Unmanned aerial vehicle-based Anti-corrosion coating detection and local repair integrated equipment

Abstract

Unmanned aerial vehicle-based anti-corrosion coating detection and local repair integrated equipment, comprising a body (1), a battery (2), foot stands (3), and flight components. The battery (2) is disposed on the upper side of the body (1); two left-right symmetrical foot stands (3) are mounted on the lower side of the body (1); four flight components arranged in an annular array are arranged on the outer side of the body (1); the flight components are powered by the battery (2), to implement flight; the equipment further comprises an observation component, a spraying component, an anti-collision ring (4), air inducing plates (5), and a balance maintenance system; the observation component for observing a damage position of a steel bridge is disposed at the front side of the body (1); the spraying component for repairing the damage position of the steel bridge is mounted on the lower side of the body (1); the anti-collision ring (4) for preventing the unmanned aerial vehicle from colliding with the steel bridge is mounted on the outside of the four flight components arranged in an annular array; two left-right symmetrical air inducing plates (5) for guiding airflows are arranged between two flight components located at the front side; the balance maintenance system for maintaining the balance of the unmanned aerial vehicle is mounted on the body (1); the spraying component is connected to the balance maintenance system; and the balance maintenance system is connected to the battery (2). According to the equipment, the airflows are guided by means of inclined planes on the anti-collision ring (4), to reduce airflow-induced drone wobbling; downward airflows caused by the flight components are guided by means of the air inducing plates (5), so that the two downward airflows form a downward air passage between the two air inducing plates (5), to blow rebounding dry sand to the bottom, and therefore the dry sand is prevented from affecting observation about a rusty part of the steel bridge by a camera.

Description

An integrated equipment for anti-corrosion coating inspection and local repair based on drones Technical Field

[0001] The present invention relates to the technical field of bridge maintenance, and in particular to an integrated equipment for anti-corrosion coating detection and local repair based on a drone. Background Art

[0002] The integrity of anti-corrosion coatings directly impacts the longevity of steel bridges, making inspection and repair of these coatings a crucial component of steel bridge maintenance. Due to the complex operating environments of steel bridges, manual inspection and repair are difficult and pose safety risks. Therefore, the use of drones for coating inspection and repair is an effective solution. However, at present, the inspection and repair using drones as the carrying platform are carried out separately and independently, which is relatively time-consuming and labor-intensive. In the repair process, the staff generally controls the drone to remove rust and paint the rusted parts at high places on the steel bridge. However, in this process, when the drone removes rust from the rusted parts of the steel bridge, the dry sand that impacts the steel bridge will rebound onto the drone. Moreover, due to the fast speed of the dry sand, the protective cover of the camera on the drone is severely scratched, causing the camera on the drone to transmit blurred images, resulting in the operator being unable to clearly see the rust removal situation and the parts that need rust removal, affecting the normal rust removal and repair work. In addition, the dry sand cannot enter the pressure pump without power. Moreover, as the dry sand in the material box gradually decreases, the center of gravity of the dry sand gradually changes, causing the center of gravity of the dry sand and the center of gravity of the drone to be not on the same axis, affecting the stability of the drone, and further affecting the precise positioning of the rusted parts, resulting in poor rust removal and repair effects.

[0003] Summary of the Invention

[0004] In order to overcome the shortcomings that when using drones to detect and repair anti-corrosion coating defects on steel bridges, the inspection and repair are usually carried out separately, which is time-consuming and labor-intensive; and when rust removal is performed by drones, the dry sand that impacts the steel bridge will rebound onto the drone, affecting the image transmission of the camera on the drone, and the center of gravity of the dry sand gradually changes as the dry sand gradually decreases, resulting in the center of gravity of the dry sand and the center of gravity of the drone being not on the same axis, resulting in poor stability and affecting the rust removal and coating repair effects, the present invention provides an integrated anti-corrosion coating detection and local repair equipment based on drones.

[0005] Technical solution: An integrated equipment for anti-corrosion coating inspection and local repair based on a drone, including a fuselage, a battery, a tripod and a flight component; a battery is provided on the upper side of the fuselage; two left-right symmetrical tripods are installed on the lower side of the fuselage; four circular array flight components are provided on the outer side of the fuselage; the flight component is powered by the battery to achieve flight; it also includes an observation component, a spray component, an anti-collision ring, an air duct and a balance maintenance system; an observation component for observing damaged parts of the steel bridge is provided on the front side of the fuselage; a spray component for repairing damaged parts of the steel bridge is installed on the lower side of the fuselage; anti-collision rings are installed on the outer side of the four circular array flight components to prevent the drone from colliding with the steel bridge; two left-right symmetrical air ducts for guiding airflow are provided between the two flight components on the front side; a balance maintenance system for maintaining the balance of the drone is installed on the fuselage; the spray component is connected to the balance maintenance system; and the balance maintenance system is connected to the battery.

[0006] Furthermore, the flight assembly includes connecting rods and propellers; four connecting rods in a circular array are fixed to the outside of the fuselage; a propeller is rotatably connected to the upper side of each connecting rod, and each propeller consists of three blades.

[0007] Furthermore, the observation component includes a camera and a protective cover; a camera for observing the rust condition of the steel bridge is fixedly connected to the front side of the fuselage; a protective cover for protecting the camera lens is fixedly connected to the front side of the fuselage; the protective cover is located in front of the camera.

[0008] Furthermore, the spraying assembly includes a material box, a pressure pump, a connecting pipe and a nozzle; a material box for storing dry sand is fixedly connected to the lower side of the fuselage; the material box is connected to the balance maintenance system; a dry sand inlet is provided on the upper side of the material box, and a dry sand outlet is provided on the lower side; an inclined surface is provided on the lower surface of the inner side of the material box; the lower side of the material box outlet is connected to a pressure pump; the front side of the pressure pump is connected to a connecting pipe; a nozzle for spraying dry sand to remove rust on rusted parts of the steel bridge is fixedly connected to the front side of the connecting pipe.

[0009] Furthermore, the upper surface and the lower surface of the anti-collision ring are inclined.

[0010] Furthermore, the air induction plate is configured to be an arc shape inclined downward, and the width of the arc-shaped air induction surface of the air induction plate gradually decreases based on the flow direction of the downward airflow guided by the air induction plate.

[0011] Furthermore, the battery is arranged on the rear side of the upper surface of the fuselage.

[0012] Furthermore, the balance maintaining system includes a pressure plate, a protective plate, a contact sensor, a connecting rope, a slide plate and an elastic member; a pressure plate that can move back and forth and is used to sweep dry sand into the material box outlet is provided on the material box; a protective plate for preventing dry sand from overflowing is fixed in the slide groove opened on the upper side of the material box, and the protective plate is made of elastic material and has deformation ability; a contact sensor is fixed on the right surface inside the material box, and with the transverse direction as the reference, the contact sensor is located in the middle of the protective plate; a connecting rope is fixed on the upper side of the sliding assembly; a connecting rope is provided on the material box; the connecting rope is connected to the pressure plate; two slide grooves are opened on the upper side of the fuselage; two left-right symmetrical slide plates are fixed to the lower side of the battery, and the two slide plates are located in adjacent slide grooves on the upper side of the fuselage; an elastic member is fixed to the front side of each of the two slide plates.

[0013] Furthermore, the pressure plate is arc-shaped and has deformation capability.

[0014] Furthermore, it also includes a fixing rod, a first curved plate and a second curved plate; two left-right symmetrical fixing rods are fixed to the front side of the inner ring of the anti-collision ring to prevent the downward airflow from spraying dry sand; the first curved plate is fixed to the lower side of the two fixing rods; and the second curved plate is fixed to the lower side of the first curved plate.

[0015] Beneficial effects of the present invention: The present invention realizes that by setting the upper and lower surfaces of the anti-collision ring into inclined surfaces, the inclined surfaces on the anti-collision ring guide the airflow, thereby reducing the shaking of the airflow on the drone;

[0016] Two air guide plates guide the downdrafts created by the two adjacent flight components, creating a downward air outlet between the two air guide plates. This blows the rebounding dry sand downward, preventing it from affecting the camera's observation of the rusted areas of the steel bridge.

[0017] The electric slider drives the pressure plate forward, allowing the dry sand in the material box to flow better to the discharge port on the material box. At the same time, the battery slides backward through the connecting rope, thereby balancing the imbalance of the drone caused by the dry sand with shifted center of gravity.

[0018] The first curved plate and the second curved plate prevent the downdraft formed by the propeller from deflecting the dry sand sprayed from the nozzle downward. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] FIG1 is a schematic diagram of a first three-dimensional structure of the present invention;

[0020] FIG2 is a schematic diagram of a second three-dimensional structure of the present invention;

[0021] FIG3 is a schematic diagram of a partial three-dimensional structure of the present invention;

[0022] FIG4 is a partial cross-sectional view of the present invention;

[0023] FIG5 is a schematic diagram of the three-dimensional structure of the air induction plate of the present invention;

[0024] FIG6 is a schematic diagram of the three-dimensional structure of the balance maintenance system of the present invention;

[0025] FIG7 is an enlarged view of the area A in FIG6 of the present invention;

[0026] FIG8 is a schematic diagram of a partial three-dimensional structure of a balance maintenance system of the present invention;

[0027] Figure 9 is a schematic diagram of the combined three-dimensional structure of the fixing rod, the first curved plate, and the second curved plate of the present invention. Reference numerals: 1 - fuselage, 2 - battery, 3 - tripod, 4 - anti-collision ring, 5 - air induction plate, 5001 - curved air induction surface, 101 - connecting rod, 102 - propeller, 201 - camera, 202 - protective cover, 301 - material box, 30101 - inclined surface, 302 - pressure pump, 303 - connecting pipe, 304 - nozzle, 401 - slide rail, 402 - electric slider, 403 - pressure plate, 404 - protective plate, 405 - contact sensor, 406 - connecting rope, 407 - slide plate, 408 - elastic member, 501 - fixing rod, 502 - first curved plate, 503 - second curved plate. DETAILED DESCRIPTION

[0028] The present invention will be described in detail below with reference to the accompanying drawings.

[0029] Example 1

[0030] An integrated anti-corrosion coating inspection and local repair device based on a drone, as shown in Figures 3-5, comprises a fuselage 1, a battery 2, a tripod 3, and a flight module. The battery 2 is mounted on the upper side of the fuselage 1; two bilaterally symmetrical tripods 3 are mounted on the lower side of the fuselage 1; and four flight modules are arranged in a circular array on the outer side of the fuselage 1. The flight module is powered by the battery 2 to achieve flight.

[0031] It also includes an observation component, a spray component, an anti-collision ring 4, an air duct 5 and a balance maintenance system; an observation component is provided on the front side of the fuselage 1; a spray component is installed on the lower side of the fuselage 1; an anti-collision ring 4 is installed on the outside of the four circular array flight components; the anti-collision ring 4 is used to prevent the UAV from colliding with the steel bridge during movement, causing the UAV to crash; two left-right symmetrical air ducts 5 are provided between the two flight components on the front side; the two air ducts 5 are used to guide the downward air flow caused by the two adjacent flight components, so that the two downward air flows form downward air outlets between the two air ducts 5. During the process of sandblasting and rust removal of the steel bridge by the spray component, when the dry sand impacting the steel bridge is rebounded toward the observation component, the rebounded dry sand is blown downward by the air outlet to prevent the dry sand from affecting the observation component's observation of the rusted parts of the steel bridge; a balance maintenance system is installed on the fuselage 1; the spray component is connected to the balance maintenance system; the balance maintenance system is connected to the battery 2.

[0032] The flight assembly includes connecting rods 101 and propellers 102; four connecting rods 101 in a circular array are fixed to the outside of the fuselage 1; each connecting rod 101 is rotatably connected to a propeller 102 on the upper side, and each propeller 102 consists of three blades; the propellers 102 are driven to rotate by the battery 2 to achieve flight.

[0033] The observation component includes a camera 201 and a protective cover 202; the camera 201 is fixedly connected to the front side of the fuselage 1; the protective cover 202 is fixedly connected to the front side of the fuselage 1; the protective cover 202 is located in front of the camera 201; the rusty parts of the steel bridge are observed through the camera 201, and the rust is removed by the spraying component.

[0034] The spraying assembly includes a material box 301, a pressure pump 302, a connecting pipe 303 and a nozzle 304; the material box 301 is connected to the lower side of the fuselage 1 by bolts; the material box 301 is connected to the balance maintenance system; a dry sand feed port is opened on the upper side of the material box 301, and a dry sand discharge port is opened on the lower side; an inclined surface 30101 is provided on the lower surface of the inner side of the material box 301, through which the dry sand at the rear side of the material box 301 flows to the discharge port, preventing the material box 301 from The dry sand on the inner rear side remains in the material box 301, which reduces the spray assembly's ability to remove rust on the steel bridge; the lower side of the material box 301 discharge port is connected to a pressure pump 302; the front side of the pressure pump 302 is connected to a connecting pipe 303; the front side of the connecting pipe 303 is fixedly connected to a nozzle 304; the dry sand is pressurized by the pressure pump 302, so that the dry sand is transferred to the nozzle 304 through the connecting pipe 303 and then sprayed outward through the nozzle 304, thereby completing the effect of removing rust from the rusted parts of the steel bridge.

[0035] The upper and lower surfaces of the anti-collision ring 4 are in the shape of a slope 30101; when the drone is removing rust from the steel bridge, the anti-collision ring 4 is used to prevent the drone from colliding with the steel bridge during movement. In addition, the airflow in the high altitude will cause the drone to shake, causing the nozzle 304 to shake when spraying dry sand, thereby causing the drone to spray unevenly on the rusted parts of the steel bridge and reducing the rust removal effect. Therefore, the airflow is guided by the upper and lower surfaces of the anti-collision ring 4 to reduce the shaking of the drone when removing rust from the steel bridge.

[0036] The air inducing plate 5 is set to be an arc shape inclined downward, and the width of the arc-shaped air inducing surface 5001 of the air inducing plate 5 gradually decreases based on the flow direction of the downward air flow guided by the air inducing plate 5; the downward air flow is converged to the middle position in front of the protective cover 202 through the air inducing plate 5, and the arc-shaped air inducing surface 5001 with a gradually decreasing diameter increases the flow rate of the downward air flow on the arc-shaped air inducing surface 5001, thereby increasing the flow rate of the downward air flow at the air outlet formed between the two air inducing plates 5, thereby enhancing the interception effect of the dry sand when the dry sand is rebounded.

[0037] The battery 2 is arranged on the rear side of the upper surface of the fuselage 1; because the two air guide plates 5 respectively block a part of the downdraft of the adjacent propellers 102, the downdraft on the front side of the drone is reduced, causing the front side of the drone to tilt downward, thereby making the drone unbalanced. Therefore, in order to maintain the balance of the drone, the battery 2 is moved backward to the position shown in the figure. The weight of the battery 2 keeps the drone balanced front and back, so that the drone will not lose balance when hovering.

[0038] The following are the working steps of intercepting dry sand in the present invention:

[0039] First, the staff connects the material box 301 filled with dry sand to the fuselage 1 with bolts. Then the staff controls the battery 2 through the remote control of the drone to power the propeller 102, so that the propeller 102 rotates, thereby realizing the flight of the drone. During the flight, the image of the steel bridge is transmitted to the display screen on the ground through the camera 201, so that the staff can observe whether there is any rust on the steel bridge through the display screen. When rusty parts are found, the staff controls the drone through the remote control to remove the rust on the rusty parts of the steel bridge.

[0040] When the staff observes the rust on the steel bridge, they control the drone to hover in the air through the remote control and aim the nozzle 304 at the rusted area, and then use the pressure pump 302 to make the dry sand in the material box 301 flow at high speed and spray it to the rusted part of the steel bridge through the nozzle 304, and then use the high-speed sprayed dry sand to remove the rust on the steel bridge. The lower surface of the material box 301 is set as an inclined surface 30101, so that the dry sand on the rear side of the material box 301 can automatically flow into the discharge port of the material box 301 to prevent blockage. At the same time, the staff moves the drone in time through the rust removal picture transmitted by the camera 201 , so that the steel bridge is derusted, but the dry sand that impacts the steel bridge will be rebounded toward the drone, especially toward the camera 201, which will damage the camera 201. Although the camera 201 is protected by the protective cover 202, the rebounded dry sand will still fall on the protective cover 202, causing scratches on the protective cover 202, making the picture transmitted by the camera 201 blurred, causing the staff to be unable to understand the derusting situation in time, making it easy for the staff to make mistakes in the process of moving the drone to derust the steel bridge, causing the drone to be too close to the steel bridge, and then causing the drone to collide with the steel bridge, causing the drone to crash. Therefore, when the drone is hovering in the air to remove rust from the steel bridge, the rotation of the four propellers 102 of the drone will form a downdraft, and then the two air guide plates 5 will guide the downdrafts caused by the two adjacent propellers 102 respectively, so that the two downdrafts form a downward airflow between the two air guide plates 5, and then the dry sand that impacts the steel bridge will be blown downward by the airflow when it rebounds towards the camera 201, thereby preventing the dry sand from affecting the camera 201's observation of the rusted part of the steel bridge. In the process of the two air guide plates 5 guiding the downdraft, as shown in the figure, since the two air guide plates 5 are arc-shaped plates, when the downdraft falls to the arc When the wind inducing surface 5001 is on the upper side, the downward airflows on the front and rear sides of the wind inducing plate 5 gather toward the middle of the wind inducing plate 5, so that the airflow flowing on the wind inducing plate 5 increases, and based on the flow direction of the downward airflow guided by the wind inducing plate 5, the diameter of the arc-shaped wind inducing surface 5001 of the wind inducing plate 5 gradually decreases, so that the flow rate of the downward airflow flowing on the wind inducing plate 5 gradually increases, thereby enhancing the flow rate of the airflow at the air outlet between the two wind inducing plates 5, and further enhancing the interception effect of the airflow at the air outlet between the two wind inducing plates 5 on dry sand. At the same time, the wind inducing plates 5 are arranged to be inclined downward, so that the air outlet formed between the two wind inducing plates 5 is downward, and then passes through the two wind inducing plates 5. The air vent formed between them blows the rebounded dry sand downwards, so that the rebounded dry sand will not interfere with the transmission of the rust removal image by the camera 201. Since the two air guide plates 5 respectively block a part of the downdraft of the adjacent propellers 102, the downdraft in front of the drone is reduced, causing the front side of the drone to tilt downward, thereby making the drone unbalanced. Therefore, in order to maintain the balance of the drone, the battery 2 is moved backward to the position shown in the figure. The weight of the battery 2 keeps the drone balanced front and back, so that the drone will not be unbalanced when hovering.

[0041] At the same time, due to the large amount of airflow in the sky, these airflows cause the drone to shake when it is hovering, causing the nozzle 304 to shake, resulting in the dry sand sprayed from the nozzle 304 to shake, thereby affecting the drone's rust removal effect on the rusted parts of the steel bridge. Therefore, the upper and lower surfaces of the anti-collision ring 4 are set to be inclined surfaces 30101, and then the airflow is guided by the inclined surface 30101 on the anti-collision ring 4 to reduce the shaking of the airflow on the drone.

[0042] Finally, when the drone has finished removing rust from the rusted part of the steel bridge, the staff will land the drone using a remote control, then dismantle the paint box 301, and then bolt the paint box 301 filled with paint to the fuselage 1, and then raise the drone to the position where the rust has been removed from the steel bridge, and spray paint the removed part for corrosion protection, thereby extending the service life of the steel bridge.

[0043] On the basis of Example 1, as shown in Figures 6 and 7, the balance maintaining system includes a sliding assembly, a pressure plate 403, a protection plate 404, a contact sensor 405, a connecting rope 406, a slide plate 407 and an elastic member 408; a sliding assembly is provided on the upper side of the material box 301, and a slide groove is provided on the upper side of the material box 301; the lower side of the sliding assembly is fixed with a pressure plate 403 for sweeping dry sand into the discharge port of the material box 301 through the slide groove provided on the upper side of the material box 301; the sliding assembly slides forward, thereby driving the pressure plate 403 to slide forward, so that the pressure plate 403 pushes the dry sand in the material box 301 to The dry sand is squeezed forward, thereby causing the dry sand to flow to the discharge port at the lower side of the material box 301, preventing the dry sand at the rear side of the material box 301 from being unable to flow to the discharge port of the material box 301; a protective plate 404 is fixed in the chute opened on the upper side of the material box 301, and the protective plate 404 is made of elastic material and has deformation ability; when the pressure plate 403 squeezes the dry sand forward, the dry sand will flow out from the chute on the upper side of the material box 301 after being squeezed, resulting in a reduction in the total amount of dry sand in the material box 301, and then the dry sand is prevented from overflowing by the protective plate 404 fixed in the chute of the material box 301, and after the pressure plate 403 returns to its initial position, the protective plate 40 4 automatically deforms back to its initial state to prevent the dry sand from flowing out of the chute after the pressure plate 403 squeezes and deforms the protection plate 404; a contact sensor 405 is fixed to the right surface of the inner side of the material box 301, and based on the horizontal direction, the contact sensor 405 is located in the middle of the protection plate 404; when the protection plate 404 slides forward and hits the contact sensor 405, the electric slider 402 stops sliding forward, so that the pressure plate 403 stops sliding forward; a connecting rope 406 is connected to the upper side of the sliding assembly by bolts; two chute grooves are opened on the upper side of the fuselage 1; two left-right symmetrical slide plates 4 are fixed to the lower side of the battery 2 07, and the two slides 407 are located in the slide grooves on the upper sides of the adjacent fuselage 1; the front sides of the two slides 407 are each fixed with an elastic member 408, and the elastic member 408 makes the spring telescopic rod; when the sliding assembly slides forward, the battery 2 is pulled backward through the connecting rope 406, thereby increasing the weight of the rear side of the drone, and then the battery 2 and the dry sand form a weight balance, thereby maintaining the balance of the drone, when the pressure plate 403 contacts the contact sensor 405, the sliding assembly stops sliding forward, and then the battery 2 is moved to the initial position through the elastic member 408, ensuring that the center of gravity of the drone remains stable. The sliding assembly includes a slide rail 401 and an electric slider 402; the slide rail 401 is fixedly connected to the upper side of the material box 301; the electric slider 402 is slidably connected to the slide rail 401, and the initial position of the electric slider 402 is located at the rear side of the slide rail 401; the upper side of the electric slider 402 is bolted to the connecting rope 406; the lower side of the electric slider 402 is fixedly connected to the pressure plate 403; the pressure plate 403 moves forward by sliding the electric slider 402 forward on the slide rail 401, and the battery 2 slides backward through the connecting rope 406, so that in the process of the pressure plate 403 moving forward to squeeze the dry sand, the battery 2 and the dry sand form a balance to prevent the drone from losing balance.

[0044] The pressure plate 403 is arc-shaped and has the ability to deform, so that the pressure plate 403 stretches downward during the forward movement, so that the pressure plate 403 fits tightly with the inclined surface 30101 to prevent the dry sand from being missed.

[0045] The following are the working steps of the balance maintenance system of the present invention:

[0046] Since the dry sand at the rear side of the material box 301 is difficult to flow into the discharge port of the material box 301, when the drone repairs the rusted part of the steel bridge, the electric slider 402 drives the pressure plate 403 to slide forward, so that the pressure plate 403 squeezes the dry sand toward the discharge port of the material box 301, and then sweeps the dry sand at the rear side of the material box 301 into the discharge port of the material box 301. When the pressure plate 403 squeezes the dry sand forward, the dry sand will flow out from the chute on the upper side of the material box 301 after being squeezed, resulting in a reduction in the total amount of dry sand in the material box 301, and then through The protective plate 404 fixed in the chute of the material box 301 prevents the dry sand from overflowing. When the pressure plate 403 returns to its initial position, the protective plate 404 automatically deforms back to its initial closed state, thereby preventing the dry sand from flowing out of the chute on the material box 301 through the protective plate 404. When the material box 301 is full of dry sand, the center of gravity of the dry sand and the drone are on the same axis. However, when the drone repairs the rusty part of the steel bridge and the amount of dry sand gradually decreases, the center of gravity of the dry sand moves forward. At this time, the center of gravity of the dry sand and the center of gravity of the drone are not on the same axis, which makes the dry sand more stable. The drone tilts forward, causing the drone to lose balance. Therefore, when the electric slider 402 slides forward, the battery 2 slides backward on the slide groove on the fuselage 1 through the connecting rope 406, so that the weight of the rear side of the drone increases, thereby keeping the drone roughly balanced by the weight of the battery 2. When the battery 2 slides backward, the two elastic members 408 stretch backward with the battery 2. At the same time, when the dry sand is reduced to more than half of the position inside the material box 301, when the amount of dry sand is reduced again, the center of the dry sand will shift backward. Therefore, when the electric slider 402 slides forward, the battery 2 slides backward. When 402 touches the contact sensor 405, the electric slider 402 stops sliding and remains motionless. When the center of gravity of the dry sand begins to shift, the electric slider 402 is controlled to slide backward, and the pressure plate 403 is driven to slide backward. At the same time, the two elastic members 408 contract to make the battery 2 slide forward, and the electric slider 402 slows down the forward sliding speed of the battery 2, so that the battery 2 and the gradually decreasing dry sand are kept in balance. When the rust on the steel bridge is completely removed and the amount of dry sand is reduced to zero, the electric slider 402 and the battery 2 return to their initial positions. Example 3

[0047] On the basis of embodiments 1 and 2, as shown in FIG8 , it further includes a fixing rod 501, a first curved plate 502 and a second curved plate 503; two left-right symmetrical fixing rods 501 are fixed to the front side of the inner ring of the anti-collision ring 4; the first curved plate 502 is fixed to the lower side of the two fixing rods 501; the second curved plate 503 is bolted to the lower side of the first curved plate 502; when the drone is removing rust from the rusted part of the steel bridge, the downward airflow generated by the propeller 102 will blow the dry sand sprayed by the nozzle 304 downward, resulting in a reduction in the rust removal effect of the drone on the steel bridge. Therefore, through the first curved plate 502 and The second curved plate 503 blocks the downward airflow, thereby preventing the dry sand sprayed from the nozzle 304 from deflecting downward. At the same time, the connecting pipe 303 is fixed to the anti-collision ring 4 by the first curved plate 502 and the second curved plate 503, which enhances the stability of the nozzle 304 when spraying dry sand, and prevents the connecting pipe 303 from shaking when the nozzle 304 sprays dry sand, causing the drone to remove rust from the rusted parts of the steel bridge unevenly. In addition, when replacing the material box 301 for spraying paint, the connection pipe 303 on the material box 301 is replaced by the bolts between the first curved plate 502 and the second curved plate 503.

[0048] The above embodiments are provided to persons familiar with the art for implementing or using the present invention. Personnel familiar with the art may make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the scope of protection of the present invention is not limited to the above embodiments, but should be the maximum scope of the innovative features mentioned in the claims.

Claims

1. An integrated equipment for anti-corrosion coating inspection and local repair based on drones, characterized by: The invention comprises a fuselage (1), a battery (2), a tripod (3) and a flight assembly; the battery (2) is arranged on the upper side of the fuselage (1); two left-right symmetrical tripods (3) are installed on the lower side of the fuselage (1); four circular array flight assemblies are arranged on the outer side of the fuselage (1); the flight assemblies are powered by the battery (2) to achieve flight; the invention also comprises an observation assembly, a spraying assembly, an anti-collision ring (4), an air guide plate (5) and a balance maintenance system; an observation assembly for observing the damaged part of a steel bridge is arranged on the front side of the fuselage (1); a spraying assembly for repairing the damaged part of the steel bridge is installed on the lower side of the fuselage (1); an anti-collision ring (4) is installed on the outer side of the four circular array flight assemblies to prevent the UAV from colliding with the steel bridge; two left-right symmetrical air guide plates (5) for guiding airflow are arranged between the two flight assemblies located on the front side; a balance maintenance system for maintaining the balance of the UAV is installed on the fuselage (1); the spraying assembly is connected to the balance maintenance system; and the balance maintenance system is connected to the battery (2).

2. The anti-corrosion coating detection and local repair integrated equipment based on drone according to claim 1 is characterized in that: The flight assembly comprises a connecting rod (101) and a propeller (102); four connecting rods (101) in a circular array are fixedly connected to the outside of the fuselage (1); a propeller (102) is rotatably connected to the upper side of each connecting rod (101), and each propeller (102) consists of three blades.

3. The anti-corrosion coating detection and local repair integrated equipment based on drone according to claim 1 is characterized in that: The observation assembly comprises a camera (201) and a protective cover (202); the camera (201) for observing the rusting condition of the steel bridge is fixedly connected to the front side of the interior of the fuselage (1); the protective cover (202) for protecting the lens of the camera (201) is fixedly connected to the front side of the fuselage (1); the protective cover (202) is located in front of the camera (201).

4. The anti-corrosion coating detection and local repair integrated equipment based on drone according to claim 1 is characterized in that: The spraying assembly comprises a material box (301), a pressure pump (302), a connecting pipe (303) and a spray head (304); a material box (301) for storing dry sand is fixedly connected to the lower side of the fuselage (1); the material box (301) is connected to a balance maintenance system; a dry sand inlet is provided on the upper side of the material box (301), and a dry sand outlet is provided on the lower side; an inclined surface (30101) is provided on the inner lower surface of the material box (301); the lower side of the outlet of the material box (301) is connected to a pressure pump (302); the front side of the pressure pump (302) is connected to a connecting pipe (303); the front side of the connecting pipe (303) is fixedly connected to a spray head (304) for spraying dry sand to remove rust from rusted parts of a steel bridge.

5. The integrated equipment for anti-corrosion coating detection and local repair based on drone according to claim 4 is characterized in that: The upper surface and the lower surface of the anti-collision ring (4) are in the shape of inclined surfaces (30101).

6. The anti-corrosion coating detection and local repair integrated equipment based on drone according to claim 1 is characterized in that: The air induction plate (5) is arranged to be in an arc shape inclined downward, and the width of the arc-shaped air induction surface (5001) of the air induction plate (5) gradually decreases, taking the flow direction of the downward airflow guided by the air induction plate (5) as a reference.

7. The anti-corrosion coating detection and local repair integrated equipment based on drone according to claim 1 is characterized in that: The battery (2) is arranged on the rear side of the upper surface of the body (1).

8. The integrated equipment for anti-corrosion coating detection and local repair based on drone according to claim 7 is characterized in that: The balance maintaining system comprises a pressure plate (403), a protection plate (404), a contact sensor (405), a connecting rope (406), a sliding plate (407) and an elastic member (408); a pressure plate (403) which can move forward and backward and is used to sweep dry sand into the discharge port of the material box (301) is arranged on the material box (301); a protection plate (404) for preventing dry sand from overflowing is fixedly connected in a chute provided on the upper side of the material box (301), and the protection plate (404) is made of elastic material and has deformation capability; a contact sensor (405) is fixedly connected to the right surface of the inner side of the material box (301); ), and with the lateral direction as a reference, the contact sensor (405) is located in the middle of the protection plate (404); a connecting rope (406) is fixedly connected to the upper side of the sliding component; a connecting rope (406) is provided on the material box (301); the connecting rope (406) is connected to the pressure plate (403); two slide grooves are opened on the upper side of the fuselage (1); two left-right symmetrical slide plates (407) are fixedly connected to the lower side of the battery (2), and the two slide plates (407) are located in the slide grooves on the upper side of the adjacent fuselage (1); and an elastic member (408) is fixedly connected to the front side of each of the two slide plates (407).

9. The anti-corrosion coating detection and local repair integrated equipment based on drone according to claim 8 is characterized in that: The pressure plate (403) is arc-shaped and has deformation capability.

10. The anti-corrosion coating detection and local repair integrated equipment based on drone according to claim 1 is characterized in that: The invention also comprises a fixing rod (501), a first curved plate (502) and a second curved plate (503); two fixing rods (501) are fixedly connected to the front side of the inner ring of the anti-collision ring (4) in a symmetrical manner to prevent the downward airflow from causing the spraying of dry sand; the first curved plate (502) is fixedly connected to the lower side of the two fixing rods (501); and the second curved plate (503) is fixedly connected to the lower side of the first curved plate (502).

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