CN112455689A

CN112455689A - Intelligent spraying unmanned aerial vehicle with arm

Info

Publication number: CN112455689A
Application number: CN202011540299.1A
Authority: CN
Inventors: 张森; 庄智强; 冯振宗; 李晓强; 王展; 黄怡航; 吕进锋; 邵敬平
Original assignee: Henan University of Science and Technology
Current assignee: Henan University of Science and Technology
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-03-09

Abstract

The invention discloses an intelligent spraying unmanned aerial vehicle with a mechanical arm, which is provided with: the spraying device comprises a rack body and six rotor wing assemblies, wherein a spraying device is arranged above the rack body, an annular bracket is arranged below the rack body, and an annular bumper is arranged on the outer side of each rotor wing assembly; the spraying adjusting device comprises a mechanical arm and a rotating platform for mounting the mechanical arm, wherein the rotating platform comprises a fixed base, a platform motor and a turntable, and arc-shaped through holes corresponding to each other up and down are correspondingly formed in a frame body and the turntable; this device effectively combines arm technique and unmanned aerial vehicle technique, is equipped with five degree of freedom arms on unmanned aerial vehicle upper portion to at the fixed coating conveyer pipe of arm lower part, the terminal spray gun of arm and coating conveyer pipe intercommunication can carry out work such as spraying, washing to complicated structure aloft. Not only can reduce the waste in the coating spraying process, but also avoid the high-altitude operation of operators, and effectively ensure the personal safety of the operators.

Description

Intelligent spraying unmanned aerial vehicle with arm

Technical Field

The invention belongs to the technical field of high-altitude spraying, and particularly relates to an intelligent spraying unmanned aerial vehicle with a mechanical arm.

Background

With the increasing demand of high-altitude operation in industrial production and daily life, a large number of high-altitude spraying technical workers are urgently needed in the fields of cleaning and corrosion-resistant spraying of large ships, spraying of outer walls of buildings, spraying of steel structure industrial factory buildings, spraying of industrial chimneys and the like, however, the proportion of workers after 90 high-altitude operation is willing to be carried out in China is not enough, and the requirement of actual engineering is obviously difficult to meet. At present, the traditional high-altitude operation is completed by leading by manpower and matching with auxiliary equipment such as a crank arm vehicle, a scaffold, a lifter, a hoisting rope and the like, and the traditional manual spraying mode has the problems of large labor amount, low working efficiency, high labor intensity, high possibility of environmental interference, high safety accident rate, high equipment leasing cost, poor operation quality consistency and the like. Therefore, the traditional manual labor intensive operation mode is urgently needed to be changed through an artificial intelligence technology, and a novel unmanned aerial vehicle special for high-altitude spraying is researched and developed so as to realize 'robot changing'. The mechanical intelligent spraying instead of manual spraying is a necessary trend for the development of the high-altitude spraying industry in the future.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provide an intelligent spraying unmanned aerial vehicle with a mechanical arm. Not only can reduce the waste in the coating spraying process, but also avoid the high-altitude operation of operators, and effectively ensure the personal safety of the operators.

In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides an intelligent spraying unmanned aerial vehicle with arm possesses: the spraying adjusting device is arranged above the rack body, the annular bracket is arranged below the rack body, and the annular bumper is arranged outside the rotor wing assembly; the spraying adjusting device comprises a multi-degree-of-freedom mechanical arm and a rotary platform used for installing the mechanical arm, wherein the rotary platform comprises a fixed base, a platform motor and a rotary table, the rotary table is arranged at the central hole of the fixed base, the fixed base is fixedly installed on a rack body, the platform motor is arranged in the fixed base, a power output shaft of the platform motor is fixedly connected with the center of the rotary table and used for driving the rotary table to rotate relative to the fixed base, and arc-shaped through holes which correspond to each other up and down are formed in the rack body and the rotary table; the tail end spraying device comprises an electric spray gun and a paint conveying pipe, the electric spray gun is arranged at the outer end part of the mechanical arm, the paint conveying pipe is fixedly arranged along the length direction of the mechanical arm through a hose clamp, one end of the paint conveying pipe is communicated with the electric spray gun, and the paint conveying pipe penetrates through the arc-shaped through hole; the coating feeding device is arranged on the ground and comprises a mixer and an air pressure tank, wherein the mixer is communicated with a tank opening of the air pressure tank through a pipeline, and the tank opening of the air pressure tank is communicated with a coating conveying pipe.

Further improve this scheme, rotor subassembly one side is through I horn and this body coupling of frame, and the opposite side passes through II horns and bumper connection, the ring carrier passes through the horn connecting rod to be connected with the middle section of I horn, the ring carrier passes through the bumper connecting rod to be connected with the bumper, horn connecting rod length is less than the length of bumper connecting rod.

Further improve this scheme, the junction of I horn and II horn is provided with the motor machine that is used for splendid attire rotor subassembly and holds in the palm, the motor machine holds in the palm and is circular groove structure, holds in the palm the both sides lateral wall at the motor machine and is formed with the internal thread, all be formed with at the end of I horn and II horn with the external screw thread that the internal thread matches.

According to the scheme, the mechanical arm comprises a mechanical arm assembly I, a mechanical arm assembly II, a mechanical arm assembly III and a mechanical arm assembly IV which are sequentially connected from bottom to top; the first mechanical arm assembly comprises a first pitching arm and a first pitching motor; the head end of the first pitching arm is fixedly connected with a power output shaft of a first pitching motor, the first pitching motor is fixedly installed at the center of the turntable, and the first pitching motor is used for performing pitching adjustment on the first pitching arm; the second mechanical arm assembly comprises a second pitching arm and a second pitching motor; the head end of the second pitching arm is fixedly connected with a power output shaft of a second pitching motor, and the second pitching motor is arranged at the tail end of the first pitching arm and used for performing pitching adjustment on the second pitching arm; the mechanical arm assembly III comprises a rotating arm and a rotating motor, the head end of the rotating arm is connected with a power output shaft of the rotating motor, the rotating motor is fixedly installed at the tail end of the second pitching arm, the rotating motor is used for driving the rotating arm to rotate 360 degrees along the axis of the power output shaft of the rotating arm, and when the rotating arm rotates 90 degrees, the mechanical arm assembly IV is used for switching between pitching motion and left-right swinging motion; the mechanical arm assembly IV comprises a swing arm and a swing motor, and the head end of the swing arm is fixedly connected with a power output shaft of the swing motor; the swing motor is fixedly arranged at the tail end of the rotating arm and is used for driving the swing arm to perform up-and-down pitching motion or left-and-right swinging motion.

According to the further improved scheme, the first pitching arm and the second pitching arm are identical in structure and respectively comprise a first arm plate, a second arm plate and a connecting part, the first arm plate and the second arm plate are identical in length and are arranged in parallel relatively, two ends of the connecting part are respectively connected with the middle sections of the first arm plate and the second arm plate, and the first pitching motor and the second pitching motor are fixedly arranged between the first arm plate and the second arm plate and are positioned at the end heads of the mechanical arms; the swinging boom includes first arm board, second arm board and tip arm board, first arm board and the same and relative parallel arrangement of second arm board length, the homonymy tip at first arm board and second arm board is connected perpendicularly to the tip arm board, rotating electrical machines output shaft and tip arm board fixed connection for the drive swinging boom rotates, switches with four operating condition of realization arm subassembly.

This scheme of further improvement, electric spray gun installs the tail end at rocking the arm, electric spray gun includes the spray gun body, and the spray gun body comprises clamping part and spraying portion, clamping part and spraying portion integrated into one piece and inside intercommunication, clamping part are the cuboid structure, and spraying portion is cylindrical cavity structures.

According to the scheme, a coating input port is formed in the side wall of one side of the clamping portion, a spraying control mechanism is further arranged on the clamping portion and comprises a spraying motor, a motor cam and a push rod assembly, the spraying motor is fixed to the side wall of the other side of the clamping portion through a motor supporting frame, the motor cam is installed on a power output shaft of the spraying motor, one power input side of the push rod assembly is in contact with the motor cam, one power output side of the push rod assembly is hinged to a spray gun plunger, and the spray gun plunger extends into the clamping portion from the tail end of the clamping portion and is used for pushing the coating to pass through a hollow cavity of the spraying portion and be sprayed.

The scheme is further improved, the ejector pin subassembly includes connecting plate, ejector pin, end plate and bracing piece, and ejector pin and end plate set up respectively at the both ends of connecting plate to all set up perpendicularly in the homonymy of connecting plate, the length of ejector pin is greater than end plate length, is provided with the roof that is used for with the contact of motor cam at the tip of ejector pin, the bracing piece is fixed to be set up on clamping part tail end lateral wall, and the middle section of connecting plate is articulated through round pin axle and bracing piece tip to rotate along with the motor cam, thereby rotate around round pin axle through the connecting plate and drive spray gun plunger.

This scheme of further improvement still includes energy storage equipment, energy storage equipment is located ground, and energy storage equipment passes through the power supply line to be connected with the frame to supply power for unmanned aerial vehicle through electric energy conversion device.

Advantageous effects

1. According to the invention, through innovation, the structure of the unmanned aerial vehicle is improved, the mechanical arm technology and the unmanned aerial vehicle technology are effectively combined, the construction efficiency of high-altitude spraying operation is improved, and the safety of equipment operation is improved, and the specific analysis is as follows: divide into four bibliographic categories through carrying out organic combination with unmanned aerial vehicle and arm: the aerial work device comprises a rack part, a spraying adjusting device part arranged on the rack, a tail spraying device part arranged on the spraying adjusting device and a coating feeding device part positioned on the ground, wherein the rack part provides power to realize aerial automatic work of the coating device part, the coating feeding device supplies mixed coating to the coating device part on the ground through a pipeline, the bearing weight of the unmanned aerial vehicle can be effectively reduced, meanwhile, a five-degree-of-freedom mechanical arm assembly is arranged in consideration of the complexity of an aerial work environment, wherein the first pitching arm can realize pitching adjustment, when the pitching angle of the first pitching arm cannot meet the operation requirement, the pitching adjustment can be carried out through the second pitching arm, the dual pitching adjustment can increase the motion range of the pitching arm, the construction work range of a spray gun is improved, and in consideration of the requirement that the spray gun needs to further improve the omnibearing work capacity, the specific analysis is as follows: the spray gun is provided with the rotating arm and the pitching swinging arm, the rotating arm can rotate for 360 degrees, so that the spray gun can be switched between pitching motion and left-right swinging motion, the pitching swinging arm improves the flexibility of spray gun operation, and construction of left-right swinging motion and pitching motion can be performed as required.

2. According to the invention, the structure of the spray gun is improved, the operation reliability of spraying operation is improved, and the specific analysis is as follows: spray gun structural improvement is the triplex, be formed with the spray gun main part of coating input port, install driver part and the ejector pin subassembly in the spray gun main part, wherein driver part includes spraying motor and motor cam, the motor cam is rotatory around the motor shaft, thereby drive the ejector pin subassembly and carry out periodic reciprocating motion, cam structure outer fringe is the arc curve, including big head end and bellied microcephaly end, the cam is every to rotate a week, because its outer fringe contacts with the roof all the time, can drive roof reciprocating motion, this spray gun subassembly is through coordinating with the atmospheric pressure jar, the reliability of spraying operation has been realized.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

Fig. 1 is a block diagram of a first perspective of the intelligent painting drone of the present invention;

fig. 2 is a structural diagram of a second perspective of the intelligent painting drone of the present invention;

FIG. 3 is a block diagram of the spray adjustment assembly of the present invention;

FIG. 4 is a view of the end of the robot arm of the present invention;

FIG. 5 is a block diagram of the jaw mechanism of the present invention;

FIG. 6 is a structural view of an electric torch according to the present invention;

the labels in the figure are: 1. the robot comprises a rack, 1-1 parts, a rack body, 111 parts, a first arm, 112 parts, a second arm, 113 parts, an arm connecting rod, 114 parts, a bumper connecting rod, 115 parts, a motor support, 1-2 parts, a rotor assembly, 1-3 parts, an annular support, 1-4 parts, a bumper, 1-5 parts, an ultrasonic distance measuring sensor, 1-6 parts, a body camera, 1-7 parts, a spraying camera, 2 parts, a spraying adjusting device, 2-1 parts, a first mechanical arm assembly, 211 parts, a first pitching arm, 212 parts, a first pitching motor, 2-2 parts, a second mechanical arm assembly, 221 parts, a second pitching arm, 222 parts, a second pitching motor, 2-3 parts, a third mechanical arm assembly, 231 parts, a rotating arm, 232 parts, a rotating motor, 2-4 parts, a fourth mechanical arm assembly, 241 parts, a swinging arm, 242 parts, a swinging motor, 2-5 parts, a rotating platform, 251 parts, The spraying device comprises a fixed base, 252, a platform motor, 253, a rotary table, 254, an arc-shaped perforation, 2-6, a clamping jaw mechanism, 261, a clamping jaw platform, 262, a clamping jaw motor, 263, a rack guide rail, 264, a rack, 265, a clamping jaw I, 266, a clamping jaw II, 267, a driving gear, 3, a tail end spraying device, 3-1, an electric spraying gun, 311, a spraying gun body, 312, a spraying gun plunger, 313, a top plate, 314, a spraying motor, 315, a motor cam, 316, a connecting plate, 317, an ejector rod, 318, an end plate, 319 and a supporting rod; 3-2 parts of a coating conveying pipe, 3-3 parts of a hose clamp; 4. a coating material supply device 4-1, a mixer 4-2 and an air pressure tank; 5. an energy storage device.

Detailed Description

In order to make the technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

As shown in the figure: the embodiment provides an intelligent spraying unmanned aerial vehicle with a mechanical arm, which is provided with a rack 1, a spraying adjusting device 2, a tail end spraying device 3 and a coating feeding device 4, wherein the rack 1 comprises a rack body 1-1 and six rotor wing assemblies 1-2, the spraying adjusting device 2 is arranged above the rack body 1-1, an annular support 1-3 is arranged below the rack body 1-1, and an annular bumper 1-4 is arranged on the outer side of each rotor wing assembly 1-2; the spraying adjusting device 2 comprises a five-degree-of-freedom mechanical arm and a rotary platform 2-5 used for installing the mechanical arm, wherein the rotary platform 2-5 comprises a fixed base 251, a platform motor 252 and a rotary table 253, the rotary table 253 is arranged at a central hole in the upper part of the fixed base 251, the fixed base is fixedly installed on a rack body 1-1 through the rotary table, the platform motor 252 is arranged in the fixed base 251, and a power output shaft of the platform motor 252 is fixedly connected with the center of the rotary table 253 and is used for driving the rotary table 253 to rotate relative to the fixed base 251; the fixed base is composed of an upper annular disc and a lower annular disc which are arranged in parallel relatively and a connecting rod connected between the two annular discs, and arc-shaped through holes 254 which correspond to each other up and down are correspondingly formed in the frame body 1-1, the fixed base 251 and the rotary disc 253, namely the arc-shaped through holes 254 are semicircular arcs which form an angle of 180 degrees.

The tail end spraying device 3 comprises an electric spray gun 3-1 and a paint conveying pipe 3-2, the electric spray gun 3-1 is arranged at the outer end part of the mechanical arm, the paint conveying pipe 3-2 is fixedly arranged along the length direction of the mechanical arm through a hose clamp 3-3, one end of the paint conveying pipe 3-2 is communicated with the electric spray gun 3-1, the paint conveying pipe 3-2 penetrates through the arc-shaped through hole 254, and when the mechanical arm rotates, the paint conveying pipe 3-2 cannot be extruded in the rotation of the mechanical arm due to the arrangement of the arc-shaped through hole 254; the coating feeding device 4 is arranged on the ground and comprises a mixer 4-1 and an air pressure tank 4-2, wherein the mixer 4-1 is communicated with a tank opening of the air pressure tank 4-2 through a pipeline, and a tank opening of the air pressure tank 4-2 is communicated with the coating conveying pipe 3-2.

Rotor subassembly 1-2 one side is connected with frame body 1-1 through I horn 111, and the opposite side is connected through II horns 112 and bumper 1-4, and I horn 111 passes through 8 tie points of screwed connection at frame body 1-1, and II horn 112 passes through screw and bumper 1-4 fixed connection, and the junction of I horn 111 and II horn 112 is formed with the motor support 115 that is used for splendid attire rotor subassembly 1-2, motor support 115 is circular groove structure, is formed with the internal thread at motor support 115 both sides lateral wall, all is formed with at the end of I horn 111 and II horn 112 with the external screw thread that the internal thread matches.

The annular support 1-3 is connected with the middle section of the first horn 111 through a horn connecting rod 113, the annular support 1-3 is connected with the bumper 1-4 through a bumper connecting rod 114, and the length of the horn connecting rod 113 is smaller than that of the bumper connecting rod 114. 8 ultrasonic ranging sensors 1-5 are distributed outside the bumpers 1-4.

According to the scheme, the mechanical arm is arranged on the upper portion of the rack body 1-1 and can rotate up and down 180 degrees and left and right 270 degrees. Platform motor 253 is adorned in unmanned aerial vehicle fuselage upper portion center department, is driven carousel 253 to revolve the carousel axis and carries out rotary motion by platform motor 253.

The mechanical arm comprises a mechanical arm assembly I2-1, a mechanical arm assembly II 2-2, a mechanical arm assembly III 2-3 and a mechanical arm assembly IV 2-4 which are sequentially connected from bottom to top; the mechanical arm assembly I2-1 comprises an I pitching arm 211 and a first pitching motor 212; the head end of the first pitching arm 211 is fixedly connected with a power output shaft of a first pitching motor 212, the first pitching motor 212 is fixedly installed at the center of the turntable 253, and the first pitching motor 212 is used for performing pitching adjustment on the first pitching arm 211; the second mechanical arm assembly 2-2 comprises a second pitching arm 221 and a second pitching motor 222; the head end of the second pitching arm 221 is fixedly connected with a power output shaft of a second pitching motor 222, and the second pitching motor 222 is installed at the tail end of the first pitching arm 211 and used for performing pitching adjustment on the second pitching arm 221; the mechanical arm assembly III 2-3 comprises a rotating arm 231 and a rotating motor 232, the head end of the rotating arm 231 is connected with a power output shaft of the rotating motor 232, the rotating motor 232 is fixedly installed at the tail end of the second pitching arm 221, the rotating motor 232 is used for driving the rotating arm 231 to do 360-degree rotating motion along the axis of the power output shaft, and when the rotating arm 231 rotates 90 degrees every time, the mechanical arm assembly IV 2-4 is used for switching between pitching motion and left-right swinging motion; the mechanical arm assembly IV 2-4 comprises a swing arm 241 and a swing motor 242, and the head end of the swing arm 241 is fixedly connected with the power output shaft of the swing motor 242; the swing motor 242 is fixedly installed at the rear end of the rotating arm 231, and the swing motor 242 drives the swing arm 241 to perform a vertical tilting motion or a horizontal swinging motion.

In this scheme, especially, I every single move arm 211 is the same with II every single move arm 221's structure, all includes first armplate, second armplate and connecting portion, first armplate and the same and relative parallel arrangement of second armplate length, and the connecting portion both ends are connected with the middle section of first armplate and second armplate respectively, and every single move motor 212 and every single move motor two 222 are all fixed to be set up between first armplate and second armplate and are located the arm end. The rotating arm 231 comprises a first arm plate, a second arm plate and an end arm plate, the first arm plate and the second arm plate are the same in length and are arranged in parallel relatively, the end arm plate is perpendicularly connected to the end parts of the first arm plate and the second arm plate, and an output shaft of a rotating motor 232 is fixedly connected with the end arm plate and used for driving the rotating arm 231 to rotate so as to realize the four 2-4 working state switching of the mechanical arm assembly.

Electric spray gun 3-1 is through installing the tail end at rocking arm 241, electric spray gun 3-1 includes spray gun body 311, and spray gun body 311 comprises clamping part and spraying portion, clamping part and spraying portion integrated into one piece and inside intercommunication, the clamping part is the cuboid structure, and spraying portion is cylindrical cavity structures, clamping part and spraying portion integrated into one piece and inside intercommunication, clamping part are the cuboid structure, and spraying portion is cylindrical cavity structures. The utility model discloses a spraying device, including clamping part, motor cam 315, ejector pin subassembly, spray motor 314, spray motor 315, spray motor's power output shaft, clamping part one side lateral wall is provided with the coating input port, still is provided with coating injection mechanism on the clamping part, coating injection mechanism includes spray motor 314, motor cam 315 and ejector pin subassembly, spray motor 314 passes through the motor support frame to be fixed on clamping part opposite side lateral wall, and motor cam 315 installs on spray motor 314's power output shaft, the power input one side and the contact of motor cam 315 of ejector pin subassembly, and the power output one side of ejector pin subassembly is articulated with spray gun plunger 312, and spray gun plunger 312 is stretched into by the tail end of clamping part for promote. The push rod component comprises a connecting plate 316, a push rod 317, an end plate 318 and a supporting rod 319, the push rod 317 and the end plate 318 are respectively arranged at two ends of the connecting plate 316 and are vertically arranged at the same side of the connecting plate 316, the length of the push rod 317 is larger than that of the end plate 318, the end part of the push rod 317 is provided with a top plate 313 used for contacting with a motor cam 315, the supporting rod 319 is fixedly arranged on the side wall at the tail end of the clamping part, the middle section of the connecting plate 316 is hinged with the end part of the supporting rod 319 through a pin shaft to realize the rotation of the motor cam 315 so as to push the top plate 313 to reciprocate, the connecting plate 316 rotates around the pin shaft so as to drive the spray gun plunger 312 to reciprocate in the spray gun body 311, the motor cam 315 starts to move by taking the contact of the large head end with the top plate 313 as a starting point, the top plate, subsequently, the motor cam 315 rotates, and the top plate 313 gradually approaches the output shaft side of the motor, thereby completing a spraying operation in one cycle.

As can be seen from the figure, the motor support frame is arranged at the upper part of the gun body and is used for fixing the spraying motor 314, when the spraying motor 314 drives the motor cam 315 to rotate, the motor cam 315 pushes the ejector rod 317, the force is transmitted to the spray gun plunger 312 through the connecting plate 316, the spray gun plunger 312 extrudes the coating inside the gun body, and the coating is sprayed out through the nozzle, thereby completing a spraying process.

In order to make the device have better effect, further optimize this scheme, unmanned aerial vehicle power supply line one end links to each other with the energy storage equipment 5 on ground, and the other end links to each other with the inside electric energy conversion device of unmanned aerial vehicle main part. The electric energy conversion device supplies power to the unmanned aerial vehicle, and long-term endurance capability is realized. Secondly, the tail part of the mechanical arm is provided with an installation structure of an electric spray gun, the electric spray gun is replaced according to different spraying requirements and maintenance requirements, the application range is wide, the unmanned aerial vehicle and a spraying device are organically connected by quickly disassembling and replacing the spray gun, and the problems that the spraying efficiency is low and the spraying effect is not ideal due to the fact that the model of the electric spray gun is not matched with the sprayed object are avoided; to avoid this, the following structure may be provided: the end of the mechanical arm is provided with a clamping jaw mechanism 2-6, the clamping jaw mechanism 2-6 comprises a clamping jaw platform 261, the inner side of the clamping jaw platform 261 is provided with two clamping jaw motors 262 which are opposite up and down, the output shaft of the clamping jaw motor 262 passes through the clamping jaw platform 261 and is provided with a driving gear 267, the inner sides of the two driving gears 267 are horizontally provided with corresponding parallel rack guide rails 263, the rack guide rails 263 are fixed on the clamping jaw platform 261, a slidable rack 264 is arranged in the rack guide rails 261, the driving gear 267 is meshed with the corresponding rack 264, wherein the rack 264 at the upper side is connected with a clamping jaw I265, the rack 264 at the lower side is connected with a clamping jaw II 266 at the opposite side, when the two clamping jaw motors 262 simultaneously rotate clockwise, the two driving gears 267 rotate clockwise, the two clamping jaws move inwards to clamp the, drive two drive gear 267 anticlockwise rotations, two clamping jaws outwards remove and loosen the spray gun to realize the installation of unmanned aerial vehicle spray gun and dismantle.

The device is provided with a mechanical arm and can grab a spray gun to spray a target object at multiple angles; the device is provided with an electric spray gun 3-1, so that the waste in the coating spraying process is reduced, and the utilization rate of the coating is ensured to the maximum extent; the device is provided with bumpers 1-4, so that the unmanned aerial vehicle main body is protected from being damaged when falling to the ground due to faults; the device uses the ground energy storage equipment 5 to supply power, can realize long endurance and guarantee the working time; the device is provided with ultrasonic ranging sensors 1-5, so that the unmanned aerial vehicle can automatically avoid obstacles and can work in a complex environment. The device is provided with unmanned aerial vehicle body cameras 1-6 and spraying cameras 1-7, the body cameras 1-6 are used for analyzing each target position and then properly correcting the target position by combining with a path planned overall, so that the unmanned aerial vehicle can reach a position suitable for spraying of a mechanical arm, meanwhile, target detailed position and area information required in the spraying process are sent to a mechanical arm motion control system, and after the target position is reached, the spraying cameras 1-7 positioned at the tail end of the mechanical arm adjust the position of an electric spray gun 3-1 according to the target information to complete spraying operation.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides an intelligent spraying unmanned aerial vehicle with arm, its characterized in that possesses:

the aircraft comprises a rack (1) and a control system, wherein the rack (1) comprises a rack body (1-1) and six rotor wing assemblies (1-2), a spraying adjusting device (2) is arranged above the rack body (1-1), an annular bracket (1-3) is arranged below the rack body (1-1), and an annular bumper (1-4) is arranged on the outer side of each rotor wing assembly (1-2);

the spraying adjusting device (2) comprises a multi-degree-of-freedom mechanical arm and a rotary platform (2-5) used for installing the mechanical arm, wherein the rotary platform (2-5) comprises a fixed base (251), a platform motor (252) and a rotary table (253), the rotary table (253) is arranged at a central hole of the fixed base (251), the fixed base (251) is fixedly installed on a rack body (1-1), the platform motor (252) is arranged in the fixed base (251), a power output shaft of the platform motor (252) is fixedly connected with the center of the rotary table (253) and is used for driving the rotary table (253) to rotate relative to the fixed base (251), and arc-shaped through holes (254) which correspond to each other up and down are formed in the rack body (1-1) and the rotary table (253);

the tail end spraying device (3) comprises an electric spray gun (3-1) and a paint conveying pipe (3-2), the electric spray gun (3-1) is arranged at the outer end part of the mechanical arm, the paint conveying pipe (3-2) is fixedly arranged along the length direction of the mechanical arm through a hose clamp (3-3), one end of the paint conveying pipe (3-2) is communicated with the electric spray gun (3-1), and the paint conveying pipe (3-2) penetrates through the arc-shaped through hole (254);

the coating feeding device (4) is arranged on the ground and comprises a mixer (4-1) and an air pressure tank (4-2), wherein the mixer (4-1) is communicated with a tank opening of the air pressure tank (4-2) through a pipeline, and the tank opening of the air pressure tank (4-2) is communicated with the coating conveying pipe (3-2).

2. The intelligent spraying unmanned aerial vehicle with mechanical arm of claim 1, wherein: rotor subassembly (1-2) one side is connected with frame body (1-1) through I horn (111), and the opposite side is connected through II horn (112) and bumper (1-4), ring carrier (1-3) are connected through the middle section of horn connecting rod (113) with I horn (111), ring carrier (1-3) are connected with bumper (1-4) through bumper connecting rod (114), horn connecting rod (113) length is less than the length of bumper connecting rod (114).

3. The intelligent spraying unmanned aerial vehicle with mechanical arm of claim 2, characterized in that: the junction of I horn (111) and II horn (112) is provided with motor machine support (115) that are used for splendid attire rotor subassembly (1-2), motor machine support (115) are circular groove structure, hold in the palm at motor machine (115) both sides lateral wall and be formed with the internal thread, all be formed with at the end of I horn (111) and II horn (112) with the external screw thread that the internal thread matches.

4. The intelligent spraying unmanned aerial vehicle with mechanical arm of claim 3, characterized in that: the mechanical arm comprises a mechanical arm assembly I (2-1), a mechanical arm assembly II (2-2), a mechanical arm assembly III (2-3) and a mechanical arm assembly IV (2-4) which are connected in sequence from bottom to top;

the first mechanical arm assembly (2-1) comprises an I-th pitching arm (211) and a first pitching motor (212); the head end of the first pitching arm (211) is fixedly connected with a power output shaft of a first pitching motor (212), the first pitching motor (212) is fixedly installed at the center of the turntable (253), and the first pitching motor (212) is used for performing pitching adjustment on the first pitching arm (211);

the second mechanical arm assembly (2-2) comprises a second pitching arm (221) and a second pitching motor (222); the head end of the second pitching arm (221) is fixedly connected with a power output shaft of a second pitching motor (222), and the second pitching motor (222) is installed at the tail end of the first pitching arm (211) and used for performing pitching adjustment on the second pitching arm (221);

the mechanical arm assembly III (2-3) comprises a rotating arm (231) and a rotating motor (232), the head end of the rotating arm (231) is connected with a power output shaft of the rotating motor (232), the rotating motor (232) is fixedly installed at the tail end of the second pitching arm (221), the rotating motor (232) is used for driving the rotating arm (231) to do 360-degree rotating motion along the axis of the power output shaft, and when the rotating arm (231) rotates 90 degrees every time, the mechanical arm assembly IV (2-4) is used for switching between pitching motion and left-right swinging motion;

the mechanical arm assembly IV (2-4) comprises a swing arm (241) and a swing motor (242), and the head end of the swing arm (241) is fixedly connected with a power output shaft of the swing motor (242); the swing motor (242) is fixedly arranged at the tail end of the rotating arm (231), and the swing motor (242) is used for driving the swing arm (241) to perform vertical pitching motion or horizontal swinging motion.

5. The intelligent spraying unmanned aerial vehicle with mechanical arm of claim 4, characterized in that: the first pitching arm (211) and the second pitching arm (221) are identical in structure and respectively comprise a first arm plate, a second arm plate and a connecting part, the first arm plate and the second arm plate are identical in length and are arranged in parallel relatively, two ends of the connecting part are respectively connected with the middle sections of the first arm plate and the second arm plate, and a first pitching motor (212) and a second pitching motor (222) are fixedly arranged between the first arm plate and the second arm plate and are positioned at the ends of the mechanical arms;

the rotating arm (231) comprises a first arm plate, a second arm plate and an end part arm plate, the first arm plate and the second arm plate are the same in length and are arranged in parallel relatively, the end part arm plate is perpendicularly connected to the end parts of the first arm plate and the second arm plate, and an output shaft of a rotating motor (232) is fixedly connected with the end part arm plate and used for driving the rotating arm (231) to rotate so as to realize the four (2-4) working state switching of the mechanical arm assembly.

6. The intelligent spraying unmanned aerial vehicle with mechanical arm of claim 3, characterized in that: electric spray gun (3-1) is installed at the tail end of rocking arm (241), electric spray gun (3-1) includes spray gun body (311), and spray gun body (311) comprises clamping part and spraying portion, clamping part and spraying portion integrated into one piece and inside intercommunication, clamping part are the cuboid structure, and spraying portion is cylindrical cavity structures.

7. The intelligent spraying unmanned aerial vehicle with mechanical arm of claim 6, characterized in that: a coating input port is formed in the side wall of one side of the clamping part, a spraying control mechanism is further arranged on the clamping part and comprises a spraying motor (314), a motor cam (315) and a push rod assembly, and the spraying motor (314) is fixed on the side wall of the other side of the clamping part through a motor support frame;

the motor cam (315) is installed on a power output shaft of the spraying motor (314), one power input side of the ejector rod assembly is in contact with the motor cam (315), one power output side of the ejector rod assembly is hinged to a spray gun plunger (312), and the spray gun plunger (312) extends into from the tail end of the clamping part and is used for pushing the coating to pass through a hollow cavity of the spraying part and be sprayed out through the nozzle.

8. The intelligent spraying unmanned aerial vehicle with mechanical arm of claim 7, wherein: the ejector pin subassembly includes connecting plate (316), ejector pin (317), end plate (318) and bracing piece (319), and ejector pin (317) and end plate (318) set up respectively at the both ends of connecting plate (316) to all set up perpendicularly in the homonymy of connecting plate (316), the length of ejector pin (317) is greater than end plate (318) length, is provided with roof (313) that are used for with motor cam (315) contact at the tip of ejector pin (317), bracing piece (319) are fixed to be set up on clamping part tail end lateral wall, and the middle section of connecting plate (316) is articulated through round pin axle and bracing piece (319) tip, thereby rotates along with motor cam (315), thereby rotates around the round pin axle through connecting plate (316) and drives spray gun plunger (312) reciprocating motion.

9. The intelligent spraying unmanned aerial vehicle with mechanical arm of claim 3, characterized in that: still include energy storage equipment (5), energy storage equipment (5) are located ground, and energy storage equipment (5) are connected with frame (1) through the power supply line to supply power for unmanned aerial vehicle through electric energy conversion device.