Unmanned aerial vehicle spraying device and unmanned aerial vehicle

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a UAV painting device and a UAV. A mounting plate is fixed to the UAV, and a hollow spray boom and a solenoid valve are fixed to the mounting plate. The inlet of the solenoid valve is connected to the paint supply pipe of the onboard paint tank, and the outlet is connected to the hollow spray boom. The outlet end of the hollow spray boom is connected to the nozzle. A nozzle adjustment device is movably connected to the nozzle. The control box is electrically connected to the UAV flight control system, the solenoid valve, and the nozzle adjustment device. This invention integrates the solenoid valve onto the mounting plate on the UAV, making the paint on / off control point close to the nozzle, shortening the pressure transmission path, enabling rapid start and stop of spraying, and avoiding paint dripping and nozzle clogging caused by pipeline pressure delays. By setting up the nozzle adjustment device, the nozzle has multi-angle adjustment capabilities, which can flexibly meet the spraying needs of complex structures such as the bottom, base plate, inner side of the web, and side facade of bridges, eliminating spraying blind spots and improving the operational quality and environmental adaptability of UAV spraying.

Description

Technical Field

[0001] This invention relates to the field of drone technology, and more particularly to a drone painting device and a drone. Background Technology

[0002] In recent years, with the rapid development of drone technology, the application of drones for anti-corrosion coating on the outer surfaces of structures such as the towers, stiffened main beams, and arch bridges in valleys has become increasingly widespread. Traditional drone spraying systems typically use a ground-based high-pressure paint pump as a power source, delivering paint to a nozzle suspended on the drone via a long-distance high-pressure hose, allowing the drone to carry the nozzle and complete the spraying operation in the air.

[0003] However, the existing spraying mechanisms of such spraying devices are overly simplified, failing to integrate flexible on / off control and multi-degree-of-freedom nozzle adjustment mechanisms, resulting in numerous technical defects. First, the physical switches (such as valves) controlling paint flow are typically located at the ground end. Due to the long high-pressure hoses, there is a significant delay in pressure build-up and release within the hoses. When spraying begins, the nozzles cannot immediately obtain sufficient paint pressure, leading to poor initial paint atomization and uneven spraying. When spraying stops, the residual pressure in the pipeline cannot be released instantly, causing paint drips or runs at the nozzles, affecting not only spraying quality but also potentially causing nozzle blockage after solidification. Second, the nozzles are mostly fixed or can only deflect slightly in one direction. When facing areas with corners or concave structures such as bridges and buildings, the nozzles cannot adjust their angle to effectively cover the surface to be sprayed, resulting in blind spots and poor operational adaptability.

[0004] Therefore, there is an urgent need in this field for a drone painting device that can achieve rapid paint spraying response, avoid dripping, and flexibly spray from multiple angles. Summary of the Invention

[0005] This invention provides a drone painting device and a drone, which solves the defects of existing drone painting devices that fail to integrate flexible switch control and multi-degree-of-freedom nozzle adjustment mechanism, so as to achieve rapid response of paint spraying, avoid dripping, and flexible spraying from multiple angles.

[0006] This invention provides a drone painting device, including a mounting plate, a hollow spray boom, a paint tank, a solenoid valve, a nozzle, a nozzle adjustment device, and a control box. The mounting plate is used to connect to the drone's fuselage or landing gear. The hollow spray boom is detachably mounted to the mounting plate via a quick-release device. The paint tank is mounted on the drone's fuselage or landing gear. The solenoid valve is fixedly mounted to the mounting plate. The inlet of the solenoid valve is connected to the paint supply pipe of the paint tank via a quick-release connector, and the outlet of the solenoid valve is connected to the inlet of the hollow spray boom via a quick-release connector. The nozzle is connected to the outlet end of the hollow spray bar. The nozzle adjustment device is movably disposed on the outer circumferential surface of the hollow spray bar and is connected to the nozzle for adjusting the spray angle of the nozzle. The control box is disposed on the mounting plate and is electrically connected to the flight control system of the UAV to receive control commands. The control box is electrically connected to the solenoid valve to control the opening and closing of the solenoid valve according to the control commands. The control box is also electrically connected to the nozzle adjustment device to adjust the spray angle of the nozzle according to the control commands.

[0007] According to the present invention, a drone spraying device is provided, wherein the spray head is connected to the outlet end of the hollow spray bar via a flexible hose, and the spray head is disposed on the spray head adjustment device.

[0008] According to the present invention, a drone painting device includes a nozzle adjustment device comprising a nozzle movable bracket, a first servo motor, a second servo motor, and a third servo motor. The nozzle movable bracket is rotatably connected to a hollow spray bar, and the nozzle is fixed to the nozzle movable bracket. The first servo motor is fixed to the outer peripheral surface of the hollow spray bar and is connected to the nozzle movable bracket via a first transmission assembly, for controlling the pitch angle of the nozzle movable bracket in a vertical plane. The second servo motor is fixed to the outer peripheral surface of the hollow spray bar and is connected to the nozzle movable bracket via a second transmission assembly, for controlling the left and right swing angle of the nozzle movable bracket in a horizontal plane. The third servo motor is fixed to the outer peripheral surface of the hollow spray bar and is connected to the nozzle movable bracket via a third transmission assembly, for controlling the rotation of the nozzle movable bracket around the axis of the hollow spray bar.

[0009] According to the present invention, a drone spraying device includes a nozzle movable bracket comprising a rotating sleeve and a deflection ring. The rotating sleeve is rotatably sleeved on the outlet end of the hollow spray bar. Two opposing fork plates are formed on the side of the rotating sleeve away from the hollow spray bar. The deflection ring is rotatably connected between the two opposing fork plates by a first rotating pin. The nozzle is rotatably connected inside the deflection ring by a second rotating pin. The axes of the first rotating pin and the second rotating pin are perpendicular.

[0010] According to a drone painting device provided by the present invention, the first transmission component includes a first steel wire rope, the first steel wire rope connecting the first servo motor and the first rotating pin, the first servo motor controlling the rotation of the first rotating pin by pulling the first steel wire rope, thereby changing the pitch angle of the spray head in the vertical plane.

[0011] The second transmission assembly includes a second steel wire rope, which connects the second servo motor and the second rotating pin. The second servo motor controls the rotation of the second rotating pin by pulling the second steel wire rope, thereby changing the left and right swing angle of the nozzle in the horizontal plane.

[0012] According to the UAV painting device provided by the present invention, the first transmission component further includes a first deflector, the middle part of the first deflector is rotatably connected to the output end of the first servo motor, the two ends of the first deflector are respectively connected to the two ends of the first wire rope, and the first wire rope is wound around the first rotating pin.

[0013] The second transmission assembly further includes a second deflector, the middle of which is rotatably connected to the output end of the second servo motor, and the two ends of the second deflector are respectively connected to the two ends of the second wire rope, which is wound around the second rotating pin.

[0014] According to the present invention, a drone painting device is provided, wherein the third transmission component includes a rotating gear, the shaft of which is connected to the output end of the third servo motor, the rotating gear meshing with the rotating sleeve, and the third servo motor drives the rotating gear to rotate, thereby controlling the rotation of the rotating sleeve and changing the rotation angle of the spray head around the axis of the hollow spray bar.

[0015] According to the present invention, a drone spraying device is provided, wherein the nozzle of the spray head is a straight nozzle.

[0016] According to the present invention, a drone painting device is provided, wherein a plurality of diagonal tie rods are fixed circumferentially at the center of the outer peripheral surface of the hollow spray bar, and the diagonal tie rods are connected to the fuselage or landing gear of the drone.

[0017] The present invention also provides a drone, including a drone body and a drone painting device as described in any of the above claims. The drone painting device is fixed to the fuselage or landing gear of the drone body by a mounting plate. The flight control system of the drone body integrates painting control logic, which is suitable for outputting solenoid valve switching commands and / or nozzle adjustment device action commands during automatic flight missions.

[0018] The drone painting device provided by this invention integrates a solenoid valve onto the mounting plate at the drone end, placing the paint on / off control point close to the nozzle. This shortens the pressure transmission path, enabling rapid start and stop of painting and avoiding paint dripping and nozzle clogging caused by pipeline pressure delays. Simultaneously, by incorporating a nozzle adjustment device, the nozzle possesses multi-angle adjustment capabilities, flexibly addressing the painting needs of complex structures such as bridge underslabs, inner sides of webs, and side facades. This eliminates painting blind spots and improves the operational quality and environmental adaptability of drone painting. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the drone painting device provided by the present invention.

[0021] Figure 2 This is a schematic diagram of the installation structure of the control box provided by the present invention on the mounting plate.

[0022] Figure 3 This is a schematic diagram of the structure of the movable nozzle bracket provided by the present invention.

[0023] Figure 4 This is a schematic diagram of the structure of the first transmission component and the second transmission component provided by the present invention.

[0024] Reference numerals: 1. Mounting plate; 2. Hollow spray boom; 3. Quick-release device for spray boom; 4. Solenoid valve; 5. Nozzle; 6. Nozzle adjustment device; 61. Nozzle movable bracket; 611. Rotating sleeve; 612. Fork plate; 613. Deflection ring; 614. First rotating pin; 615. Second rotating pin; 62. First servo motor; 63. First transmission assembly; 631. First wire rope; 632. First deflector; 64. Second servo motor; 65. Second transmission assembly; 651. Second wire rope; 652. Second deflector; 66. Third servo motor; 67. Third transmission assembly; 7. Control box; 8. Flexible hose; 9. Diagonal tie rod. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] The following is combined Figures 1 to 4 The present invention describes the specific structure and working process of the drone spraying device and the drone.

[0027] One embodiment of the present invention provides a drone painting device, combined with Figure 1 and Figure 2 As shown, the drone painting device includes a mounting plate 1, a hollow spray boom 2, a paint tank (not shown in the figure), a solenoid valve 4, a nozzle 5, a nozzle adjustment device 6, and a control box 7. The mounting plate 1 is used to connect to the drone's fuselage or landing gear. The hollow spray boom 2 is detachably mounted to the mounting plate 1 via a quick-release device 3. The paint tank is mounted on the drone's fuselage or landing gear. The solenoid valve 4 is fixedly mounted to the mounting plate 1. The inlet of the solenoid valve 4 is connected to the paint supply pipe of the paint tank via a quick-release connector, and the outlet of the solenoid valve 4 is connected to the nozzle via a quick-release connector. The inlet end of the hollow spray boom 2 is connected, and the nozzle 5 is connected to the outlet end of the hollow spray boom 2. The nozzle adjustment device 6 is movably disposed on the outer circumferential surface of the hollow spray boom 2. The nozzle adjustment device 6 is connected to the nozzle 5 and is used to adjust the spray angle of the nozzle 5. The control box 7 is disposed on the mounting plate 1. The control box 7 is electrically connected to the flight control system of the UAV to receive control commands. The control box 7 is electrically connected to the solenoid valve 4 to control the opening and closing of the solenoid valve 4 according to the control commands. The control box 7 is electrically connected to the nozzle adjustment device 6 to adjust the spray angle of the nozzle 5 according to the control commands.

[0028] See Figure 1 and Figure 2As shown, the drone painting device of this embodiment mainly includes a mounting plate 1, a hollow spray boom 2, a solenoid valve 4, a nozzle 5, a nozzle adjustment device 6, and a control box 7. The mounting plate 1 serves as the overall supporting base and is fixedly connected to the drone's fuselage or landing gear. The hollow spray boom 2 is detachably mounted to the mounting plate 1 via a quick-release device 3, facilitating quick storage and maintenance after use. The solenoid valve 4 is fixedly mounted on the mounting plate 1, its inlet connected to the paint supply pipe of the paint tank mounted on the drone fuselage via a quick-release connector, and its outlet connected to the inlet end of the hollow spray boom 2 via a quick-release connector, thereby controlling the flow of paint. The nozzle 5 is connected to the outlet end of the hollow spray boom 2 and is used to spray paint outwards. The nozzle adjustment device 6 is movably mounted on the outer circumference of the hollow spray boom 2 and connected to the nozzle 5, used to adjust the spray angle of the nozzle 5. The control box 7 is mounted on the mounting plate 1 and is electrically connected to the drone's flight control system, the solenoid valve 4, and the nozzle adjustment device 6.

[0029] During operation, paint from the paint tank is delivered to solenoid valve 4 via the paint supply pipe, and the UAV's flight control system sends control commands to control box 7. When spraying is required, control box 7 controls solenoid valve 4 to open, and paint is delivered to nozzle 5 via hollow spray boom 2 for spraying; when stopping is required, control box 7 controls solenoid valve 4 to close quickly. Simultaneously, the flight control system can drive nozzle adjustment device 6 through control box 7 to change the pitch, yaw, or rotation angle of nozzle 5 in real time during flight to align with different positions of the surface to be sprayed.

[0030] Understandably, in this embodiment, the solenoid valve 4 is integrated onto the mounting plate 1 on the UAV end, making the paint on / off control point close to the nozzle 5, shortening the pressure transmission path, enabling rapid start and stop of spraying, and avoiding paint dripping and nozzle clogging caused by pipeline pressure delay. Simultaneously, by setting the nozzle adjustment device 6, the nozzle 5 has multi-angle adjustment capabilities, enabling flexible handling of spraying needs for complex structures, eliminating spraying blind spots, and improving the operational quality and environmental adaptability of UAV spraying.

[0031] In some embodiments of the drone spraying device of the present invention, the nozzle 5 is connected to the outlet end of the hollow spray bar 2 via a flexible hose 8, and the nozzle 5 is mounted on the nozzle adjustment device 6. Figure 1 and Figure 3As shown, the nozzle 5 is not directly and rigidly connected to the outlet end of the hollow spray bar 2, but is connected via a flexible hose 8. Specifically, one end of the flexible hose 8 is sealed to the outlet end of the hollow spray bar 2, and the other end is sealed to the inlet end of the nozzle 5. Meanwhile, the nozzle 5 is fixedly mounted on the nozzle adjustment device 6, which is movably mounted on the outer circumferential surface of the hollow spray bar 2. This structure in this embodiment creates a flexible connection and rigid positioning relationship between the nozzle 5 and the hollow spray bar 2: the flexible hose 8 is responsible for delivering paint and allowing relative movement, while the nozzle adjustment device 6 is responsible for controlling the spatial orientation of the nozzle 5.

[0032] During implementation, when the nozzle adjustment device 6 drives the nozzle 5 to adjust its angle by pitching, yawing, or rotating, the flexible hose 8, due to its own flexibility, bends or twists, always maintaining a sealed and unobstructed paint passage between the hollow spray bar 2 and the nozzle 5. The flexible hose 8 has a certain length allowance and deformation capacity, and will not generate additional resistance or restriction to the movement of the nozzle adjustment device 6, thus ensuring that the nozzle 5 can be flexibly and smoothly adjusted within a large angle range. In actual installation, a high-pressure hose that is pressure-resistant, corrosion-resistant, and has good bending performance can be selected as the flexible hose 8 according to the maximum adjustment angle range of the nozzle 5, and it can be placed in the reserved space between the outlet end of the hollow spray bar 2 and the nozzle 5.

[0033] In some embodiments of the UAV spraying device of the present invention, the nozzle adjustment device 6 includes a nozzle movable bracket 61, a first servo motor 62, a second servo motor 64, and a third servo motor 66. The nozzle movable bracket 61 is rotatably connected to the hollow spray bar 2, and the nozzle 5 is fixed on the nozzle movable bracket 61. The first servo motor 62 is fixed to the outer peripheral surface of the hollow spray bar 2 and is connected to the nozzle movable bracket 61 through a first transmission assembly 63, for controlling the pitch angle of the nozzle movable bracket 61 in the vertical plane. The second servo motor 64 is fixed to the outer peripheral surface of the hollow spray bar 2 and is connected to the nozzle movable bracket 61 through a second transmission assembly 65, for controlling the left and right swing angle of the nozzle movable bracket 61 in the horizontal plane. The third servo motor 66 is fixed to the outer peripheral surface of the hollow spray bar 2 and is connected to the nozzle movable bracket 61 through a third transmission assembly 67, for controlling the rotation of the nozzle movable bracket 61 around the axis of the hollow spray bar 2.

[0034] Understandably, in combination Figure 1 , Figure 3 and Figure 4As shown, the nozzle adjustment device 6 in this embodiment specifically adopts a three-degree-of-freedom independent control structure to achieve omnidirectional pointing adjustment of the nozzle 5 in space. The nozzle movable bracket 61 is rotatably connected to the outlet end of the hollow spray bar 2, and the nozzle 5 is fixedly installed on the nozzle movable bracket 61. The first servo motor 62 is fixedly installed on the outer peripheral surface of the hollow spray bar 2, and its output end is connected to the nozzle movable bracket 61 through the first transmission component 63. It is specifically used to control the pitch angle of the nozzle movable bracket 61 in the vertical plane, that is, to control the nozzle 5 to tilt up or down. The second servo motor 64 is also fixed on the outer peripheral surface of the hollow spray bar 2, and its output end is connected to the nozzle movable bracket 61 through the second transmission component 65. It is specifically used to control the left and right swing angle of the nozzle movable bracket 61 in the horizontal plane, that is, to control the nozzle 5 to deflect to the left or right. The third servo motor 66 is also fixed to the outer circumference of the hollow spray bar 2. Its output end is connected to the nozzle movable bracket 61 through the third transmission assembly 67, and is specifically used to control the nozzle movable bracket 61 to rotate as a whole around the axis of the hollow spray bar 2.

[0035] In practice, the three servos receive independent control commands from the control box 7, each driving its corresponding transmission component. When it is necessary to spray the side of the bridge's bottom plate or the inner side of the web, the control box 7 sends a command to the first servo 62. The first servo 62 drives the nozzle movable bracket 61 to pitch up or down through the first transmission component 63, aligning the nozzle 5 with the target area. When it is necessary to spray the left or right corner of the structure, the control box 7 sends a command to the second servo 64. The second servo 64 drives the nozzle movable bracket 61 to swing left or right through the second transmission component 65, achieving horizontal deflection. When it is necessary to change the UAV's flight direction while keeping the nozzle pointing unchanged, or when it is necessary to match the fan-shaped surface of the straight nozzle with the flight direction, the control box 7 sends a command to the third servo 66. The third servo 66 drives the nozzle movable bracket 61 to rotate around the axis of the hollow spray bar 2 through the third transmission component 67, thereby changing the orientation of the nozzle 5. The three servo motors can operate independently or in coordination, enabling the nozzle 5 to achieve flexible pointing capability in three-dimensional space.

[0036] It is important to understand that the nozzle adjustment device 6 in this embodiment, by setting three independently controlled servos responsible for pitch, yaw, and rotation, respectively, can achieve omnidirectional pointing adjustment of the nozzle 5 in space. This can cover the spraying blind spots that traditional fixed or single-degree-of-freedom nozzles cannot reach, and is especially suitable for spraying complex structures such as the base plate, side facade, inner side of the web, and side of the cylinder. The three degrees of freedom are independent of each other and do not interfere with each other. The control system is simple and reliable, and the adjustment of any one degree of freedom will not affect the current state of the other degrees of freedom, which facilitates precise closed-loop control of the UAV's flight control system. Fixing all the servos to the outer circumference of the hollow spray boom 2 concentrates the moving parts on the spray boom, resulting in a compact overall structure and a stable center of gravity, which is conducive to the UAV maintaining stable flight. In addition, when used with a straight nozzle, the rotational degree of freedom provided by the third servo 66 can adjust the fan-shaped direction of the nozzle at any time, allowing the UAV to flexibly change its flight direction according to the flight path requirements without being restricted by the nozzle pointing, which can improve the flexibility of the path planning and the overall efficiency of the spraying operation.

[0037] In some specific examples of the drone painting device of the present invention, see Figure 3 As shown, the nozzle movable bracket 61 includes a rotating sleeve 611 and a deflection ring 613. The rotating sleeve 611 is rotatably sleeved on the outlet end of the hollow spray bar 2. Two opposing fork plates 612 are formed on the side of the rotating sleeve 611 away from the hollow spray bar 2. The deflection ring 613 is rotatably connected between the two opposing fork plates 612 by a first rotating pin 614. The nozzle 5 is rotatably connected inside the deflection ring 613 by a second rotating pin 615. The axes of the first rotating pin 614 and the second rotating pin 615 are perpendicular.

[0038] It is understood that the nozzle movable bracket 61 in this embodiment adopts a nested dual-axis rotation structure, specifically including a rotating sleeve 611 and a deflection ring 613. The rotating sleeve 611 is rotatably sleeved on the outer wall of the outlet end of the hollow spray bar 2, and can rotate freely around the axis of the hollow spray bar 2. On the side of the rotating sleeve 611 away from the hollow spray bar 2 (i.e. the end facing the nozzle 5), two opposing fork plates 612 are integrally formed or fixedly connected. These two fork plates 612 extend forward along the axial direction of the rotating sleeve 611 and are parallel to each other, forming a U-shaped or fork-shaped support structure. The deflection ring 613 is disposed between the two fork plates 612, and its two sides are rotatably connected to the two fork plates 612 by the first rotating pin 614, so that the deflection ring 613 can pitch and rotate in the vertical plane around the axis of the first rotating pin 614. The nozzle 5 is disposed inside the deflection ring 613 and is rotatably connected to the deflection ring 613 by the second rotating pin 615, so that the nozzle 5 can swing left and right in the horizontal plane around the axis of the second rotating pin 615. The axis of the first rotating pin 614 is perpendicular to the axis of the second rotating pin 615 in space.

[0039] In practical implementation, the rotating sleeve 611 serves as the base of the entire nozzle movable support 61. Its rotational engagement with the hollow spray bar 2 is driven by the third servo motor 66 through the third transmission assembly 67, achieving overall rotation. When it is necessary to adjust the pitch angle (i.e., vertical direction) of the nozzle 5, the first servo motor 62 drives the deflection ring 613 to rotate around the first rotating pin 614 through the first transmission assembly 63. Since the nozzle 5 is connected to the inside of the deflection ring 613 through the second rotating pin 615, the nozzle 5 pitches along with the deflection ring 613, changing its spray angle in the vertical direction. When it is necessary to adjust the left and right swing angle of the nozzle 5, the second servo motor 64 directly drives the nozzle 5 to rotate around the second rotating pin 615 relative to the deflection ring 613 through the second transmission assembly 65, achieving independent horizontal swing of the nozzle 5. Since the axes of the first rotating pin 614 and the second rotating pin 615 are perpendicular, the pitch and swing motions are decoupled and do not interfere with each other.

[0040] It is important to understand that this embodiment, through the nested design of the rotating sleeve 611 and the deflection ring 613, combined with two vertically aligned rotating pins, enables independent and precise adjustment of the nozzle 5 in both pitch and yaw directions. The structure is compact and the kinematic relationships are clear, facilitating the design of decoupling algorithms for the control system. The U-shaped frame and inner ring structure formed by the fork plate 612 and the deflection ring 613 enclose the nozzle 5 within the deflection ring 613, bringing the overall center of gravity closer to the axis of the rotating sleeve 611. This reduces the eccentric inertial torque during movement, which is beneficial for the low-power drive and rapid response of the servo motor. This embodiment integrates the three degrees of freedom of rotation, pitch, and yaw motion components into the outlet end of the hollow spray boom 2, resulting in a small overall footprint and light weight, suitable for the load requirements of UAV platforms. Furthermore, the vertical arrangement of the double rotating pins ensures that the maximum adjustment range of the nozzle 5 is not limited by its own structural interference, allowing for larger pitch and yaw angles.

[0041] In some specific examples of the drone painting device of the present invention, see Figure 4 As shown, the first transmission assembly 63 includes a first steel wire rope 631, which connects a first servo motor 62 and a first rotating pin 614. The first servo motor 62 controls the rotation of the first rotating pin 614 by pulling the first steel wire rope 631, thereby changing the pitch angle of the nozzle 5 in the vertical plane. The second transmission assembly 65 includes a second steel wire rope 651, which connects a second servo motor 64 and a second rotating pin 615. The second servo motor 64 controls the rotation of the second rotating pin 615 by pulling the second steel wire rope 651, thereby changing the left and right swing angle of the nozzle 5 in the horizontal plane.

[0042] It is understood that the first transmission component 63 in this embodiment uses a wire rope transmission method to control the pitch angle. Specifically, the first transmission component 63 includes a first wire rope 631, one end of which is connected to the output end of the first servo motor 62 or a transmission component linked to it, and the other end is connected to the first rotating pin 614. The first servo motor 62 is fixedly installed on the outer circumferential surface of the hollow spray bar 2, and its output shaft rotates forward or backward after receiving a control command. When the first servo motor 62 is activated, it drives the first rotating pin 614 to rotate around its axis by pulling the first wire rope 631. Since the first rotating pin 614 connects the deflection ring 613 and the fork plate 612, the rotation of the first rotating pin 614 will be converted into the pitch motion of the deflection ring 613 around the pin axis, thereby driving the nozzle 5 fixed in the deflection ring 613 to change its pitch angle in the vertical plane. Similarly, the second transmission assembly 65 includes a second steel wire rope 651, which connects the second servo motor 64 and the second rotating pin 615. The second servo motor 64 is fixed to the outer circumference of the hollow spray bar 2 and controls the rotation of the second rotating pin 615 by pulling the second steel wire rope 651. Since the second rotating pin 615 is directly connected to the nozzle 5 and the deflection ring 613, the rotation of the second rotating pin 615 will be converted into the left and right swing of the nozzle 5 relative to the deflection ring 613, thereby changing the swing angle of the nozzle 5 in the horizontal plane.

[0043] In practical implementation, wire rope drive features flexibility and long-distance transmission. The first servo motor 62 and the second servo motor 64 can be positioned near the end of the hollow spray boom 2 (closer to the mounting plate 1), while the first rotating pin 614 and the second rotating pin 615 are located at the far end (outlet end) of the hollow spray boom 2. Power transmission over a relatively long distance is achieved through the first wire rope 631 and the second wire rope 651. During operation, the control box 7 sends an angle command to the first servo motor 62, causing the output shaft of the first servo motor 62 to rotate, pulling one end of the first wire rope 631, causing displacement. This displacement is transmitted through the tension of the wire rope to the far-end first rotating pin 614, driving it to rotate. When reverse pitch is required, the first servo motor 62 rotates in the opposite direction, releasing one side of the wire rope and tightening the other side (if a closed-loop arrangement is used), achieving reverse rotation of the first rotating pin 614. The cooperation process between the second servo motor 64 and the second wire rope 651 is similar, independently controlling the left and right swing of the nozzle 5.

[0044] It should be noted that when the first wire rope 631 and the second wire rope 651 pass through the rotating sleeve 611, the rotation of the rotating sleeve 611 should not be affected. That is, the rotation of the rotating sleeve 611 and the first wire rope 631 and the second wire rope 651 should not interfere with each other. Specifically, a semi-circular channel can be designed on the rotating sleeve 611 to allow the wire ropes to pass through.

[0045] Furthermore, the first transmission assembly 63 also includes a first deflector 632, the middle of which is rotatably connected to the output end of the first servo motor 62, and the two ends of which are respectively connected to the two ends of the first wire rope 631, which is wound around the first rotating pin 614. The second transmission assembly 65 also includes a second deflector 652, the middle of which is rotatably connected to the output end of the second servo motor 64, and the two ends of which are respectively connected to the two ends of the second wire rope 651, which is wound around the second rotating pin 615.

[0046] Understandably, see Figure 4 As shown, in this embodiment, the first transmission assembly 63 further incorporates a first deflector 632 based on the first wire rope 631. The middle portion of the first deflector 632 is rotatably connected to the output end of the first servo motor 62, and the two ends of the first deflector 632 are respectively connected to the two ends of the first wire rope 631. The first wire rope 631 is wound around the first rotating pin 614, forming a closed-loop wire rope transmission circuit. Similarly, the second transmission assembly 65 includes a second deflector 652. The middle portion of the second deflector 652 is rotatably connected to the output end of the second servo motor 64, and the two ends of the second deflector 652 are respectively connected to the two ends of the second wire rope 651. The second wire rope 651 is wound around the second rotating pin 615.

[0047] In the specific implementation process, when the output shaft of the first servo motor 62 rotates, it drives the first deflector 632 fixed thereon to rotate synchronously. Since the two ends of the first deflector 632 are respectively connected to the two ends of the first steel wire rope 631, the rotation of the first deflector 632 will produce a pulling action at one end and a releasing action at the other end: when the first deflector 632 rotates to one side, one end pulls one side of the first steel wire rope 631, tightening the steel wire rope on that side, while the other end releases the other side of the first steel wire rope 631, loosening the steel wire rope on that side. Since the first steel wire rope 631 is entirely wrapped around the first rotating pin 614, this differential action of tightening on one side and loosening on the other side will drive the first rotating pin 614 to rotate accordingly, thereby driving the deflection ring 613 to pitch. When the first servo motor 62 rotates in the opposite direction, the rotation direction of the first rotating pin 614 also reverses accordingly. The working principle of the second transmission assembly 65 is exactly the same. The second servo motor 64 drives the second wire rope 651 to generate differential traction through the second deflector 652, thereby controlling the rotation of the second rotating pin 615 and realizing the left and right swing of the nozzle 5.

[0048] It is important to understand that this embodiment employs a closed-loop differential transmission method using a deflector and a wire rope connected at both ends. This ensures the wire rope is always taut, eliminating the slack, slippage, or backlash issues that can occur with traditional single-sided traction, thus improving transmission accuracy and response speed. Since both ends of the wire rope are controlled by the deflector, a defined transmission ratio is established between the servo's rotation angle and the rotating pin's rotation angle. This facilitates precise open-loop or closed-loop control by the flight control system, eliminating the need for additional position sensors. The closed-loop wire rope transmission enables bidirectional active drive; regardless of whether the servo rotates forward or backward, the rotating pin receives active driving torque, avoiding the problems of untimely or incomplete return caused by relying on a return spring. Furthermore, the lever structure of the deflector provides a certain degree of deceleration and torque amplification, allowing even small servos to drive the nozzle's movable support to generate sufficient torque for pitch and oscillation movements. This facilitates the use of lighter servos, further reducing the overall weight of the UAV painting device.

[0049] In some embodiments of the drone painting apparatus of the present invention, see again Figure 3 As shown, the third transmission assembly 67 includes a rotating gear. The shaft of the rotating gear is connected to the output end of the third servo motor 66. The rotating gear is meshed with the rotating sleeve 611. The third servo motor 66 drives the rotating gear to rotate, thereby controlling the rotation of the rotating sleeve 611 and changing the rotation angle of the nozzle 5 around the axis of the hollow spray bar 2.

[0050] It is understood that the third transmission component 67 in this embodiment adopts a gear meshing transmission structure, specifically including a rotating gear. The shaft of the rotating gear is directly connected to the output end of the third servo motor 66 and rotates synchronously with the output shaft of the third servo motor 66. The rotating gear meshes with the teeth on the outer circumferential surface of the rotating sleeve 611, and the rotating sleeve 611 is rotatably fitted onto the outer wall of the outlet end of the hollow spray bar 2. When the third servo motor 66 receives a rotation command sent by the control box 7, its output shaft drives the rotating gear to rotate in the forward or reverse direction. The rotating gear transmits the driving force to the teeth of the rotating sleeve 611 through the meshing action of the gear teeth, driving the rotating sleeve 611 to rotate in the corresponding direction around the axis of the hollow spray bar 2. Since the nozzle 5 is indirectly fixed to the rotating sleeve 611 through components such as the deflection ring 613, the first rotating pin 614 and the second rotating pin 615, the rotation of the rotating sleeve 611 will drive the entire nozzle movable bracket 61 and the nozzle 5 to rotate together around the axis of the hollow spray bar 2, thereby changing the circumferential pointing angle of the nozzle 5 in space.

[0051] In practical implementation, the meshing relationship between the rotating gear and the rotating sleeve 611 can be designed according to the actual spatial layout and transmission ratio requirements, for example, using a spur gear meshing method. The third servo motor 66 is usually fixedly installed on the outer circumference of the hollow spray bar 2, and its output shaft axis is parallel to the axis of the rotating sleeve 611, transmitting power to the rotating sleeve 611 through the rotating gear. Due to the use of gear meshing, there is a fixed transmission ratio (determined by the gear pitch circle diameter ratio) between the rotation angle of the third servo motor 66 and the rotation angle of the rotating sleeve 611. The control box 7 can accurately calculate the target rotation angle of the third servo motor 66 according to the required nozzle rotation angle, achieving open-loop precise control. When the UAV needs to change its flight direction and wants to keep the fan-shaped spraying surface of the nozzle always perpendicular to the flight trajectory, or when it needs to rotate the nozzle around the bar to align with the surface to be sprayed in different directions, this can all be accomplished by controlling the third servo motor 66.

[0052] It is important to understand that the gear transmission in this embodiment has the advantages of precise transmission ratio, no slippage, and no backlash, ensuring a strict linear correspondence between the rotation angle of the rotating sleeve 611 and the output angle of the third servo motor 66, thus achieving high-precision control of the nozzle rotation angle. The gear meshing provides high transmission efficiency, direct and reliable power transmission, and overcomes the loosening or wear problems that may occur in wire rope transmissions during long-term use. It is particularly suitable for rotational freedom control requiring frequent rotation or bearing large torque. By selecting gear combinations with different numbers of teeth, the transmission ratio can be flexibly adjusted to achieve the effect of deceleration and torque increase or speed increase and torque decrease, facilitating matching with different specifications of servo motors and rotational load requirements. Furthermore, the direct meshing of the rotating gear with the rotating sleeve 611 results in a compact structure and small footprint, which helps maintain the integrity and streamlined shape of the nozzle tip, reducing air resistance during flight.

[0053] In some embodiments of the UAV spraying device of the present invention, the nozzle 5 has a straight-line nozzle, which refers to a nozzle with a narrow rectangular or slit-like opening. High-pressure paint flows through this nozzle and is shaped into a flat, fan-shaped mist before being sprayed out. Compared to traditional circular or conical nozzles, the straight-line nozzle can form a wider, more uniformly thick strip-shaped coating on the sprayed surface. In specific implementations, the straight-line nozzle can be selected in different specifications according to actual operational needs. For example, by changing nozzle blades with different slit widths or fan angles, the width of the paint curtain and the fineness of the atomization can be adjusted to adapt to different building materials and coating thickness requirements. When the paint is sprayed out at high speed from the straight-line nozzle, the paint mist spreads evenly to both sides in a fan shape, covering a straight sprayed area.

[0054] In drone painting operations, the linear nozzle establishes a definite geometric relationship between the direction of the nozzle 5 and the optimal flight direction of the drone: when the nozzle 5 is in a horizontal spraying posture (i.e., the long side of the fan-shaped spray is horizontal), the paint curtain has a large horizontal width and a thin vertical thickness. In this case, the drone flies vertically (up and down), achieving a one-time vertical full-coverage spraying of the structure's surface. When the nozzle 5 rotates to a vertical spraying posture (i.e., the long side of the fan-shaped spray is vertical), the paint curtain has a large vertical height. In this case, the drone flies horizontally (left and right), achieving a horizontal full-coverage spraying of the structure's surface. Therefore, the effectiveness of the linear nozzle is closely related to the rotational freedom of the nozzle adjustment device 6. By controlling the nozzle 5 to rotate 90° around the axis of the hollow spray bar 2 via the third servo motor 66, the two spraying modes can be freely switched.

[0055] In some embodiments of the drone painting apparatus of the present invention, see again Figure 1 As shown, multiple diagonal braces 9 are fixed circumferentially at the center of the outer periphery of the hollow spray boom 2, and the diagonal braces 9 are connected to the fuselage or landing gear of the UAV. Figure 1 As shown, multiple diagonal braces 9 are fixed circumferentially along the center of the outer periphery of the hollow spray boom 2. The other ends of these diagonal braces 9 are connected to the fuselage or landing gear of the UAV. Specifically, the diagonal braces 9 can be made of lightweight, high-strength materials (such as carbon fiber or aluminum alloy rods). One end is installed at the center of the hollow spray boom 2 via a hinge or fixing ring. Multiple diagonal braces 9 are evenly distributed circumferentially around the hollow spray boom 2, forming a radial support structure. The other end of the diagonal braces 9 is connected to an appropriate location on the UAV fuselage or landing gear, such as the connection between the arm and fuselage, or the crossbar of the landing gear. In practice, the length and tilt angle of the diagonal braces 9 need to be designed to match the distance the hollow spray boom 2 extends beyond the UAV fuselage and the structural layout of the UAV body, typically resulting in a stable triangular support configuration between the hollow spray boom 2 and the diagonal braces 9.

[0056] Once the drone painting device is assembled, the mounting plate 1 provides the first connection between the hollow spray boom 2 and the drone (via the quick-release device 3), while multiple diagonal braces 9 provide a second auxiliary support. This dual-point support layout allows the hollow spray boom 2 to bear the weight of the nozzle 5 and nozzle adjustment device 6, the aerodynamic drag during flight, and the recoil force generated by paint spraying during painting. The load is distributed to the drone body through two paths: part is transmitted through the mounting plate 1, and the other part is transmitted directly through the diagonal braces 9. The circumferentially uniform arrangement of the diagonal braces 9 can effectively suppress the vibration and sway of the hollow spray boom 2 in the horizontal and vertical directions. Especially when the nozzle adjustment device 6 is in motion or the drone is making sharp turns, sudden stops, or other maneuvers, the diagonal braces 9 can enhance the torsional and bending stiffness of the entire painting device.

[0057] It is important to understand that the diagonal brace 9 enhances the structural stability of the hollow spray boom 2, preventing sagging, shaking, or resonance caused by excessive boom length or excessive front-end load. This ensures the directional stability of the nozzle 5 during operation, thereby improving spraying accuracy and uniformity. The layout of multiple circumferential diagonal braces ensures balanced support for the hollow spray boom 2 in all directions, maintaining excellent structural rigidity regardless of the nozzle 5's deflection posture or the direction of external force interference. The diagonal brace 9 uses a detachable hinged connection, facilitating the transport and storage of the drone without affecting the quick-release mechanism 3.

[0058] In another aspect, the present invention provides a drone, including a drone body and a drone painting device as described in any of the above embodiments or examples. The drone painting device is fixed to the fuselage or landing gear of the drone body via a mounting plate 1. The flight control system of the drone body integrates painting control logic, which is suitable for outputting the switching commands of the solenoid valve 4 and / or the action commands of the nozzle adjustment device 6 during automatic flight missions.

[0059] It is understood that the UAV in this embodiment includes the UAV body and the UAV painting device described in any of the above embodiments or examples. Specifically, the UAV painting device is fixedly connected to the bottom of the fuselage or landing gear of the UAV body via its mounting plate 1, so that the entire painting device flies with the UAV. The UAV's flight control system further integrates a painting control logic module on the basis of traditional flight control functions. The flight control system is electrically connected to the control box 7 in the painting device, and the control box 7 is electrically connected to the solenoid valve 4 and the nozzle adjustment device 6 respectively. The flight control system is configured to automatically generate and output corresponding control commands in a preset automatic flight path task, based on the waypoint attributes on the flight path (such as normal flight waypoints, start painting waypoints, end painting waypoints, angle adjustment waypoints, etc.), including switch commands to control the opening and closing of the solenoid valve 4, and action commands to control the movement of each servo in the nozzle adjustment device 6.

[0060] In practice, operators first plan the drone's automatic flight path in the ground station software, marking the start and end points of the work area to be painted, as well as the locations where nozzle angle adjustments are needed. For example, when the drone flies to the starting point of the work area, the flight path automatically triggers the flight control system to send a command to the control box 7 to open the solenoid valve 4, and paint begins to spray from the nozzle 5. When the drone flies over the bridge deck area, the flight path automatically triggers the flight control system to send a nozzle pitch command to the control box 7, causing the nozzle 5 to tilt upwards to align with the upper edge of the bridge deck for painting. After the drone completes the painting of one area, the flight path can automatically trigger the flight control system to send a nozzle rotation command to the control box 7, causing the nozzle 5 to rotate 90° around the axis of the hollow spray bar 2, changing the fan-shaped orientation of the straight nozzle. The drone then flies horizontally to paint the next area. The entire operation requires no manual remote control intervention; the flight control system automatically controls all painting actions according to the preset flight path.

[0061] It is important to understand that this embodiment integrates the spraying control logic into the UAV's flight control system, enabling the fusion of spraying operations and flight control. This allows the UAV to automatically complete complex spraying tasks according to a preset flight path, reducing the difficulty and labor intensity of manual operation. The flight control system can precisely control the opening and closing of the solenoid valve 4 based on waypoint positions during automatic flight operations, avoiding premature or delayed spraying issues that may occur during manual remote control, ensuring the accuracy of the spraying start and end positions, and reducing paint waste. The flight control system can also automatically trigger the angle change of the nozzle adjustment device 6 during the flight path, allowing the UAV to continuously complete spraying operations on complex structures such as the base plate, side facades, and inner sides of the web of the building without hovering or returning during flight, improving work efficiency and spraying coverage.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drone painting device, characterized in that, include: Mounting plate (1) for connection to the fuselage or landing gear of the UAV; The hollow spray bar (2) is detachably mounted on the mounting plate (1) via the spray bar quick-release device (3); Paint tank, mounted on the fuselage or landing gear of the drone; Solenoid valve (4) is fixedly installed on the mounting plate (1). The inlet of solenoid valve (4) is connected to the paint supply pipe of the paint tank through a quick-release connector. The outlet of solenoid valve (4) is connected to the inlet end of the hollow spray bar (2) through a quick-release connector. The nozzle (5) is connected to the outlet end of the hollow spray bar (2); The nozzle adjustment device (6) is movably disposed on the outer peripheral surface of the hollow spray bar (2). The nozzle adjustment device (6) is connected to the nozzle (5) and is used to adjust the spray angle of the nozzle (5). The control box (7) is installed on the mounting plate (1). The control box (7) is electrically connected to the flight control system of the UAV to receive control commands. The control box (7) is electrically connected to the solenoid valve (4) to control the opening and closing of the solenoid valve (4) according to the control commands. The control box (7) is electrically connected to the nozzle adjustment device (6) to adjust the spray angle of the nozzle (5) according to the control commands.

2. The UAV painting device according to claim 1, characterized in that, The nozzle (5) is connected to the outlet end of the hollow spray bar (2) via a flexible hose (8), and the nozzle (5) is mounted on the nozzle adjustment device (6).

3. The UAV painting device according to claim 2, characterized in that, The nozzle adjustment device (6) includes: The nozzle movable bracket (61) is rotatably connected to the hollow spray bar (2), and the nozzle (5) is fixed on the nozzle movable bracket (61); The first servo motor (62) is fixed to the outer circumferential surface of the hollow spray bar (2). The first servo motor (62) is connected to the nozzle movable bracket (61) through the first transmission assembly (63) and is used to control the pitch angle of the nozzle movable bracket (61) in the vertical plane. The second servo motor (64) is fixed to the outer circumferential surface of the hollow spray bar (2). The second servo motor (64) is connected to the nozzle movable bracket (61) through the second transmission assembly (65) and is used to control the left and right swing angle of the nozzle movable bracket (61) in the horizontal plane. The third servo motor (66) is fixed to the outer circumferential surface of the hollow spray bar (2). The third servo motor (66) is connected to the nozzle movable bracket (61) through the third transmission assembly (67) and is used to control the nozzle movable bracket (61) to rotate around the axis of the hollow spray bar (2).

4. The UAV painting device according to claim 3, characterized in that, The nozzle movable bracket (61) includes: A rotating sleeve (611) is rotatably fitted onto the outlet end of the hollow spray bar (2), and two opposing fork plates (612) are formed on the side of the rotating sleeve (611) away from the hollow spray bar (2). The deflection ring (613) is rotatably connected between two opposing fork plates (612) by a first rotating pin (614), and the nozzle (5) is rotatably connected inside the deflection ring (613) by a second rotating pin (615). The axes of the first rotating pin (614) and the second rotating pin (615) are perpendicular.

5. The UAV painting device according to claim 4, characterized in that, The first transmission assembly (63) includes a first wire rope (631), which connects the first servo motor (62) and the first rotating pin (614). The first servo motor (62) controls the rotation of the first rotating pin (614) by pulling the first wire rope (631), thereby changing the pitch angle of the nozzle (5) in the vertical plane. The second transmission assembly (65) includes a second wire rope (651), which connects the second servo motor (64) and the second rotating pin (615). The second servo motor (64) controls the rotation of the second rotating pin (615) by pulling the second wire rope (651), thereby changing the left and right swing angle of the nozzle (5) in the horizontal plane.

6. The UAV painting device according to claim 5, characterized in that, The first transmission assembly (63) further includes a first deflector (632), the middle part of which is rotatably connected to the output end of the first servo motor (62), and the two ends of the first deflector (632) are respectively connected to the two ends of the first wire rope (631), and the first wire rope (631) is wound around the first rotating pin (614). The second transmission assembly (65) further includes a second deflector (652), the middle part of which is rotatably connected to the output end of the second servo motor (64), and the two ends of the second deflector (652) are respectively connected to the two ends of the second wire rope (651), which is wound around the second rotating pin (615).

7. The UAV painting device according to claim 4, characterized in that, The third transmission assembly (67) includes a rotating gear, the shaft of which is connected to the output end of the third servo motor (66). The rotating gear meshes with the rotating sleeve (611). The third servo motor (66) drives the rotating gear to rotate, thereby controlling the rotation of the rotating sleeve (611) and changing the rotation angle of the nozzle (5) around the axis of the hollow spray bar (2).

8. The UAV painting device according to claim 7, characterized in that, The nozzle (5) has a straight nozzle.

9. The UAV painting apparatus according to any one of claims 1 to 8, characterized in that, Multiple diagonal braces (9) are fixed circumferentially at the center of the outer periphery of the hollow spray bar (2), and the diagonal braces (9) are connected to the fuselage or landing gear of the UAV.

10. A drone, comprising a drone body, characterized in that, It also includes the UAV painting device according to any one of claims 1 to 9, wherein the UAV painting device is fixed to the fuselage or landing gear of the UAV body by means of a mounting plate (1), and the flight control system of the UAV body integrates painting control logic, which is suitable for outputting the switching command of the solenoid valve (4) and / or the action command of the nozzle adjustment device (6) in the automatic flight mission.

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