Damp-proof and anti-corrosion material spraying device for concave surface of outer wall of wood structure building

Abstract

The invention discloses a damp-proof and anti-corrosion material spraying device for a concave surface of an outer wall of a wood structure building, relates to the technical field of building spraying equipment, and aims to solve the problems of spraying dead angles, non-uniform coverage and low efficiency in the prior art. The main structure comprises a multi-nozzle device, a hydraulic control system and a self-adaptive deformation module, wherein the multi-nozzle device is provided with a plurality of independent nozzles (such as wide-angle atomizing nozzles and fine spot spraying nozzles) which are uniformly distributed on symmetrical mechanical arms, so that dead-angle-free coverage is realized; the hydraulic control system drives the mechanical arm through a hydraulic cylinder to realize + / -180-degree rotation, 0-90-degree turnover and 0.3-2m distance adjustment; the self-adaptive deformation module is integrated with a sensor, monitors the surface morphology in real time and automatically calibrates the posture of the nozzle. The spraying operation efficiency is improved by 30%-50%, the covering uniformity deviation is smaller than or equal to 5%, and the method is particularly suitable for spraying construction of a concave wall structure of a complex wooden building.

Description

Technical Field

[0001] This invention relates to the field of building spraying equipment technology, specifically to a spraying device for moisture-proof and anti-corrosion materials on the concave surface of the exterior wall of a wooden structure building. Background Technology

[0002] Wooden structures have a long history in my country, but significant challenges remain in moisture and corrosion prevention. Currently, the concealed surfaces of wooden structures (such as the internal contact surfaces of tenons and mortises) are the core channels for moisture intrusion, but traditional spraying equipment (such as extended spray guns) cannot cover these areas: the fixed nozzle angle makes it difficult to enter confined spaces, and shaking during operation can easily damage the wood; at the same time, uneven spraying leads to waste of chemicals or insufficient protection. In addition, while existing general-purpose hydraulic robotic arms can be used for spraying operations, the limited number and uneven distribution of nozzles, coupled with the difficulty in adaptively adjusting the spraying angle and spacing according to the external wall structure, result in insufficient robotic arm flexibility, poor liquid mixing, and low work efficiency.

[0003] The main limitations of existing technologies include: 1. Structural limitations: Traditional robotic arms only support movement in one direction and cannot adapt to irregular spaces; 2. Insufficient spray coverage: The sparse layout of the spray nozzles makes it difficult to achieve 100% coverage without dead angles; 3. Low control precision: The lack of intelligent sensors means that the nozzle posture cannot be adjusted in real time, which can easily cause liquid splashing.

[0004] Therefore, there is an urgent need for a robotic arm that combines adaptive deformation, multi-nozzle collaboration, and intelligent control to improve spraying efficiency and uniformity. This invention addresses this need by solving the aforementioned problems through innovative design. Summary of the Invention

[0005] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a spraying device for moisture-proof and anti-corrosion materials on the concave surface of the exterior wall of wooden structures. This spraying device can effectively solve the problems of insufficient spraying coverage and low efficiency in moisture-proofing and anti-corrosion of wooden structures.

[0006] To address the aforementioned problems, this invention provides a device for spraying moisture-proof and anti-corrosion materials onto the concave surface of the exterior wall of a wooden structure building, comprising: Multi-nozzle unit: Contains multiple independent nozzles, evenly distributed on two symmetrical robotic arms; nozzle types include wide-angle atomizing nozzles, fine spot spray nozzles, ultra-fine atomizing nozzles, and rotatable nozzles. The wide-angle atomizing nozzles are located on the outside of the robotic arms for large-area coverage, the fine spot spray nozzles are located on the inside of the robotic arms for crack injection, the ultra-fine atomizing nozzles are located at the front end of the robotic arms for surface treatment, and the rotatable nozzles are installed at the joints of the nozzle array for inner wall spraying; the nozzles are connected to the robotic arms via modular brackets with a snap-fit ​​design, allowing for quick disassembly and replacement. Hydraulic control system: This system drives the movement of the robotic arm through hydraulic cylinders, including rotary hydraulic cylinders for ±180° rotation and tilting hydraulic cylinders for 0°-90° tilting and unfolding hydraulic cylinders, and hydraulic cylinders for adjusting the distance between the two robotic arms from 0.3m to 2m; The main body of the hydraulic control system is located at the base of the robotic arm and is connected to the hydraulic pump and control valve group through high-pressure oil pipes. The control valve group is integrated at the joint of the robotic arm and remotely adjusts the oil flow through electrical signals; Adaptive Deformation Module: This module is located at the top of the robotic arm and includes a multi-stage joint mechanism driven by servo motors to extend diagonally up, down, left, right, and right in three-dimensional space. The module is embedded with miniature distance sensors and image sensors, which are arranged at the joint connection points to monitor the morphology of the wood surface in real time. The control unit automatically calibrates the nozzle posture to ensure that the nozzle maintains a constant spraying distance from the surface.

[0007] Preferably, the nozzle distribution structure of the multi-nozzle device is as follows: two robotic arms are symmetrically arranged, each robotic arm is a long strip aluminum alloy frame, and the nozzles are welded in the reserved holes of the frame at equal intervals. The diameter of the holes matches the nozzle base, and the nozzle outlet direction is adjustable and the angle is fixed by locking nuts.

[0008] Preferably, the hydraulic cylinders of the hydraulic control system include a rotary hydraulic cylinder, a tilting hydraulic cylinder, and an deploying hydraulic cylinder. The rotary hydraulic cylinder is installed at the connection between the base of the robotic arm and the main body, and rotates through gear transmission. The tilting hydraulic cylinder is located at the joint of the sub-arms and drives the nozzle arm to tilt through a linkage mechanism. The deploying hydraulic cylinder is horizontally arranged between the two sub-arms, and the distance is adjusted by the extension and retraction of the piston rod. All hydraulic cylinders are connected to the central hydraulic pump through high-pressure hoses. The pump station is located outside the robotic arm and is modularly connected through quick couplings.

[0009] Preferably, the multi-level joint mechanism of the adaptive deformation module includes a base joint, an intermediate joint, and an end joint. The base joint is fixed to the top of the robotic arm by bolts, the intermediate joint adopts a universal joint design, allowing ±45° deflection, and the end joint integrates a nozzle mount. The sensor is a laser rangefinder, which is embedded in the joint housing, and the cable is hidden along the joint gap to avoid interfering with the movement.

[0010] Preferably, the mixing chamber of the nozzle structure is a cylindrical cavity with a spiral guide groove on the inner wall of the cavity. The guide groove is connected to the liquid inlet tangentially to generate vortex mixing of the liquid. A replaceable nozzle with a diameter range of 2-8mm is installed at the outlet of the mixing chamber and is connected to the cavity by a thread.

[0011] Preferably, the spraying device also includes a dustproof baffle, which is an arc-shaped metal sheet and is installed in front of each nozzle via a hinge. In the non-working state, it is closed by a spring mechanism to cover the nozzle outlet, and in the working state, it is pushed open by an unfolding hydraulic cylinder.

[0012] Preferably, the pressurized air source is an independent air pump system. The air pump is connected to the nozzle inlet via a hose. The hose is laid along the groove on the side of the robotic arm frame. Each nozzle inlet is equipped with a pressure regulating valve, and the valve body is fixed to the nozzle base by a bracket.

[0013] Preferably, the control unit includes an industrial remote controller and an embedded processor, wherein the embedded processor is installed in a waterproof box at the base of the robotic arm and communicates with sensors and actuators via a CAN bus; the industrial remote controller is equipped with a display screen that displays the nozzle flow rate and robotic arm posture parameters in real time.

[0014] Preferably, each nozzle has two liquid inlets and one mixed liquid outlet. The liquid inlets are connected to the delivery pipe via a threaded interface, and the inner wall of the pipe is coated with Teflon. A pressurized air source is connected in parallel at the inlet, and the air source pressure is adjustable in the range of 0.2-0.8 MPa. A mixing chamber is set inside the nozzle, and the chamber is connected to the outlet via a conical channel to ensure that the liquid is sprayed out evenly after mixing.

[0015] The multi-nozzle device is connected to the main body of the hydraulic robotic arm via a hinge shaft; the hydraulic system oil pipes are laid along the frame of the robotic arm and fixed with clamps to prevent loosening; the sensors of the adaptive module are connected to the control unit via cables, and the control unit is integrated in the cockpit at the base of the robotic arm.

[0016] The advantages of this invention compared to the prior art are: The adaptive multi-nozzle hydraulic robotic arm of this invention solves the core problems in moisture and corrosion prevention of wooden structures through the coordinated work of its components: spraying dead corners on concealed surfaces (such as inside mortise and tenon joints), uneven coverage, and low efficiency. Overall, this invention achieves the following global advantages: Thorough, all-around coverage: The combination of components ensures that the protective agent covers all wood surfaces, including deep grooves and micro-gaps, completely eliminating the risk of decay.

[0017] Improved work efficiency: Compared with traditional equipment, it shortens the spraying time, increases the coverage area of ​​a single spray, and improves resource utilization.

[0018] Uniformity and precision optimization: Reduces spray density deviation, avoids problems such as liquid accumulation or excessive thinness, and protects fragile wood.

[0019] Flexibility and adaptability: The robotic arm can adapt to irregular and narrow spaces and can be extended to multiple application scenarios such as agriculture and industry. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structural layout of the hydraulic robotic arm in this invention; Figure 2 This is a schematic diagram showing the detailed structure of a single nozzle in this invention; Figure 3 This is a schematic diagram of the closed state of the hydraulic robotic arm in this invention; Figure 4 This is a schematic diagram of the deployed state of the hydraulic robotic arm in this invention; In the diagram: 1-spiral guide channel; 2-mixing chamber; 3-liquid inlet; 4-hydraulic system; 5-sub-arm; 6-mechanical joint; 7-actuating cylinder; 8-information transmission device; 9-telescopic arm body; 10-rotation control center; 11-driver's cab. Detailed Implementation

[0022] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0023] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] The present invention will now be described in further detail with reference to the accompanying drawings.

[0025] (1) Multi-nozzle device: It contains 16 independent nozzles, which are evenly distributed on two robotic arms (8 nozzles are set on each sub-arm 5) to ensure uniform spray density; the nozzles are fixed to the robotic arms through modular design, which supports quick replacement or maintenance.

[0026] (2) Hydraulic control system: The robotic arm is driven by a hydraulic cylinder to achieve multi-degree-of-freedom movements such as rotation (±180°), flipping (0°-90°), unfolding (maximum spacing 1.5-2 m) and merging (minimum spacing 0.3-0.5 m); equipped with a hydraulic locking device to fix the working posture of the robotic arm and ensure spraying stability.

[0027] (3) Nozzle structure: Each nozzle is equipped with two liquid inlets (A, B) and one mixed liquid outlet. The inlets are connected to a pressurized air source (pressure adjustable range 0.2-0.8 MPa) to assist in liquid delivery. The nozzle is equipped with a spiral guide groove and a mixing chamber to ensure that the two liquids are fully mixed before being sprayed out.

[0028] (4) Liquid control system: A flow regulating valve is installed at the liquid inlet, which can independently control the liquid ratio of each nozzle (A:B=1:1 to 1:3); the diameter of the mixed liquid outlet is adjustable (range 2-8 mm) to suit different spraying needs.

[0029] To more clearly illustrate the specific embodiments of the present invention, several examples are provided below: This invention relates to a moisture-proof and anti-corrosion material spraying device for the concave surface of the exterior wall of a wooden structure building. The structure is detailed in the attached document. Figures 1-4 The nozzle body includes a spiral guide channel 1, which is provided with spiral guide grooves to enhance the mixing degree of different liquids. It also includes a mixing chamber 2, containing a static mixer to enhance the uniformity of liquid mixing. Furthermore, the nozzle body includes two individual liquid inlets 3 and corresponding pressurized air inlets A and B. The pressurized air source is an independent air pump system with adjustable pressure to meet the spraying requirements of different liquids. The pressure range of the pressurized air source is 0.2~0.8 MPa, and the air-assisted spray intensity of each nozzle can be independently adjusted. Figure 1 The structure shown includes a hydraulic system 4 for a multi-nozzle device. The hydraulic drive system includes a hydraulic pump and control valve group for precisely adjusting the movement trajectory and posture of the robotic arm. It includes actuator cylinders 7 to control the retraction, flipping, and extension of the sub-arms. It includes mechanical joints 6 to control the rotation of the two sub-arms, allowing the sub-arms to extend from 0° to 180°. An information transmission device 8 is installed on the multi-nozzle device to receive and receive remote control signals, transmitting and receiving work commands, motion adjustment information, and providing feedback on related issues. The multi-nozzle device hydraulic robotic arm also includes a telescopic arm body 9, made of high-strength aluminum alloy, with a total telescopic length of 20-50m and a maximum load of 0.8-1.2t. The two sub-arms are connected by a hinge structure, and the distance between the sub-arms is adjusted by hydraulic cylinders. (Appendix) Figure 1 As shown, the rotation control center 10 and the cockpit 11.

[0030] Example 2: This embodiment is an improvement upon Embodiment 1. In this embodiment, the appendix to the specification is consulted. Figure 1 and Figure 4 As shown, before spraying operations, the multi-nozzle setup and robotic arm posture must be adjusted. Before starting the robotic arm rotation control 10, check the main pump working pressure using the hydraulic system pressure gauge, and check the hydraulic oil level and filter status. Adjust to a suitable working angle using the remote control; once the target angle is reached, the hydraulic locking valve automatically closes, fixing the robotic arm posture. Control the sub-arm tilting of the hydraulic system 4 pairs of the spray head equipment via remote control, selecting the sub-arm tilting mode (vertical downward / 45° angled / 30° angled) according to spraying needs. Switch the hydraulic cylinder extension / retraction direction using the solenoid valve group to control the sub-arm tilting angle. The hydraulic cylinder's built-in displacement sensor monitors the stroke, ensuring the sub-arm tilting angle deviation is ≤1°. When the hydraulic system pressure exceeds 18 MPa, the overflow valve automatically opens to prevent overload; when the sub-arm tilts to its limit position (90°), the mechanical limit switch is triggered, stopping the hydraulic cylinder movement.

[0031] Example 3: This embodiment is an improvement upon embodiment 2. In this embodiment, the appendix to the specification is consulted. Figure 1 and Figure 4 As shown, the robotic arm can be extended and its spacing adjusted during spraying operations. The extension mode can be selected according to the work scenario. Large spacing mode (maximum 1.5-2 m): suitable for spraying open areas. The two sub-arms are fully extended via hydraulic cylinders, as shown in the attached diagram. Figure 4 As shown; Small-pitch mode (minimum 0.3-0.5 m): suitable for narrow spaces or high-precision spraying. When the multi-nozzle device and hydraulic telescopic arm are adjusted to the optimal working posture, liquid delivery and mixing control are then performed. Liquid A and liquid B are delivered to the nozzle inlet through a pressurized source. The inner wall of the pipe is coated with Teflon to reduce liquid resistance, and the delivery efficiency can be increased by 20%-30%. The air compressor output pressure is precisely adjusted (0.2-0.8 MPa) through a proportional valve to adapt to liquids of different viscosities. When the material enters the mixing chamber, liquid A and liquid B form a laminar flow at the inlet of the mixing chamber, are forcibly mixed by the spiral guide channel, and then sprayed out until the end of the operation. At the end of the operation, the pipeline cleaning program is started. Clean water is used to backwash the pipeline and mixing chamber, and waste liquid is collected in a special container to avoid environmental pollution. Then the hydraulic system 4 drives the robotic arm to return to the initial position, as shown in the attached diagram. Figure 3 As shown, close the hydraulic locking valve and disconnect the liquid pipeline from the pressurized air source.

[0032] In summary, the advantages of this invention compared to the prior art are as follows: Efficiency Improvement: 16 nozzles working simultaneously increase coverage area by more than 4 times and reduce operation time by 30%-50%; Uniformity optimization: The combination of uniformly distributed nozzles and a spiral mixing chamber ensures that the spray density deviation is ≤5%; Enhanced flexibility: The robotic arm features multi-degree-of-freedom control, adapting to irregular terrain or complex tasks; Reduced energy consumption: Pressurized air source assists injection, reducing the load on the hydraulic system and reducing energy consumption by 20%-30%.

[0033] Finally, for all aspects of this invention, mature products and technologies from the prior art are used.

[0034] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A device for spraying moisture-proof and anti-corrosion materials on the concave surface of the exterior wall of a wooden structure building, characterized in that: include: Multi-nozzle unit: Contains multiple independent nozzles, evenly distributed on two symmetrical robotic arms; nozzle types include wide-angle atomizing nozzles, fine spot spray nozzles, ultra-fine atomizing nozzles, and rotatable nozzles. The wide-angle atomizing nozzles are located on the outside of the robotic arms for large-area coverage, the fine spot spray nozzles are located on the inside of the robotic arms for crack injection, the ultra-fine atomizing nozzles are located at the front end of the robotic arms for surface treatment, and the rotatable nozzles are installed at the joints of the nozzle array for inner wall spraying; the nozzles are connected to the robotic arms via modular brackets with a snap-fit ​​design, allowing for quick disassembly and replacement. Hydraulic control system: This system drives the movement of the robotic arm through hydraulic cylinders, including rotary hydraulic cylinders for ±180° rotation and tilting hydraulic cylinders for 0°-90° tilting and unfolding hydraulic cylinders, and hydraulic cylinders for adjusting the distance between the two robotic arms from 0.3m to 2m; The main body of the hydraulic control system is located at the base of the robotic arm and is connected to the hydraulic pump and control valve group through high-pressure oil pipes. The control valve group is integrated at the joint of the robotic arm and remotely adjusts the oil flow through electrical signals; Adaptive Deformation Module: This module is located at the top of the robotic arm and includes a multi-stage joint mechanism driven by servo motors to extend diagonally up, down, left, right, and right in three-dimensional space. The module is embedded with miniature distance sensors and image sensors, which are arranged at the joint connection points to monitor the morphology of the wood surface in real time. The control unit automatically calibrates the nozzle posture to ensure that the nozzle maintains a constant spraying distance from the surface.

2. The device for spraying moisture-proof and anti-corrosion materials on the concave surface of the exterior wall of a wooden structure building according to claim 1, characterized in that: The nozzle distribution structure of the multi-nozzle device is as follows: two robotic arms are symmetrically arranged, each robotic arm is a long strip aluminum alloy frame, and the nozzles are welded in the reserved holes of the frame at equal intervals. The diameter of the holes matches the nozzle base, and the nozzle outlet direction is adjustable and the angle is fixed by locking nuts.

3. The device for spraying moisture-proof and anti-corrosion materials on the concave surface of the exterior wall of a wooden structure building according to claim 1, characterized in that: The hydraulic control system includes a rotary hydraulic cylinder, a tilting hydraulic cylinder, and an unfolding hydraulic cylinder. The rotary hydraulic cylinder is installed at the connection between the base of the robotic arm and the main body, and rotates through gear transmission. The tilting hydraulic cylinder is located at the joint of the sub-arms and drives the nozzle arm to tilt through a linkage mechanism. The unfolding hydraulic cylinder is horizontally arranged between the two sub-arms, and the distance is adjusted by the extension and retraction of the piston rod. All hydraulic cylinders are connected to the central hydraulic pump through high-pressure hoses. The pump station is located outside the robotic arm and is modularly connected through quick couplings.

4. The device for spraying moisture-proof and anti-corrosion materials on the concave surface of the exterior wall of a wooden structure building according to claim 1, characterized in that: The multi-level joint mechanism of the adaptive deformation module includes a base joint, an intermediate joint, and an end joint. The base joint is fixed to the top of the robotic arm by bolts. The intermediate joint adopts a universal joint design, allowing ±45° deflection. The end joint integrates a nozzle holder. The sensor is a laser rangefinder, embedded inside the joint shell, with the cable hidden along the joint gaps to avoid interfering with movement.

5. The device for spraying moisture-proof and anti-corrosion materials on the concave surface of the exterior wall of a wooden structure building according to claim 1, characterized in that: The mixing chamber of the nozzle structure is a cylindrical cavity with a spiral guide groove on the inner wall. The guide groove is connected to the liquid inlet tangentially to generate vortex mixing of the liquid. A replaceable nozzle with a diameter range of 2-8mm is installed at the outlet of the mixing chamber and is connected to the chamber by threads.

6. The device for spraying moisture-proof and anti-corrosion materials on the concave surface of the exterior wall of a wooden structure building according to claim 1, characterized in that: The spraying device also includes a dustproof baffle, which is an arc-shaped metal sheet that is hinged and installed in front of each nozzle. In the non-working state, it is closed by a spring mechanism to cover the nozzle outlet, and in the working state, it is pushed open by an unfolding hydraulic cylinder.

7. The device for spraying moisture-proof and anti-corrosion materials on the concave surface of the exterior wall of a wooden structure building according to claim 1, characterized in that: The pressurized air source is an independent air pump system. The air pump is connected to the nozzle inlet through a hose. The hose is laid along the groove on the side of the robotic arm frame. Each nozzle inlet is equipped with a pressure regulating valve, and the valve body is fixed to the nozzle base by a bracket.

8. The device for spraying moisture-proof and anti-corrosion materials on the concave surface of the exterior wall of a wooden structure building according to claim 1, characterized in that: The control unit includes an industrial remote controller and an embedded processor. The embedded processor is installed in a waterproof box at the base of the robotic arm and communicates with sensors and actuators via a CAN bus. The industrial remote controller is equipped with a display screen that displays the nozzle flow rate and robotic arm posture parameters in real time.

9. The device for spraying moisture-proof and anti-corrosion materials on the concave surface of the exterior wall of a wooden structure building according to claim 1, characterized in that: Each nozzle is provided with two liquid inlets and one mixed liquid outlet. The liquid inlets are connected to the delivery pipe via a threaded interface, and the inner wall of the pipe is coated with Teflon. A pressurized air source is connected in parallel at the inlet, and the air source pressure is adjustable in the range of 0.2-0.8 MPa. A mixing chamber is set inside the nozzle, and the chamber is connected to the outlet via a conical channel to ensure that the liquid is sprayed out evenly after mixing. The multi-nozzle device is connected to the main body of the hydraulic robotic arm via a hinge shaft; the hydraulic system oil pipes are laid along the frame of the robotic arm and fixed with clamps to prevent loosening; the sensors of the adaptive module are connected to the control unit via cables, and the control unit is integrated in the cockpit at the base of the robotic arm.

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