WO2022198948A1

WO2022198948A1 - Aerial smart spraying construction robot

Info

Publication number: WO2022198948A1
Application number: PCT/CN2021/119735
Authority: WO
Inventors: 钱元弟; 金仁才; 葛琎; 尹万云; 刘宿城; 吴玉秀; 余同德; 叶胜军; 徐向荣; 王瀚; 王晋东; 施磊磊; 王慧
Original assignee: 中国十七冶集团有限公司
Priority date: 2021-03-25
Filing date: 2021-09-23
Publication date: 2022-09-29
Also published as: CN113062567A; CN113062567B

Abstract

Disclosed is an aerial smart spraying construction robot, related to the technical field of unmanned aerial vehicle applications. The aerial smart spraying construction robot of the present invention comprises an unmanned aerial vehicle body and also comprises a spraying apparatus and a power apparatus. The spraying apparatus is mounted on the unmanned aerial vehicle body and is used for spraying a construction paint. The power apparatus comprises a battery, a copper clad laminate, and a brush. The copper clad laminate is mounted on the unmanned aerial vehicle body and is electrically connected to the battery via the brush. The battery is detachably connected to the copper clad laminate. The employment of the technical solution of the present invention implements the integration of an aerial robot and an automatic spraying system, and facilitates battery swapping for an unmanned aerial vehicle, thus increasing the endurance thereof, and providing convenience for automated operations of construction spraying.

Description

An aerial intelligent spraying construction robot

technical field

The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an aerial intelligent spraying construction robot.

Background technique

At present, the spraying of paint on the exterior walls of buildings is mostly manual work, which is labor-intensive, high-risk, and low-efficiency, and the paint droplets are harmful to the sprayers. Although there are semi-mechanized auxiliary traction and carrying equipment, manual spraying is inseparable.

In recent years, with the rapid development of drone technology, drones have been widely used in various fields of industrial and agricultural production in high-altitude operations. For example, the use of drones to spray pesticides and replace manual labor for other operations that are harmful to the human body is gradually being applied, but the use of aerial robots in the field of intelligent buildings is basically blank in China's independent research and development field. Therefore, combining aerial robots with the construction industry and designing an aerial construction spraying robot to liberate construction spraying workers is of great practical significance for reducing the labor intensity of workers and improving the quality and efficiency of spraying.

After searching, there are also a few patent documents on UAVs for architectural spraying.

For example, the Chinese patent application number is 201710820973.3, and the application date is September 13, 2017, which discloses a high-altitude spraying drone for building exterior walls and its operation method. The drone in this application includes a multi-rotor unmanned aerial vehicle. Machine and spraying device, the spraying device includes paint delivery pipe interface, spraying pipeline, electromagnetic control valve and directional nozzle. The nozzle is sprayed out; the other side of the multi-rotor drone relative to the directional nozzle is equipped with a hedging rotor; the driving power of the drone is an external power supply. This application uses UAV as a carrier, and through the structural design of directional side spray and hedging balance, the ineffective load of UAV can be reduced to a certain extent, which can not only realize safe high-altitude spraying operation, but also realize continuous operation, improve UAV operation efficiency.

Another example, the Chinese patent application No. 201921611189.2 discloses an unmanned aerial vehicle spraying device for architectural coatings. The spraying device of this application includes a signal wireless transmission device, a paint spraying box, a coaxial reverse propeller, a rack, a landing Supporting feet, photographic device, paint spraying head, the frame is arranged on the paint spraying box, four coaxial reverse propellers are arranged on the four corners of the frame, and a plurality of landing feet are symmetrically arranged on the four corners of the paint spraying box. The spray head is arranged on the paint spraying box, the camera device and the wireless transmission device are arranged on the paint spraying box, and the photographing device is connected with the wireless transmission device signal. Spraying saves labor and greatly facilitates the spraying of architectural coatings.

However, the above-mentioned drones are often unable to provide a long battery life for the spraying operation, resulting in poor battery life of the current spraying drones. Therefore, how to improve the endurance of spraying drones is a technical problem that needs to be solved urgently. Although there are also related researches that have proposed solutions to improve the endurance of drones. For example, the application No. 2015103534560 discloses an automatic battery replacement device for drones, but when replacing the battery, it is necessary to design corresponding This requires a corresponding battery replacement platform, which makes the battery replacement process complicated, and the construction of the corresponding battery replacement platform also increases the operating cost.

SUMMARY OF THE INVENTION

1. The problem to be solved

In view of the fact that there are relatively few domestic researches on UAVs for architectural spraying, and the batteries of the UAVs are inconvenient to replace and the endurance is difficult to meet the requirements of use, the present invention provides an aerial intelligent spraying construction robot. By adopting the technical scheme of the present invention, the integration of the aerial robot and the automatic spraying system can be realized, and the battery can be easily replaced for the drone, the battery life is improved, and the automatic operation of architectural spraying is provided.

2. Technical solutions

In order to solve the above problems, the technical scheme adopted in the present invention is as follows:

An aerial intelligent spraying construction robot of the present invention includes an unmanned aerial vehicle body, a spraying device and a power device, wherein the spraying device is installed on the unmanned aerial vehicle body and is used for spraying architectural paint; the power device includes a battery, a coating A copper plate and a brush, the copper clad plate is mounted on the drone body and is electrically connected to the battery through the brush, and the battery is detachably connected to the copper clad plate.

Further, the spraying device includes a paint tank, a main pipeline and a nozzle, wherein the nozzle is installed on the drone body and connected to the paint tank through the main pipeline, and the paint tank is also detachably connected to the copper clad laminate.

Further, the top of the copper clad laminate is fixedly connected to the drone body through a fixing rod, and a number of second adsorption parts are installed around it, and the battery and the paint box are installed around the battery and the paint box to cooperate with the second adsorption parts. of several first adsorption pieces.

Further, the copper clad plate is provided with a mounting frame, and the mounting frame includes longitudinal connecting rods symmetrically located at both ends of the copper clad plate and distributed along the length direction of the battery and the paint box, and located on both sides of the copper clad plate and perpendicular to the longitudinal connecting rods. And the symmetrical distribution of the four transverse connecting rods, the six second adsorption parts are respectively installed on the bottom of the six connecting rods; the battery and the paint box are provided with mounting plates corresponding to the longitudinal connecting rods and the transverse connecting rods, The first suction member is correspondingly mounted on the mounting plate.

Further, the outer periphery of the first adsorption member is provided with a guide member with a tapered structure, and the guide member consists of a first end portion, a second end portion that are parallel to each other, and a connection between the first end portion and the second end portion. It is composed of several spokes distributed at intervals, the first adsorption member is located in the inner hole of the first end, and the inner diameter of the first end is smaller than the inner diameter of the second end.

Furthermore, the first adsorption part and the second adsorption part are magnetic adsorption parts, and an upwardly extending conical magnetic field is distributed around the first adsorption part, and the magnetic field of the conical magnetic field is opposite to that of the second adsorption part. .

Further, the nozzle is installed on the mechanical arm of the drone body, which includes a horizontal nozzle, a vertical nozzle and an inclined nozzle, and the horizontal nozzle, the vertical nozzle and the inclined nozzle are all connected with the main pipe. connected and connected to each other through a switch interface.

Further, the nozzles include two sets of symmetrically arranged nozzles, and the two horizontal nozzles are parallel to each other and are respectively located above the transverse connecting rods.

Further, six mechanical arms are arranged at annular intervals along the periphery of the drone body, and the two sets of nozzles are correspondingly installed on the four oppositely arranged mechanical arms.

Further, an ultrasonic sensor is respectively provided on both sides of the drone body, and the ultrasonic sensor is used to measure the distance between the drone and the vertical spraying surface.

Furthermore, the rotors of each mechanical arm of the robot are all connected to the drive motor, and the drive motor is connected to the control unit through the drive controller.

Furthermore, the ultrasonic sensor is connected with the control unit via the task manager.

3. Beneficial effects

Compared with the prior art, the beneficial effects of the present invention are:

(1) A kind of aerial intelligent spraying construction robot of the present invention can realize the automation of building spraying operation through the setting of spraying device, thereby solving the problem that the personal safety of high-rise building exterior wall spraying workers is threatened, and improving spraying efficiency and spraying quality , which can fill the gap in the research and development of domestic aerial intelligent spraying robots. At the same time, the present application can replace the battery for the drone through the setting of the power device, so as to meet the battery life requirements, and the battery replacement operation is simple.

(2) In the aerial intelligent spraying construction robot of the present invention, the paint box is also detachably connected to the copper clad laminate, so that the battery and the paint box can be replaced at the same time, which is beneficial to ensure the continuity of the spraying operation. Specifically, both the battery and the paint box are connected to the copper clad laminate through a magnetic adsorption device, so that the battery and the paint box can be easily replaced.

(3) In an aerial intelligent spraying construction robot of the present invention, a mounting frame is provided on the copper clad plate. By optimizing the structure of the mounting frame, the overall structure of the drone can be ensured during take-off and spraying operations. The stability and structural strength, the firmness of the connection between the drone and the battery and the paint box, are also conducive to reducing the overall weight of the drone, and the overall structure is simple.

(4) In an aerial intelligent spraying construction robot of the present invention, the outer periphery of the first adsorption member is provided with a guide member with a tapered structure, and the installation of the drone body and the power device can be connected by the setting of the tapered guide member. Guided to improve the efficiency and accuracy of its installation and connection. At the same time, the first end portion and the second end portion of the guide member are connected by the spokes distributed at intervals, thereby helping to reduce the weight of the guide member, thereby reducing the load of the spraying drone and reducing energy consumption.

(5) In an aerial intelligent spraying construction robot of the present invention, an upwardly extending conical magnetic field is distributed around the first adsorption piece. The magnetic field of the conical magnetic field is opposite to that of the second adsorption piece. Guiding the installation connection between the second adsorption piece and the first adsorption piece is beneficial to further improve the accuracy and efficiency of the installation connection, does not occupy a large installation space, and can better reduce the overall weight.

(6) An aerial intelligent spraying construction robot of the present invention, wherein the spray pipe includes a horizontal spray pipe, a vertical spray pipe and an inclined spray pipe, and the horizontal spray pipe, the vertical spray pipe and the inclined spray pipe are all connected with the main pipeline, And they are connected with each other through the exchange interface, so that the walls of different angles can be sprayed according to the needs, especially the spraying requirements of complex wall structures can be met. At the same time, the present application optimizes the distribution of the nozzles, wherein the two horizontal nozzles are parallel to each other and are respectively located above the transverse connecting rods, which is beneficial to further ensure the stability of the overall structure during the spraying operation.

Description of drawings

Fig. 1 is the structural representation (1) of the aerial intelligent spraying construction robot of the present invention;

Fig. 2 is the structural representation (two) of the aerial intelligent spraying construction robot of the present invention;

3 is a schematic structural diagram of a battery life device of the present invention;

4 is a schematic diagram of the installation structure of the drone body and the endurance device of the present invention;

FIG. 5 is a schematic structural diagram of the guide member of the present invention.

In the picture:

1. UAV body; 11. Mechanical arm; 12. Rotor; 2. Spraying device; 21. Horizontal nozzle; 22. Vertical nozzle; 23. Inclined nozzle; 24. Paint tank; 25. Main pipeline; 3. Power unit; 31. Battery; 32. Guide; 321, First end; 322, Second end; 323, Spoke; 33, Copper clad laminate; 34, Fixing rod; 35, Brush; 36, Installation plate; 37, longitudinal connecting rod; 38, transverse connecting rod; 41, first suction part; 42, second suction part.

Detailed ways

The present invention will be further described below with reference to specific embodiments.

Example 1

In conjunction with Fig. 1, Fig. 2 and Fig. 4, a kind of aerial intelligent spraying construction robot of the present embodiment comprises an unmanned aerial vehicle body 1, a spraying device 2 and a power device 3, wherein an annular space is arranged around the unmanned aerial vehicle body 1. Distributed at least three mechanical arms 11, the end of the mechanical arm 11 is provided with a rotor 12, and the spraying device 2 is installed on the drone body 1 for spraying architectural paint; the power device 3 is connected to the bottom of the body, for Provide power for the drone, which includes a battery 31, a copper clad plate 33 and a brush 35. The copper clad plate 33 is mounted on the drone body 1 and is electrically connected to the battery 31 through the brush 35, and the battery 31 is connected to the copper clad plate. 33 can be detachably connected. In this embodiment, the drone is combined with building spraying, and the spraying device can effectively realize the automation of building wall paint spraying, thereby improving spraying efficiency and solving the problem that the personal safety of high-rise building exterior wall spraying workers is easily threatened. At the same time, how to ensure the endurance of the drone is very important to improve the continuity and efficiency of the spraying operation. In this embodiment, the setting of the power device 3 can be connected to the spraying drone when power is required, thereby providing a power source for the drone and solving the problem of the battery life of the spraying drone. When the battery power is used up, the drone is landed, the battery 31 is removed from the copper clad laminate 33, and a new battery 31 is replaced and connected, so that the battery life of the drone can be realized, which is beneficial to improve the efficiency of the spraying operation, and the The structure of the power unit is simple, and the battery replacement operation is simple.

Specifically, the spraying device 2 of this embodiment includes a paint tank 24, a main pipeline 25 and a nozzle, wherein the nozzle is installed on the drone body 1 and is connected to the paint tank 24 through the main pipeline 25, and the paint tank 24 is also It is detachably connected to the copper clad laminate 33 . The spraying operation can be performed by conveying the paint to the nozzle through the paint tank 24. In this embodiment, the paint tank 24 is detachably connected to the copper clad laminate 33 like the battery 31, so that the battery 31 and the paint tank 24 can be replaced at the same time, which is convenient to ensure Continuity of spraying operations.

Example 2

The structure of an aerial intelligent spraying construction robot of this embodiment is basically the same as that of Embodiment 1, and the main difference lies in that: in this embodiment, the top of the copper clad laminate 33 is fixedly connected to the drone body 1 through the fixing rod 34, and its surrounding A plurality of second adsorption members 42 are installed, and a plurality of first adsorption members 41 matched with the second adsorption members 42 are installed around the battery 31 and the paint box 24 . The first suction member 41 and the second suction member 42 are magnetic suction devices, and the battery 31 can be installed and replaced through the cooperation of the first suction member 41 and the second suction member 42 .

It should be noted that there are also research reports on spraying drones, but on the one hand, the endurance of existing drones is relatively poor. It is possible to reduce the weight of the UAV and ensure the overall structural strength and stability of the UAV during its flight and spraying operations. It is very important for the practical application of spraying UAVs. Based on the above requirements, this embodiment optimizes the design of the connection structure between the battery 31, the paint box 24 and the drone body. Specifically, as shown in FIG. 3, the copper clad laminate 33 in this embodiment is provided with a mounting frame, The mounting frame includes longitudinal connecting rods 37 symmetrically located at both ends of the copper clad laminate 33 and distributed along the length direction of the battery 31 and the paint box 24, and four lateral connections located on both sides of the copper clad laminate 33, perpendicular and symmetrically distributed to the longitudinal connecting rods 37 The rods 38 (the longitudinal connecting rods 37, the transverse connecting rods 38 and the copper clad laminate 33 together form an integral frame structure to wrap the battery 31 as a whole), and the six second adsorption members 42 are respectively installed on the bottoms of the six connecting rods. Mounting plates 36 corresponding to the longitudinal connecting rods 37 and the transverse connecting rods 38 are arranged around the battery 31 and the paint box 24 , and the first adsorption member 41 is correspondingly mounted on the mounting plates 36 .

Through the above structural design, on the one hand, it is beneficial to ensure the firmness of the connection between the battery 31 and the paint box 24 and the drone body, and on the other hand, it can also ensure the stability of the overall structure during flight, thereby helping to ensure the quality of spraying. In addition, the use of this connection structure can also greatly reduce the weight of the overall structure and ensure the lightweight of the UAV. At the same time, the battery and the paint box are easy to install and replace, so that it can meet the needs of practical promotion and application.

Example 3

The structure of an aerial intelligent spraying construction robot of this embodiment is basically the same as that of Embodiment 2, and the main difference is that: in this embodiment, the outer periphery of the first adsorption member 41 is provided with a guide member 32 having a tapered structure, as shown in FIG. 5 . As shown, the guide member 32 is composed of a first end portion 321, a second end portion 322 that are parallel to each other, and a plurality of spaced spokes 323 connecting the first end portion 321 and the second end portion 322 (the first end portion 322). 321 is fixedly mounted on the mounting plate 36 ), the first suction member 41 is located in the inner hole of the first end portion 321 , and the inner diameter of the first end portion 321 is smaller than the inner diameter of the second end portion 322 . The connection between the battery and the paint box and the UAV can be guided by the setting of the guide, so as to ensure the accuracy of the alignment connection and improve the connection efficiency. weight, thereby reducing the load of the spraying drone and reducing energy consumption. The material of the guide member 32 can be selected from a plastic part or an aluminum part or other light materials.

Example 4

The structure of an aerial intelligent spraying construction robot of this embodiment is basically the same as that of Embodiment 2, and the main difference is that: in this embodiment, an upwardly extending conical magnetic field is distributed around the first adsorption member 41 (the upper opening of the magnetic field is larger than that of the magnetic field) The bottom, similar in structure to the guide, can be realized by arranging a circle of repelling magnets at the same level on the first attracting member 41 (illustration omitted). The magnetic field of the conical magnetic field is opposite to that of the second attracting member 42 . When the guide member 3 is used for guidance, although the alignment accuracy and efficiency can be improved, the stability of the alignment connection between the first adsorption member 41 and the second adsorption member 42 still has certain problems during the spraying operation, thereby affecting the spraying quality. In this embodiment, the design of the conical magnetic field replaces the guide member 32 to guide the alignment connection between the first adsorption member 41 and the second adsorption member 42, so that on the one hand, the alignment accuracy and efficiency can be further improved, and on the other hand, with the help of the The repulsive force of the magnetic field can effectively ensure the stability of the alignment connection between the first adsorption member 41 and the second adsorption member 42 during the spraying operation, thus helping to ensure the spraying quality.

Example 5

The structure of an aerial intelligent spraying construction robot of this embodiment is basically the same as that of Embodiment 2, and the main difference is that: in this embodiment, six mechanical arms 11 are arranged at annular intervals along the periphery of the drone body 1, so The nozzle is installed on the mechanical arm 11 of the drone body 1, which includes a horizontal nozzle 21, a vertical nozzle 22 and an inclined nozzle 23, and the horizontal nozzle 21, the vertical nozzle 22 and the inclined nozzle 23. They are all connected to the main pipeline 25, and are connected to each other through a switching interface. Specifically, when spraying building exterior walls, use spraying pipes perpendicular to the walls. When spraying complex building exterior walls, switch spraying pipes at corresponding angles to meet the spraying needs of different working surfaces and fully realize various building exteriors. Wall painting work.

More preferably, the nozzles include two sets of symmetrically arranged nozzles, and the two horizontal nozzles 21 are parallel to each other and are respectively located above the transverse connecting rods 38, so that the spraying efficiency can be improved, and the entire device can be ensured at the same time. structural stability.

The two sides of the drone body 1 are respectively provided with an ultrasonic sensor, which is used to measure the distance between the drone and the vertical spray surface, and transmit the measured distance to the task manager to convert it into a control command , the control unit assigns the control instructions from the task manager, and transmits the control instructions to each drive controller correspondingly, and each drive controller controls the corresponding drive motor to rotate according to the received control instructions, and adjusts the direction of the drone.

Claims

An aerial intelligent spraying construction robot, comprising an unmanned aerial vehicle body (1), characterized in that it further comprises a spraying device (2) and a power device (3), wherein the spraying device (2) is installed on the unmanned aerial vehicle body (1) The power unit (3) includes a battery (31), a copper clad laminate (33) and an electric brush (35), and the copper clad laminate (33) is installed on the drone body (1) and passes through The electric brush (35) is electrically connected with the battery (31), the spraying device (2) includes a paint box (24), and a plurality of second adsorption parts (42) are installed around the copper clad plate (33), so that the The battery (31) and the paint box (24) are provided with a plurality of first adsorption parts (41) that cooperate with the second adsorption parts (42) around the battery (31) and the paint box (24). A rack, the mounting rack includes longitudinal connecting rods (37) symmetrically located at both ends of the copper clad laminate (33) and distributed along the length direction of the battery (31) and the paint box (24), and located on both sides of the copper clad laminate (33), and longitudinal The connecting rods (37) are vertically and symmetrically distributed with four transverse connecting rods (38), and the six second adsorption members (42) are respectively mounted on the bottoms of the six connecting rods; the battery (31) and the paint box (24) Mounting plates (36) corresponding to the longitudinal connecting rods (37) and the transverse connecting rods (38) are arranged around the perimeter, and the first adsorption piece (41) is correspondingly mounted on the mounting plate (36); the first adsorption piece (41) and the second adsorption member (42) are magnetic adsorption members, and a conical magnetic field extending upward is distributed around the first adsorption member (41). Magnetic opposite.
An aerial intelligent spraying construction robot according to claim 1, characterized in that: the spraying device (2) further comprises a main pipe (25) and a nozzle, wherein the nozzle is installed on the drone body (1) It is connected with the paint tank (24) through the main pipeline (25).
The aerial intelligent spraying construction robot according to claim 2, characterized in that: the top of the copper clad plate (33) is fixedly connected to the drone body (1) through a fixing rod (34).
An aerial intelligent spraying construction robot according to claim 2 or 3, characterized in that: the nozzle is mounted on the mechanical arm (11) of the drone body (1), and comprises a horizontal nozzle (21) , vertical nozzle (22) and inclined nozzle (23), horizontal nozzle (21), vertical nozzle (22) and inclined nozzle (23) are all connected with the main pipe (25), and they are connected to each other connected through a switch interface.
The aerial intelligent spraying construction robot according to claim 4, characterized in that: the spray pipe comprises two sets of symmetrically arranged spray pipes, and the two horizontal spray pipes (21) are parallel to each other and are respectively located on the horizontal connecting rod ( 38) above.
The aerial intelligent spraying construction robot according to claim 4, characterized in that: the ends of the horizontal spray pipe (21), the vertical spray pipe (22) and the inclined spray pipe (23) are all provided with atomization sprinkler.
An aerial intelligent spraying construction robot according to claim 5, characterized in that: six mechanical arms (11) distributed at annular intervals are arranged along the periphery of the drone body (1), and the two groups of nozzles are correspondingly installed in on the four oppositely arranged mechanical arms (11).
An aerial intelligent spraying construction robot according to claim 2 or 3, characterized in that: two sides of the drone body (1) are respectively provided with an ultrasonic sensor, and the ultrasonic sensor is used to measure the drone Distance from vertical spray surface.
The aerial intelligent spraying construction robot according to claim 8, characterized in that: the rotors (12) of the robotic arms (11) of the robot are all drivingly connected to a drive motor, and the drive motor is connected to the control unit through a drive controller.
The aerial intelligent spraying construction robot according to claim 9, wherein the ultrasonic sensor is connected to the control unit via a task manager.