CN208412142U - A kind of intelligence spraying unmanned plane - Google Patents
A kind of intelligence spraying unmanned plane Download PDFInfo
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- CN208412142U CN208412142U CN201821097500.1U CN201821097500U CN208412142U CN 208412142 U CN208412142 U CN 208412142U CN 201821097500 U CN201821097500 U CN 201821097500U CN 208412142 U CN208412142 U CN 208412142U
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- freedom degree
- unmanned plane
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Abstract
The utility model belongs to air vehicle technique field, discloses a kind of intelligence spraying unmanned plane, including the paint finishing above drone body is arranged in drone body, the vision system being articulated in below drone body；Vision system includes bearing frame, the first X freedom degree helm gear, the first Y freedom degree helm gear, fixed frame and acquisition device；Paint finishing includes the 2nd X freedom degree helm gear, the 2nd Y freedom degree helm gear, coating material cartridge, gas cylinder, mixing head, jet pipe and spray head.The utility model increases the loading capacity of unmanned plane, improves the ability of unmanned plane single operation spraying by improving paint finishing；The efficiency that spraying can be improved in single operation, can also spray more complicated figure, and working performance is stronger.By improving the structure of vision system, the acquisition visual field of vision system is improved；Lightening hole is set on center framework, reduces the self weight of drone body, effectively increases the lifting capacity and cruising ability of unmanned plane.
Description
Technical field
The utility model belongs to air vehicle technique field, and in particular to a kind of intelligence spraying unmanned plane.
Background technique
Determine at present in building trade house wall surface painting decoration, spraying text etc. and transmission line insulator wire insulation paint
Mostly by manually being sprayed, high altitude operation difficulty is big for phase maintenance, and operation intensity is also very big, and the physical efficiency to people is kind of a test；
In addition to this, the cost of high-altitude spraying investment is also high, wherein most importantly high-altitude spraying operation has very big risk, because
It will be a selection well that this, which replaces manual work by unmanned plane,.
Currently there is the unmanned plane of related high-altitude spraying, but spraying unmanned plane lifting capacity at present is small, in continuation of the journey
Journey is small, and the radius of single operation is small, the period is short, quantity for spray also very little in single operation, in the spraying task for being directed to slightly larger region
When, spraying unmanned plane instantly needs repeatedly operation to be just able to achieve, and leads to duty cycle length, low efficiency, at high cost；Specifically
The reason of be, the lifting capacity except unmanned plane itself has outside the limit, and existing spraying unmanned plane often carries air compressor machine, and nothing
The man-machine spray gun structure used is identical as current conventional lance structure, and coating is seated in the batch can on spray gun, the appearance of batch can
Product is limited, leads to single spin amount very little, it is difficult to complete the spraying task of large area.Between above-mentioned reason, current spraying nothing
It is man-machine to be difficult to popularize.
Therefore, in this field there are technical problem urgently to be resolved, need to propose more reasonable technical solution, solve with
Upper technical problem.
Utility model content
The utility model aim is to provide a kind of intelligence spraying unmanned plane, carry out in structure to the paint finishing of unmanned plane
Improvement, reduce the self weight of paint finishing, improve the carrying capacity of unmanned plane, improve period, the radius of unmanned plane single operation
And efficiency.
The technology employed by the present utility model is
A kind of intelligence spraying unmanned plane, including drone body, the vision system being articulated in below drone body, setting
Paint finishing above drone body.Specifically:
The vision system includes bearing frame, the first X freedom degree helm gear, the first Y freedom degree helm gear, fixation
Frame and acquisition device；Bearing frame is connected to unmanned plane, and the first X freedom degree helm gear is connected to below bearing frame, and the first Y is free
Degree helm gear is connected to the shaft of the first X freedom degree helm gear and rotates with shaft；Fixed frame is connected to the first Y freedom degree
The shaft of helm gear is simultaneously rotated with shaft；Acquisition device is mounted on fixed frame, and acquisition device includes shell and is located at shell
On acquisition camera, distance-sensor and light compensating lamp.
The paint finishing includes the 2nd X freedom degree helm gear, the 2nd Y freedom degree helm gear, coating material cartridge, gas
Bottle, mixing head, jet pipe and spray head；The coating material cartridge and gas cylinder is each attached in drone body, is also set in drone body
There is Main Control Tank, the 2nd X freedom degree helm gear is connected to Main Control Tank, and the 2nd Y freedom degree helm gear is connected to the 2nd X freedom degree
The shaft of helm gear is simultaneously rotated with shaft, and mixing head is connected to the shaft of the 2nd Y freedom degree helm gear and rotates with shaft；
Mixing head is equipped with feed inlet, air inlet and discharge port, and the feed inlet is connected to coating material cartridge, and the air inlet is connected to gas cylinder, institute
One end of discharge port connection jet pipe is stated, the spray head is located at the other end of jet pipe.
Further, the drone body includes center framework, foot prop, rotor bar and lifting device, center framework
Including upper layer bone plate and lower layer's bone plate, the upper layer bone plate is parallel to each other with lower layer's bone plate, and upper layer bone plate is equipped with for fixed master
The square hole for controlling case, is additionally provided with the more support columns for fixing coating material cartridge；Lower layer's bone plate and upper layer bone plate is equipped with and is used for
Clamp the circular hole of gas cylinder；One end of rotor bar is between upper layer bone plate and lower layer's bone plate and is clamped, the other end of rotor bar
Equipped with motor cabinet, lifting device is fixed on motor cabinet；The foot prop is connected on lower layer's bone plate.
Certain gap is mutually kept between upper layer bone plate and lower layer's bone plate, is passed through among gap convenient for air, is reached
The purpose of cooling.Main Control Tank is installed in square hole in a manner of sinking, and upper layer bone plate limits Main Control Tank, avoids Main Control Tank
It is subjected to displacement on lower layer's bone plate.
Support column is arranged at the periphery of square hole, and support column is generally arranged four, and coating material cartridge is supported simultaneously by four support columns
It is fixed.After the installation is completed, there are certain gap, effects between the lower surface of coating material cartridge and the upper surface of Main Control Tank for coating material cartridge
And facilitate air-flow by helping Main Control Tank heat dissipation.
As a preferred option, lightening hole is further respectively had on the upper layer bone plate and lower layer's bone plate, can protected in this way
Under the premise of demonstrate,proving center framework intensity requirement, the self weight of drone body is reduced as far as possible.
Further, the quantity of the rotor bar is generally six, and rotor bar is on the outer rim radially edge of center framework
Even circumferential distribution；But the quantity of rotor bar can be not limited to six, and the lift of unmanned plane can be improved by the setting of more rotors, increase
The lifting capacity of unmanned plane.
Further, the lifting device includes upper motor and lower motor, turn of upper motor and lower motor
Screw wing is equipped on axis.Lifting device forms DCB Specimen lift structure by upper motor and lower motor, it is therefore intended that benefit
With the lift feature of DCB Specimen, the lift of drone body is maximized.
Further, anticollision ring is provided on the rotor bar, anticollision ring includes the circle for covering hub and being connected on drum kit
Ring；Set hub is socketed on rotor bar, and the radius of annulus is greater than the radius of turn of screw wing.It needs and builds in view of spraying unmanned plane
The fixed object plane such as object keeps closer distance, and the displacement of fuselage inevitably occurs in spraying process, if screw wing with
Object plane collides, and may cause the damage of unmanned plane lifting device, eventually leads to unmanned plane crash；Setting anticollision ring can avoid this
The annulus of the generation of one accident, anticollision ring is located at except the screw wing radius of gyration, and when unmanned plane is close to object plane, anticollision ring takes the lead in
It is contacted with object plane, and limits unmanned plane and continue to approach, prevented a possibility that screw wing is contacted with object plane, to prevent above-mentioned
The generation of accident.
Further, the bearing frame includes upper layer connection frame, bradyseism ball and lower layer's connection frame, and upper layer connection frame is under
Corresponding connecting hole is respectively equipped on layer connection frame, bradyseism ball is equipped with interface channel, is equipped with spiral shell in connecting hole and interface channel
Bolt, screw bolt passes upper layer connection frame, bradyseism ball and lower layer's connection frame.The important portion that bearing frame is given as connection vision system
Part considers that vision system needs stable shooting condition while fixed vision system, and shake in unmanned plane during flying,
Meeting with the factors such as air-flow, collision will affect shooting condition, therefore utilize the group of upper layer connection frame, bradyseism ball and lower layer's connection frame
Close, can slowing down vibration, influence of the reduction environment to vision system collecting work to a certain degree.The principle of bearing frame is, delays
Shake ball is made of rubber type flexible material, under the clamping of upper layer connection frame and lower layer's connection frame, when encountering shake or collision,
Deformation occurs for bradyseism ball, will pass to again vision system after the energy slow-release of shake and collision, reduces the shadow that vision system is subject to
It rings.
Further, the first X freedom degree helm gear includes L shape connector and steering engine, L shape connector and lower layer's connection frame
It is connected and fixed, steering engine is fixed on L shape connector.Steering engine provides the rotation of one degree of freedom on L shape connector, helps to acquire
The visual field of device mobile collection.
Further, the first Y freedom degree helm gear includes corner connector, and corner connector is connected to the first X freedom
Helm gear is spent, steering engine is arranged on corner connector.Steering engine provides the rotation of one degree of freedom on corner connector, helps
The visual field of acquisition device mobile collection；Pass through the cooperation of the first X freedom degree helm gear and the first Y freedom degree helm gear, energy
It enough realizes being freely rotated for acquisition device, the visual field in wide area in front of unmanned plane is acquired.
Further, the 2nd X freedom degree helm gear is identical as the structure of the first X freedom degree helm gear, but size is more
It is small；2nd Y freedom degree helm gear is identical as the structure of the first Y freedom degree helm gear, but smaller.2nd X freedom degree
Helm gear includes L shape connector and steering engine, and L shape connector and Main Control Tank connect fixation, and steering engine is fixed on L shape connector.Rudder
Machine provides the rotation of one degree of freedom on L shape connector, helps direction and the angle of the spraying of spray head mobile handoff.2nd Y is certainly
It include corner connector by degree helm gear, corner connector is connected to the 2nd X freedom degree helm gear, and steering engine is arranged at turning
On connector.Steering engine provides the rotation of one degree of freedom on corner connector, help the mobile direction for changing spraying of spray head and
Angle；By the cooperation of the 2nd X freedom degree helm gear and the 2nd Y freedom degree helm gear, spray head direction oneself can be realized
By adjusting, multi-angle is carried out to the object plane in front of unmanned plane and is accurately sprayed.
Further, multiple coating chambers are provided in the coating material cartridge, each coating is intracavitary filled with monochromatic liquid
Coating；The paint finishing quantity is greater than one, and paint finishing is connected respectively to the different coating chamber of coating material cartridge.Each spray
System can draw a kind of coating and sprayed from a coating is intracavitary, can be simultaneously from different coating when there is multiple paint finishings
It is intracavitary to draw different coating and sprayed, the efficiency of spraying can be improved.
The scheme of multiple coating chambers can also be connected to using a paint finishing, specifically: coating material cartridge life is provided with multi-pass
Switching valve, multi direction changeover valve one end are connected to mixing head by hose, and the other end is respectively communicated with multiple coating chambers, and multi direction changeover valve can
The connection or cutting of control and any coating chamber, to realize the type for changing the coating for entering mixing head.
Alternatively, a paint finishing, which is connected to multiple coating chambers, also can be used another scheme, specifically: mixing head passes through list
Only hose is respectively communicated with each coating chamber, and solenoid valve is arranged on each corresponding hose of coating chamber, is applied by control
Expect the on-off of solenoid valve at chamber, can control the coating type into mixing head, also can allow multiple coating and enter mixing head simultaneously
Carry out colour mixture processing.
Further, hydraulic pump is connected at the feed inlet, the inlet of hydraulic pump is connected to coating material cartridge by hose
Coating chamber, hydraulic pump liquid outlet connection mixing head feed inlet；It is provided with air valve at the air inlet, one of air valve
Port is communicated to gas cylinder by hose, another port is connected to the air inlet of mixing head.
The utility model has the following beneficial effects:
1. the utility model increases the loading capacity of unmanned plane, improves unmanned plane single work by improving paint finishing
The ability of industry spraying.
2. multiple paint finishings are arranged in the utility model, the efficiency of spraying can be improved in single operation, can also be sprayed
More complicated figure, working performance are stronger.
3. the utility model improves the acquisition visual field of vision system by the structure of improvement vision system.
4. the utility model reduces the self weight of drone body, effectively mentions by the way that lightening hole is arranged on center framework
The high lifting capacity and cruising ability of unmanned plane.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings only shows the section Example of the utility model, therefore does not answer
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the overall structure diagram and partial enlargement diagram at one visual angle of the utility model.
Fig. 2 is the overall structure diagram and partial enlargement diagram at another visual angle of the utility model.
Fig. 3 is the overlooking structure diagram of the utility model.
Fig. 4 is the structural schematic diagram of center framework and rotor bar.
Fig. 5 is the structural schematic diagram of lifting device.
Fig. 6 is the overall structure diagram of vision system.
Fig. 7 is the decomposition texture schematic diagram of vision system.
Fig. 8 is the overall structure diagram of the first X freedom degree helm gear.
Fig. 9 is the overall structure diagram of the first Y freedom degree helm gear.
Figure 10 is the part composed structure schematic diagram and partial enlargement diagram of paint finishing.
Figure 11 is the overall structure diagram of mixing head.
Figure 12 is the overall structure diagram of spray head.
In figure, the meaning of each label are as follows: 1- drone body；2- vision system；3- paint finishing；4- center framework；
The upper layer 401- bone plate；402- lower layer bone plate；5- rotor bar；6- lifting device；601- upper motor；602- lower motor；603-
Screw wing；7- anticollision ring；8- Main Control Tank；9- coating material cartridge；10- motor cabinet；11- square hole；12- support column；13- lightening hole；On 14-
Layer connection frame；15- bradyseism ball；16- lower layer connection frame；The first X freedom degree helm gear of 17-；1701-L shape connector；18-
One Y freedom degree helm gear；1801- corner connector；19- fixed frame；20- acquisition device；2001- acquisition camera；2002-
Distance-sensor；2003- light compensating lamp；2004- shell；The 2nd X freedom degree helm gear of 21-；The 2nd Y freedom degree steering engine of 22- dress
It sets；23- mixing head；2301- feed inlet；2302- air inlet；2303- discharge port；24- jet pipe；25- spray head；26- gas cylinder.
Specific embodiment
With reference to the accompanying drawing and specific embodiment does further explaination to the utility model.
Embodiment 1:
As shown in Figure 1, Figure 2, Figure 3 shows, it present embodiment discloses a kind of intelligence spraying unmanned plane, including drone body 1, hangs
The vision system 2 below drone body is connect, the paint finishing 3 above drone body is set.
As shown in Fig. 6, Fig. 7, Fig. 8, Fig. 9, in the present embodiment, the vision system includes bearing frame, the first X freedom
Spend helm gear 17, the first Y freedom degree helm gear 18, fixed frame 19 and acquisition device 20；Bearing frame is connected to unmanned plane, the
One X freedom degree helm gear is connected to below bearing frame, and the first Y freedom degree helm gear is connected to the first X freedom degree steering engine dress
The shaft set simultaneously is rotated with shaft；Fixed frame is connected to the shaft of the first Y freedom degree helm gear and rotates with shaft；Acquisition dress
It sets and is mounted on fixed frame, acquisition device includes shell 2004 and the acquisition camera 2001, the distance-sensor that are located on shell
2002 and light compensating lamp 2003.
As shown in figs. 10,11 and 12, the paint finishing include the 2nd X freedom degree helm gear 21, the 2nd Y from
By degree helm gear 22, coating material cartridge 9, gas cylinder 26, mixing head 23, jet pipe 24 and spray head 25；The coating material cartridge and gas cylinder is solid
It being scheduled in drone body, Main Control Tank 8 is additionally provided in drone body, the 2nd X freedom degree helm gear is connected to Main Control Tank, the
Two Y freedom degree helm gears are connected to the shaft of the 2nd X freedom degree helm gear and rotate with shaft, and mixing head is connected to second
The shaft of Y freedom degree helm gear is simultaneously rotated with shaft；Mixing head is equipped with feed inlet 2301, air inlet 2302 and discharge port
2303, the feed inlet is connected to coating material cartridge, and the air inlet is connected to gas cylinder, one end of the discharge port connection jet pipe, the spray
Head is located at the other end of jet pipe.
As shown in figure 4, the drone body includes center framework 4, foot prop, rotor bar 5 and lifting device 6, center
Skeleton includes upper layer bone plate 401 and lower layer's bone plate 402, and the upper layer bone plate is parallel to each other with lower layer's bone plate, and upper layer bone plate is equipped with
For fixing the square hole 11 of Main Control Tank, it is additionally provided with the more support columns 12 for fixing coating material cartridge；Lower layer's bone plate and upper
Layer bone plate is equipped with the circular hole for clamping gas cylinder；One end of rotor bar is between upper layer bone plate and lower layer's bone plate and is clamped,
The other end of rotor bar is equipped with motor cabinet 10, and lifting device is fixed on motor cabinet；The foot prop is connected on lower layer's bone plate.
Certain gap is mutually kept between upper layer bone plate and lower layer's bone plate, is passed through among gap convenient for air, is reached
The purpose of cooling.Main Control Tank is installed in square hole in a manner of sinking, and upper layer bone plate limits Main Control Tank, avoids Main Control Tank
It is subjected to displacement on lower layer's bone plate.
Support column is arranged at the periphery of square hole, and support column is generally arranged four, and coating material cartridge is supported simultaneously by four support columns
It is fixed.After the installation is completed, there are certain gap, effects between the lower surface of coating material cartridge and the upper surface of Main Control Tank for coating material cartridge
And facilitate air-flow by helping Main Control Tank heat dissipation.
In the present embodiment, the upper layer bone plate and lower layer's bone plate are all made of carbon fiber board and are made, and further respectively have
Circular lightening hole 13 can reduce as far as possible the self weight of drone body under the premise of guaranteeing center framework intensity requirement in this way.
The quantity of the rotor bar is six, and rotor bar is radially circumferentially uniformly distributed in the outer rim of center framework；
The lift that unmanned plane can be improved by the setting of more rotors, increases the lifting capacity of unmanned plane.
As shown in figure 5, the lifting device includes upper motor 601 and lower motor 602, upper motor and lower part are electric
Screw wing 603 is equipped in the shaft of machine.Lifting device forms DCB Specimen lift structure, mesh by upper motor and lower motor
The lift feature being using coaxial double-rotary wing, the lift of drone body is maximized.
The anticollision ring 7 of aluminum is provided on the rotor bar, anticollision ring includes set hub and is connected to hollow on drum kit
Annulus；Set hub is socketed on rotor bar, and the radius of annulus is greater than the radius of turn of screw wing.It needs and builds in view of spraying unmanned plane
It builds the fixed object plane such as object and keeps closer distance, the displacement of fuselage inevitably occurs in spraying process, if screw wing
It collides with object plane, may cause the damage of unmanned plane lifting device, eventually lead to unmanned plane crash；Anticollision ring, which is arranged, can avoid
The annulus of the generation of this accident, anticollision ring is located at except the screw wing radius of gyration, when unmanned plane is close to object plane, anticollision ring rate
It is first contacted with object plane, and limits unmanned plane and continue to approach, prevented a possibility that screw wing is contacted with object plane, to prevent
State the generation of accident.
The bearing frame includes upper layer connection frame 14, bradyseism ball 15 and lower layer's connection frame 16, upper layer connection frame and lower layer
Corresponding connecting hole is respectively equipped on connection frame, bradyseism ball is equipped with interface channel, is equipped with bolt in connecting hole and interface channel,
Screw bolt passes upper layer connection frame, bradyseism ball and lower layer's connection frame.The important component that bearing frame is given as connection vision system,
While fixed vision system, consider that vision system needs stable shooting condition, and shake, experience in unmanned plane during flying
The factors such as air-flow, collision will affect shooting condition, therefore utilize the combination of upper layer connection frame, bradyseism ball and lower layer's connection frame,
Can slowing down vibration, influence of the reduction environment to vision system collecting work to a certain degree.The principle of bearing frame is, bradyseism ball
It is made of rubber type flexible material, under the clamping of upper layer connection frame and lower layer's connection frame, when encountering shake or collision, bradyseism
Deformation occurs for ball, will pass to again vision system after the energy slow-release of shake and collision, reduces vision system by being influenced.
As shown in figure 8, the first X freedom degree helm gear includes L shape connector 1701 and steering engine, L shape connector and lower layer
Connection frame is connected and fixed, and steering engine is fixed on L shape connector.Steering engine provides the rotation of one degree of freedom on L shape connector, side
Help the visual field of acquisition device mobile collection.
As shown in figure 9, the first Y freedom degree helm gear includes corner connector 1801, corner connector is connected to the first X
Freedom degree helm gear, steering engine are arranged on corner connector.Steering engine provides the rotation of one degree of freedom on corner connector,
Help the visual field of acquisition device mobile collection；Pass through matching for the first X freedom degree helm gear and the first Y freedom degree helm gear
It closes, can be realized being freely rotated for acquisition device, the visual field in wide area in front of unmanned plane is acquired.
2nd X freedom degree helm gear is identical as the structure of the first X freedom degree helm gear, but smaller；2nd Y is certainly
It is identical but smaller by degree helm gear and the structure of the first Y freedom degree helm gear.2nd X freedom degree helm gear packet
L shape connector and steering engine are included, L shape connector and Main Control Tank connect fixation, and steering engine is fixed on L shape connector.Steering engine is connected in L shape
The rotation of one degree of freedom is provided on part, helps direction and the angle of the spraying of spray head mobile handoff.2nd Y freedom degree helm gear
Including corner connector, corner connector is connected to the 2nd X freedom degree helm gear, and steering engine is arranged on corner connector.Rudder
Machine provides the rotation of one degree of freedom on corner connector, helps the mobile direction for changing spraying of spray head and angle；Pass through
The cooperation of two X freedom degree helm gears and the 2nd Y freedom degree helm gear, can be realized freely adjusting for spray head direction, to nothing
The object plane in man-machine front carries out multi-angle and accurately sprays.
There are two coating chamber, each coating is intracavitary filled with monochromatic liquid coating for setting in the coating material cartridge；It is described
Paint finishing quantity be two, two paint finishings are connected respectively to the different coating chamber of coating material cartridge.Each paint finishing can be from
One coating is intracavitary to be drawn a kind of coating and is sprayed, two paint finishings can simultaneously from different coating it is intracavitary draw it is different
Coating is sprayed, and the efficiency that spraying can be improved is worked at the same time.
Hydraulic pump is connected at the feed inlet, the inlet of hydraulic pump is connected to the coating chamber of coating material cartridge by hose,
The feed inlet of the liquid outlet connection mixing head of hydraulic pump；Air valve is provided at the air inlet, a port of air valve passes through
Hose is communicated to gas cylinder, another port is connected to the air inlet of mixing head.
Embodiment 2:
Present embodiment discloses a kind of intelligence spraying unmanned planes, including drone body, are articulated in below drone body
Vision system, the paint finishing above drone body is set.
Technical solution in the present embodiment and embodiment 1 the difference is that:
In the present embodiment, the scheme of multiple coating chambers is connected to using a paint finishing, specifically: coating material cartridge life is provided with
Multi direction changeover valve, multi direction changeover valve one end are connected to mixing head by hose, and the other end is respectively communicated with multiple coating chambers, multi-pass switching
The controllable connection or cutting with any coating chamber of valve, to realize the type for changing the coating for entering mixing head.
The structure and connection relationship of each component of other in the present embodiment are in the same manner as in Example 1, are not described in more detail here.
Embodiment 3:
Present embodiment discloses a kind of intelligence spraying unmanned planes, including drone body, are articulated in below drone body
Vision system, the paint finishing above drone body is set.
Technical solution in the present embodiment and embodiment 1 the difference is that:
In the present embodiment, a paint finishing is connected to multiple coating chambers, specifically: mixing head is distinguished by individual hose
It is communicated to each coating chamber, solenoid valve is set on each corresponding hose of coating chamber, passes through solenoid valve at control coating chamber
On-off, can control into mixing head coating type, also can allow multiple coating simultaneously enter mixing head carry out colour mixture processing.
The structure and connection relationship of each component of other in the present embodiment are in the same manner as in Example 1, are not described in more detail here.
The utility model is not limited to above-mentioned optional embodiment, anyone can obtain under the enlightenment of the utility model
Other various forms of products out.Above-mentioned specific embodiment should not be understood the limitation of the pairs of protection scope of the utility model,
The protection scope of the utility model should be subject to be defined in claims, and specification can be used for explaining that right is wanted
Seek book.
Claims (10)
1. a kind of intelligence spraying unmanned plane, including drone body (1), the vision system (2) being articulated in below drone body,
Paint finishing (3) above drone body is set；It is characterized by:
The vision system include bearing frame, the first X freedom degree helm gear (17), the first Y freedom degree helm gear (18),
Fixed frame (19) and acquisition device (20)；Bearing frame is connected to drone body, and the first X freedom degree helm gear is connected to undertaking
Below frame, the first Y freedom degree helm gear is connected to the shaft of the first X freedom degree helm gear and rotates with shaft；Fixed frame
It is connected to the shaft of the first Y freedom degree helm gear and is rotated with shaft；Acquisition device is mounted on fixed frame, acquisition device packet
Acquisition camera (2001), distance-sensor (2002) and the light compensating lamp (2003) for including shell (2004) and being located on shell；
The paint finishing includes the 2nd X freedom degree helm gear (21), the 2nd Y freedom degree helm gear (22), coating material cartridge
(9), gas cylinder (26), mixing head (23), jet pipe (24) and spray head (25)；The coating material cartridge and gas cylinder is each attached to unmanned plane sheet
It is additionally provided on body, in drone body Main Control Tank (8), the 2nd X freedom degree helm gear is connected to Main Control Tank, the 2nd Y freedom degree
Helm gear is connected to the shaft of the 2nd X freedom degree helm gear and rotates with shaft, and mixing head is connected to the 2nd Y freedom degree rudder
The shaft of machine device is simultaneously rotated with shaft；Mixing head is equipped with feed inlet (2301), air inlet (2302) and discharge port (2303),
The feed inlet is connected to coating material cartridge, and the air inlet is connected to gas cylinder, one end of the discharge port connection jet pipe, and the spray head is located at
The other end of jet pipe.
2. a kind of intelligence spraying unmanned plane according to claim 1, it is characterised in that: during the drone body includes
Heart skeleton (4), foot prop, rotor bar (5) and lifting device (6), center framework include upper layer bone plate (401) and lower layer's bone plate
(402), the upper layer bone plate is parallel to each other with lower layer bone plate, and upper layer bone plate is equipped with the square hole (11) for fixing Main Control Tank, also
Equipped with the more support columns (12) for fixing coating material cartridge；Lower layer's bone plate and upper layer bone plate is equipped with for clamping gas cylinder
Circular hole；One end of rotor bar is between upper layer bone plate and lower layer's bone plate and is clamped, and the other end of rotor bar is equipped with motor cabinet
(10), lifting device is fixed on motor cabinet；The foot prop is connected on lower layer's bone plate.
3. a kind of intelligence spraying unmanned plane according to claim 2, it is characterised in that: the quantity of the rotor bar is
Six, rotor bar is radially circumferentially uniformly distributed in the outer rim of center framework.
4. according to a kind of intelligence spraying unmanned plane according to claim 2, it is characterised in that: the lifting device includes
Screw wing (603) are equipped in the shaft of upper motor (601) and lower motor (602), upper motor and lower motor.
5. a kind of intelligence spraying unmanned plane according to claim 4, it is characterised in that: be provided on the rotor bar anti-
It hits ring (7), anticollision ring includes the annulus for covering hub and being connected on drum kit；Set hub is socketed on rotor bar, and the radius of annulus is greater than
The radius of turn of screw wing.
6. a kind of intelligence spraying unmanned plane according to claim 1, it is characterised in that: the bearing frame includes that upper layer connects
Frame (14), bradyseism ball (15) and lower layer's connection frame (16) are connect, is respectively equipped with corresponding company on upper layer connection frame and lower layer's connection frame
Connecing hole, bradyseism ball is equipped with interface channel, it is equipped with bolt in connecting hole and interface channel, screw bolt passes upper layer connection frame,
Bradyseism ball and lower layer's connection frame.
7. a kind of intelligence spraying unmanned plane according to claim 1, it is characterised in that: the first X freedom degree helm gear packet
L shape connector (1701) and steering engine are included, L shape connector is connected and fixed with lower layer's connection frame, and steering engine is fixed on L shape connector.
8. a kind of intelligence spraying unmanned plane according to claim 1, it is characterised in that: the first Y freedom degree helm gear packet
It includes corner connector (1801), corner connector is connected to the first X freedom degree helm gear, and steering engine is arranged in corner connector
On.
9. a kind of intelligence spraying unmanned plane according to claim 1, it is characterised in that: be provided in the coating material cartridge more
A coating chamber, each coating are intracavitary filled with monochromatic liquid coating；The paint finishing quantity is greater than one, paint finishing point
It is not connected to the different coating chamber of coating material cartridge.
10. a kind of intelligence spraying unmanned plane according to claim 9, it is characterised in that: be connected at the feed inlet
Hydraulic pump, the inlet of hydraulic pump are connected to the coating chamber of coating material cartridge by hose, the liquid outlet connection mixing head of hydraulic pump into
Material mouth；Air valve is provided at the air inlet, a port of air valve is communicated to gas cylinder by hose, the connection of another port
The air inlet of mixing head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821097500.1U CN208412142U (en) | 2018-07-11 | 2018-07-11 | A kind of intelligence spraying unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110905171A (en) * | 2019-12-10 | 2020-03-24 | 广东工业大学 | Multifunctional intelligent spray gun |
| JP2020192907A (en) * | 2019-05-29 | 2020-12-03 | 株式会社日立製作所 | Flying object, flying object system and method for coating object to be coated |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020192907A (en) * | 2019-05-29 | 2020-12-03 | 株式会社日立製作所 | Flying object, flying object system and method for coating object to be coated |
| WO2020241198A1 (en) * | 2019-05-29 | 2020-12-03 | 株式会社日立製作所 | Flying object, flying object system, and method for painting object to be painted |
| JP7211895B2 (en) | 2019-05-29 | 2023-01-24 | 株式会社日立製作所 | Projectile object, projectile system, and coating method for object to be coated |
| CN110905171A (en) * | 2019-12-10 | 2020-03-24 | 广东工业大学 | Multifunctional intelligent spray gun |
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Granted publication date: 20190122 Termination date: 20210711 |