box (51) and extends into the first limit box (61).

6. The drone spraying mechanism according to claim 5, characterized in that: A plurality of heat dissipation boxes (48) are fixedly connected inside the first housing (5). A third rotating shaft (49) penetrates through the heat dissipation box (48). The third rotating shaft (49) is rotatably connected to the heat dissipation box (48). Both ends of the third rotating shaft (49) are fixedly connected with fan blades (47). A third gear (50) is fixedly connected to the middle of the third rotating shaft (49). A rack (53) is engaged with the third gear (50). A sliding plate (55) is fixedly connected to the rack (53). The sliding plate (55) is connected to the first housing (5) through a second spring (54). A plurality of grooves are penetrated through the first housing (5). Second magnetic blocks (52) are arranged inside the grooves. The first magnetic block (46) is magnetically repulsive to the second magnetic blocks (52).

7. The drone spraying mechanism according to claim 1, wherein: A heat dissipation fan (28) is fixedly connected inside the first housing (5). The heat dissipation fan (28) extends to the outside of the first housing (5). A rotating box (29) is rotatably connected to the heat dissipation fan (28). A spray pipe is fixedly connected to the rotating box (29). A second rotating shaft (35) is fixedly connected to the rotating box (29). A first rotating shaft (34) is arranged below the second rotating shaft (35). An installation frame (18) is rotatably connected to the first rotating shaft (34). The installation frame (18) is fixedly connected to the first housing (5). Pulley wheels (36) are fixedly connected to both the first rotating shaft (34) and the second rotating shaft (35). The two pulley wheels (36) are connected through a connecting belt (37). A first gear (31) is fixedly connected to the first rotating shaft (34). A pressing connection mechanism is engaged with the first gear (31).

8. The drone spraying mechanism according to claim 1, characterized in that: The pressing connection mechanism includes a fixed pipe (44), the fixed pipe (44) is fixedly connected to the mounting bracket (18), an installation box (39) is fixedly connected inside the fixed pipe (44), a pull rod (33) is disposed through the installation box (39), both ends of the pull rod (33) extend to the outside of the fixed pipe (44), a slider (40) is fixedly connected to the pull rod (33), and the slider (40) is slidably connected to the installation box (39); A mounting plate (38) is fixedly connected to the left side of the installation box (39), a rotating plate (42) is rotatably connected to the mounting plate (38), an auxiliary shaft (41) is rotatably connected to the rotating plate (42), a track groove is formed in the slider (40), the auxiliary shaft (41) is displaced inside the track groove, and the slider (40) is connected to the installation box (39) through a first spring (43); A second gear (32) is fixedly connected to the left end of the pull rod (33), the second gear (32) meshes with the first gear (31), a connecting sleeve (30) is fixedly connected to the left end of the pull rod (33), and the connecting sleeve (30) is inserted into the fifth gear.

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