A spray drone

Abstract

The application discloses a spraying unmanned plane and relates to the technical field of construction equipment. The spraying unmanned plane comprises a machine body, a plurality of wings arranged on the machine body, a guniting pump arranged below the machine body, and a spray gun arranged on the guniting pump. The spray gun comprises a flexible pipe and a hard spray head. The flexible pipe and the hard spray head are fixedly connected. The hard spray head is further connected with the guniting pump shell through a plurality of adjusting rods. One end of each adjusting rod is fixedly connected with the guniting pump shell, and the other end of each adjusting rod is connected with the hard spray head through a spherical hinge. Each adjusting rod is an electric telescopic rod, and the electric telescopic rods are controlled by a control system. The spray head and the guniting pump shell form a spherical hinge structure through the electric telescopic rods. In combination with the telescopic function of the electric telescopic rods, the spray head can be adjusted in multiple angles and multiple degrees of freedom in real time. The layout of the plurality of wings improves the load capacity and the flight stability of the unmanned plane, so that the unmanned plane can work in high altitude, narrow space or complex terrain and break through the space limitation of manual spraying and traditional machinery.

Description

Technical Field

[0001] This invention relates to the field of construction equipment technology, and in particular to a spraying drone. Background Technology

[0002] In fields such as architectural decoration, municipal engineering, agricultural plant protection, and industrial equipment surface treatment, spraying is a crucial and widely used process. Its efficiency and spraying quality directly affect the overall project progress and final result. Currently, the mainstream spraying methods in the industry are mainly divided into two categories: manual spraying and traditional mechanical spraying. However, both have significant limitations in practical applications and cannot meet the demands of modern operations for efficiency, precision, safety, and adaptability.

[0003] From the perspective of manual spraying, operators need to hold the spray gun or use a simple stand to operate it. This is not only labor-intensive and inefficient, but the spraying quality is also highly dependent on the operator's experience and skill level, which can easily lead to problems such as uneven coating thickness, missed areas, and double spraying, resulting in poor spraying stability. At the same time, in the spraying of the exterior walls of high-rise buildings, the interior walls of large storage tanks, or in the work scenarios containing irritating or corrosive paints, manual operation faces serious safety hazards such as falls from heights and inhalation of toxic substances. The working environment poses a great threat to personnel health, and due to the limited working space, it is difficult to effectively cover the spraying work in complex or narrow areas, resulting in obvious blind spots.

[0004] With the rapid development of drone technology, drones, with their advantages of flexibility, maneuverability, and adaptability to complex environments, have gradually been applied to the field of spraying, forming a preliminary spraying drone product system. Existing spraying drones typically carry a spray pump and spray gun on their fuselage, utilizing the drone's flight capabilities to perform spraying operations on different areas, thus solving to some extent the safety hazards of manual spraying and the mobility issues of traditional mechanical spraying. However, the spray gun adjustment mechanisms of current spraying drones still have significant shortcomings: most products use a fixed connection method, making it impossible to adjust the spray gun angle; the spraying direction can only be adjusted by changing the drone's flight attitude, resulting in high operational difficulty and low precision, making it difficult to accurately control the spraying range; some products with angle adjustment functions mostly use manual adjustment or simple mechanical linkage structures, requiring the adjustment process to be completed while the drone is in a landing state, failing to achieve real-time dynamic adjustment and unable to meet the flexible adjustment needs of spraying attitude in complex work scenarios.

[0005] Therefore, developing a painting drone with a stable, efficient, and real-time adjustable spray gun mechanism has become a key requirement for solving the current pain points of painting technology and promoting the automation upgrade of painting operations. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by proposing a spraying drone.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A painting drone includes a body with multiple sets of wings. A spray pump is located below the body, and a spray gun is mounted on the spray pump. The spray gun includes a flexible tube and a rigid nozzle, which are fixedly connected. The rigid nozzle is also connected to the housing of the spray pump via multiple sets of adjusting rods. One end of each adjusting rod is fixedly connected to the housing of the spray pump, and the other end is ball-jointed to the rigid nozzle. The adjusting rods are electrically telescopic rods controlled by a control system.

[0009] Furthermore, a high-definition camera is fixedly installed on the top of the machine body via a shock-absorbing bracket, and the high-definition camera is connected to the central control system for acquiring images of the spraying area and transmitting them to the central control system, providing visual data support for spraying path planning and nozzle posture adjustment.

[0010] Furthermore, the machine body is provided with multiple sets of mounting seats arranged in a ring array, and the mounting seats are provided with T-slots; the first end of the machine arm is provided with a connecting block, which is adapted to the T-slot and is detachably installed in the T-slot.

[0011] Furthermore, the machine arm is also provided with a limiting seat, and a positioning slider is provided between the limiting seat and the connecting block. The positioning slider is sleeved on the machine arm and is connected to the limiting seat through an elastic material.

[0012] Furthermore, one side of the mounting base has an open structure, and two sets of symmetrically arranged sliding grooves are provided on the inner wall of the opening. A baffle is slidably connected to the sliding groove, and a sliding cavity for accommodating the baffle is provided on the mounting base. A return spring is provided between the baffle and the sliding cavity.

[0013] Furthermore, a movable seat is provided at the second end of the robotic arm, the movable seat is rotatably connected to the second end of the robotic arm, and a micro servo motor is provided inside the robotic arm, the output end of the micro servo motor being fixedly connected to the movable seat.

[0014] Beneficial effects

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] The nozzle is connected to the spray pump housing via an electric telescopic rod, forming a ball joint structure. Combined with the telescopic function of the electric telescopic rod, real-time adjustment of the nozzle at multiple angles and with multiple degrees of freedom is possible. Compared to a spray gun with a fixed angle, it can flexibly adjust the spray direction according to the surface contour of the target object (such as curved surfaces, edges, and irregular structures), avoiding missed areas and overlapping sprays, and ensuring coating uniformity. The control system precisely controls the extension of four sets of adjusting rods to adjust the nozzle angle, making it particularly suitable for scenarios requiring high spraying precision.

[0017] The multi-wing configuration enhances the drone's payload capacity and flight stability, enabling it to operate in high altitudes, narrow spaces, or complex terrains, breaking through the spatial limitations of manual spraying and traditional machinery. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0019] Figure 1 This is a schematic diagram of the overall structure of the spraying drone.

[0020] Figure 2 This is a schematic diagram of the arm structure.

[0021] Figure 3 This is a locally magnified structural diagram of the A-distribution.

[0022] In the diagram: 1. Mounting base; 2. Camera; 3. Shotcrete pump; 4. Limiting seat; 5. Spray gun; 6. Movable seat; 7. Machine arm; 8. Positioning slider; 9. Connecting block; 10. Baffle; 11. Adjusting rod; 12. Flexible tube; 13. Nozzle. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0024] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] Reference Figure 1 - Figure 3A painting drone includes a body with multiple sets of wings. A spray pump 3 is located below the body, and a spray gun 5 is mounted on the spray pump 3. The spray gun 5 includes a flexible tube 12 and a nozzle 13. The flexible tube 12 and the nozzle 13 are fixedly connected. The nozzle 13 is also connected to the housing of the spray pump 3 through multiple sets of adjusting rods 11. One end of the adjusting rod 11 is fixedly connected to the housing of the spray pump 3, and the other end is ball-hinged to the nozzle 13. The adjusting rod 11 is an electric telescopic rod, which is controlled by a control system.

[0026] The nozzle 13 forms a ball joint with the housing of the spray pump 3 via an electric telescopic rod. Combined with the telescopic function of the electric telescopic rod, real-time adjustment of the nozzle at multiple angles and with multiple degrees of freedom is possible. Compared to the fixed-angle spray gun 5, it can flexibly adjust the spray direction according to the surface contour of the target (such as curved surfaces, edges, and irregular structures), avoiding missed sprays and double sprays, and ensuring coating uniformity. The control system precisely controls the extension state of the four sets of adjusting rods 11 to adjust the nozzle angle, making it particularly suitable for scenarios requiring high spraying precision.

[0027] The multi-wing configuration enhances the drone's payload capacity and flight stability, enabling it to operate in high altitudes, narrow spaces, or complex terrains, breaking through the spatial limitations of manual spraying and traditional machinery.

[0028] The fixed connection between the adjusting rod 11 and the housing of the shotcrete pump 3, and the ball joint design with the nozzle 13, balance structural strength and adjustment flexibility. The ball joint is made of wear-resistant alloy material and is equipped with a sealed bearing, which can withstand high-frequency adjustment actions (with a service life of more than 100,000 times) and effectively prevent paint leakage from corroding mechanical parts.

[0029] In other preferred embodiments, a high-definition camera 2 is fixedly installed on the top of the machine body via a shock-absorbing bracket, and the high-definition camera 2 is connected to the central control system for acquiring images of the spraying area and transmitting them to the central control system, providing visual data support for spraying path planning and nozzle posture adjustment.

[0030] The high-definition camera 2 is mounted on a shock-absorbing bracket, which effectively filters out vibration interference during drone flight, ensuring clear and stable images of the spraying area. The camera 2's real-time signal connection to the central control system allows for the precise transmission of information such as the outline, size, and obstacle distribution of target areas like building exteriors and equipment surfaces to the system. This provides data support for autonomously planning the optimal spraying path, avoiding errors from manual planning and making the spraying trajectory more closely match actual operational needs.

[0031] Using real-time images captured by the high-definition camera 2, the central control system can quickly identify the surface features of the target to be sprayed (such as flatness, corners, and curvature), and, combined with preset spraying parameters, automatically calculate the optimal angle and spray range required by the nozzle 13, thereby controlling the electric telescopic rod to adjust the nozzle posture in real time. For example, when encountering a corner of a wall, after the camera 2 detects the angle change, the system can complete the nozzle angle adjustment within 0.5 seconds to ensure uniform coating coverage. The high-definition camera 2 is not only used for monitoring the spraying area, but can also identify obstacles in the work environment (such as power lines, scaffolding, and tree branches) in real time, and feed the information back to the central control system to trigger obstacle avoidance mechanisms in a timely manner to avoid collisions. Simultaneously, through real-time transmission of image data, operators can remotely monitor the work status from the ground without having to be physically present in high-risk work areas, significantly improving work safety.

[0032] Before the actual spraying operation, the drone hovers near the area to be sprayed and uses a high-definition camera (2) to scan the target area from all angles, capturing high-definition images and transmitting them to the central control system. The system analyzes and processes the images to generate a 3D model. Operators can then preset the spraying path, nozzle angle change nodes, and spraying parameters (such as paint flow rate and spraying distance) based on the model on a ground terminal. For example, before spraying a building exterior wall, the camera (2) scans and generates a 3D model of the wall. The system automatically plans a horizontal or vertical back-and-forth spraying path and marks areas to be avoided, such as windows and balconies. During the spraying process, the high-definition camera (2) continuously captures images of the work area, providing real-time feedback on the relative position of the nozzle and the target surface, whether the current spraying trajectory deviates from the preset path, and the coating coverage. When the system detects a mismatch between the nozzle angle and the target surface (e.g., an angle deviation exceeding 3° when spraying curved surfaces), it immediately issues a command to adjust the electric telescopic boom and correct the nozzle attitude. If an unpreset obstacle is detected, the system automatically pauses the operation and replans an obstacle avoidance path, continuing spraying only after confirming safety.

[0033] When spraying complex structures, the high-definition camera 2 transmits real-time images to the ground control terminal. Operators can observe the spraying process of detailed areas through the images and manually fine-tune the nozzle angle or temporarily modify the spraying path. For example, when spraying the eaves of ancient buildings, operators can control the nozzle to precisely align with the curve of the eaves corner based on the close-up images transmitted by the camera 2, ensuring the integrity of the decorative coating.

[0034] After the spraying operation is completed, the drone is controlled to collect comprehensive images of the target area again. The central control system compares and analyzes the final images with the baseline images and preset standards before the operation, generates a quality inspection report, and marks the qualified areas and areas that need to be re-sprayed. At the same time, all image data collected by camera 2, along with operation parameters (such as nozzle angle adjustment records and spraying time), are archived together for subsequent quality traceability and process optimization.

[0035] In other preferred embodiments, the machine body is provided with multiple sets of mounting seats 1 arranged in a ring array, and the mounting seats 1 are provided with T-shaped grooves; the first end of the machine arm 7 is provided with a connecting block 9, which is adapted to the T-shaped groove and is detachably disposed in the T-shaped groove.

[0036] The detachable adapter structure of the connecting block 9 and the T-slot allows for the assembly and disassembly of the arm 7 without the need for complex tools: during installation, simply slide the connecting block 9 into the T-slot opening and position it; during disassembly, slide it in the opposite direction to separate it. The entire process can be completed in less than one minute, far faster than the assembly and disassembly efficiency of traditional bolted connections. This design is particularly suitable for the transportation and on-site deployment of painting drones—the disassembled arm 7 can be stored separately, reducing the overall size of the equipment and making it easy to carry.

[0037] Specifically, the arm 7 is also equipped with a limit seat 4, and a positioning slider 8 is provided between the limit seat 4 and the connecting block 9. The positioning slider 8 is sleeved on the arm 7 and is connected to the limit seat 4 through an elastic material.

[0038] The matching structure of the limiting seat 4 and the positioning slider 8 can further form an "axial locking" effect after the arm 7 is connected to the body through the T-slot: under the pre-tightening force of the elastic material, the positioning slider 8 always fits the end face of the connecting block 9, which can counteract the axial movement caused by airflow turbulence and the vibration of the spray pump 3 during the flight of the UAV, and avoid gaps between the connecting block 9 and the T-slot.

[0039] During installation, the connecting block 9 of the arm 7 slides into the T-slot. Following standard procedures, the connecting block 9 is slid into the T-slot opening to the limiting end. During this process, the end face of the connecting block 9 will contact the positioning slider 8 and gradually push the positioning slider 8 as it slides in, compressing the elastic material. When the connecting block 9 reaches the limiting end of the T-slot, the rebound force of the elastic material will push the positioning slider 8 to fit tightly against the end face of the connecting block 9, forming an axial limit. At this time, the arm 7 achieves a stable connection under the combined action of the lateral limit of the T-slot and the axial limit of the positioning slider 8. Manually try pushing and pulling along the axial direction of the arm 7. If the positioning slider 8 does not loosen significantly and the arm 7 does not show any signs of movement, the limiting installation is complete.

[0040] During disassembly, hold the positioning slider 8 by hand and pull it away from the connecting block 9 along the axis of the arm 7 to compress the elastic material, so that the positioning slider 8 is completely separated from the end face of the connecting block 9 and the axial limit is released; while keeping the positioning slider 8 in the pulled state, pull the connecting block 9 out smoothly along the opening direction of the T-slot until it is completely separated from the slot; release the positioning slider 8, and the elastic material will automatically rebound, driving the positioning slider 8 back to the initial position, preparing for the next installation.

[0041] Specifically, one side of the mounting base 1 has an open structure, and two sets of symmetrically arranged sliding grooves are provided on the inner wall of the opening. A baffle 10 is slidably connected to the sliding groove. A sliding cavity for accommodating the baffle 10 is provided on the mounting base 1, and a return spring is provided between the baffle 10 and the sliding cavity.

[0042] In other preferred embodiments, a movable seat 6 is provided at the second end of the robotic arm 7. The movable seat 6 is rotatably connected to the second end of the robotic arm 7. A micro servo motor is provided inside the robotic arm 7. The output end of the micro servo motor is fixedly connected to the movable seat 6.

[0043] The baffle 10 at the opening of the mounting base 1 cooperates with the reset spring to form a "secondary lock" after the connecting block 9 of the arm 7 slides into the T-slot: the preload of the reset spring pushes the baffle 10 to slide along the slide groove, automatically closing the opening of the mounting base 1 and restricting the disengagement path of the connecting block 9 from the side.

[0044] In the initial state, the return spring is in a naturally extended state, pushing the baffle 10 to slide along the slide groove to the opening of the mounting base 1, closing the opening; before installation, gently push the baffle 10 with your fingers or tools (along the slide groove towards the sliding cavity) to compress the return spring, causing the baffle 10 to retract into the sliding cavity and open the opening; align the connecting block 9 of the machine arm 7 with the opened T-slot opening and slide it in smoothly. During the process, the front end of the connecting block 9 will contact the baffle 10 and continuously push the baffle 10 to compress the return spring as it slides in, until the connecting block 9 is completely slid into the T-slot limit end; when the connecting block 9 is in place, its pushing force on the baffle 10 disappears, the return spring immediately rebounds, driving the baffle 10 to slide back along the slide groove, re-closing the opening of the mounting base 1, and completing the lateral locking.

[0045] The second end of the robotic arm 7 is equipped with a movable seat 6, which is rotatably connected to the second end of the robotic arm 7. A micro servo motor is installed inside the robotic arm 7, and the output end of the micro servo motor is fixedly connected to the movable seat 6. The wing is mounted on the movable seat 6. The design of the micro servo motor driving the movable seat 6 to rotate allows for multi-angle adjustment of the propeller blades at the second end of the robotic arm 7: the motor precisely controls the rotation angle of the movable seat 6, which can change the thrust direction and magnitude of the propeller blades in real time. Compared to fixed-angle propeller mounting, this structure allows the UAV to quickly adjust the thrust distribution of each arm 7 in complex environments such as high-altitude strong airflow and confined spaces. For example, in crosswind conditions, rotating the movable seat 6 of the windward-facing arm 7 increases the propeller blade angle of attack, improving wind resistance; during precise hovering spraying, fine-tuning the angle of the movable seat 6 counteracts the offset caused by the vibration of the spray pump 3, ensuring a stable spraying trajectory.

[0046] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A spray painting drone, characterized in that, The system includes a fuselage with multiple sets of wings. A shotcrete pump is located below the fuselage, and a spray gun is mounted on the shotcrete pump. The spray gun includes a flexible tube and a rigid nozzle, which are fixedly connected. The rigid nozzle is also connected to the shotcrete pump housing via multiple sets of adjusting rods. One end of each adjusting rod is fixedly connected to the shotcrete pump housing, and the other end is ball-jointed to the rigid nozzle. The adjusting rods are electrically telescopic and controlled by a control system. The machine body is provided with multiple sets of mounting seats arranged in a ring array, and the mounting seats are provided with T-slots; the first end of the machine arm is provided with a connecting block, which is adapted to the T-slot and is detachably installed in the T-slot; The arm is also provided with a limit seat, and a positioning slider is provided between the limit seat and the connecting block. The positioning slider is sleeved on the arm and is connected to the limit seat through an elastic material. One side of the mounting base is open, and two sets of symmetrically arranged sliding grooves are provided on the inner wall of the opening. A baffle is slidably connected to the sliding groove. A sliding cavity for accommodating the baffle is provided on the mounting base, and a return spring is provided between the baffle and the sliding cavity.

2. The painting drone according to claim 1, characterized in that, A high-definition camera is fixedly mounted on the top of the machine body via a shock-absorbing bracket. The high-definition camera is connected to the central control system and is used to collect images of the spraying area and transmit them to the central control system, providing visual data support for spraying path planning and nozzle posture adjustment.

3. The painting drone according to claim 1, characterized in that, The second end of the robotic arm is provided with a movable seat, which is rotatably connected to the second end of the robotic arm. A micro servo motor is provided inside the robotic arm, and the output end of the micro servo motor is fixedly connected to the movable seat.

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