JP2001300359A - Device for waterproofing work - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that the thickness of a waterproofing coating film is made nonuniform due to the supply condition of a resin waterproofing material in the waterproofing work for spraying the material over the face of the roof of a building, etc., consequently the development of the technique is required by which a desired film thickness is obtained stably. SOLUTION: The device 50 for waterproofing work is furnished with a command part 84 (control part 84) to output a command to stop the supply of the resin waterproofing material to a spray nozzle 52 by a waterproofing material supply mechanism 51, when abnormality is detected in the measurement data on the flow rate of the resin waterproofing material (concretely, the discrete flow rates of the materials A and B constituting the material).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a waterproof construction apparatus for forming a waterproof coating film by spraying a resin waterproof material onto a target construction surface such as a building roof.

[0002]

2. Description of the Related Art For example, as a waterproofing work (coating waterproofing) for forming a waterproof coating film on a construction surface such as the top of a building, a liquid resin waterproof material is sprayed from a spray nozzle held by an operator to the construction surface. Is widely used.
In the waterproofing of the floor surface such as the upper surface of the building described above, the worker moves the nozzle at an appropriate height from the construction surface at an appropriate swing speed (reciprocating motion) and moves with an appropriate foot. Form a waterproof coating of the desired thickness on the construction surface.

[0003]

In recent years, with the demand for improved durability of buildings, a waterproof layer including a waterproof coating film has also been required to have high durability.
However, even when the waterproof coating obtained by applying the resin waterproofing material and the material constituting the waterproof layer including the waterproof coating itself have sufficient waterproofing performance, it is practical to perform the construction management at the construction site perfectly. The waterproofing layer cannot be guaranteed for a long period of time due to such reasons as impossible, and the waterproofing contractor shall provide a guarantee of about 10 years at the request of the owner, the main contractor, or the designer. However, it is practically difficult to provide a longer-term guarantee (for example, 30 years or more). The waterproof performance of a waterproof layer in coating film waterproofing depends largely on the properties of the waterproof coating, such as the physical properties and film thickness, and if the desired properties are obtained in the waterproof coating, excellent waterproof performance over a long period of time. Can be maintained. However, until now, there has been no technology for effectively realizing construction management at a site, and construction management relied on the intuition of workers. For example, as a waterproofing construction apparatus for spray-coating a two-component resin waterproofing material that uses an isocyanate component and a polyol component mixed on site, the isocyanate component and the polyol component are pressure-supplied to spray nozzles through separate supply lines. In many cases, the spray nozzle sprays a mixture mixed in a built-in mixing unit and sprays the mixture onto a construction surface. In order to obtain a waterproof coating having the desired physical properties by spray coating with a resin waterproofing material using this waterproofing construction device, the mixing ratio of the isocyanate component and the polyol component is important. It was difficult to manage the construction ratio, and the actual situation was that the mixing ratio was not maintained during the construction work with the initial setting.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and by controlling the supply conditions (particularly, the mixing ratio and the supply flow rate) of a resin waterproofing material to a spray nozzle, it is possible to provide a waterproof coating with desired physical properties and properties. It is an object of the present invention to provide a waterproof construction apparatus capable of stably securing desired properties such as a film thickness and realizing a longer-term quality assurance.

[0005]

According to the first aspect of the present invention,
In a waterproofing construction apparatus in which a resin waterproofing material is supplied to a spray nozzle by a waterproofing material supply mechanism and sprayed and applied to a target construction surface such as the top of a building, a waterproof coating film is formed. A waterproof material supply stop command unit that outputs a command to stop the supply of the resin waterproof material by the waterproof material supply mechanism when an abnormality is detected in the measurement data of the flow rate of the resin waterproof material supplied to the nozzle. A waterproof construction apparatus characterized by the following is a means for solving the above problem. The invention according to claim 2 is a waterproof construction device that forms a waterproof coating film by supplying a resin waterproofing material to a spray nozzle by a waterproofing material supply mechanism and spraying and applying it to a target construction surface such as a building roof surface, The flow rate of the resin waterproofing material to the spray nozzle by the waterproofing material supply mechanism, the temperature, and the abnormality of at least one of the measurement data of the pressure are detected by the waterproofing material supply mechanism. A waterproof construction apparatus characterized by including a waterproof material supply stop command unit that outputs a command to stop supply is provided as means for solving the above-mentioned problem. The invention according to claim 3 is that the isocyanate component and the polyol component constituting the resin waterproofing material are supplied to the mixing section via separate supply lines and mixed, and then the target construction surface such as the top surface of a building is sprayed from the spray nozzle. In the waterproofing construction apparatus that forms a waterproof coating film by spraying on, when an abnormality is detected in the flow ratio between the supply line for the isocyanate component and the supply line for the polyol component, the waterproof material supply mechanism is used. A waterproof material supply stop command unit for outputting a command to stop the supply of the resin waterproof material is provided.

In the waterproofing installation apparatus of the present invention, when an abnormality is detected in the supply condition of the resin waterproofing material, the supply of the resin waterproofing material to the spray nozzle is stopped by the supply stop command from the waterproof material supply stop command unit. By doing so, the formation of the waterproof coating film by the resin waterproofing material supplied without satisfying the desired supply conditions is prevented. As a result, it is possible to prevent the occurrence of poor construction locations,
It is possible to stably form a waterproof coating having desired properties. For example, in the invention of claim 2, the supply conditions of the resin waterproofing material to the spray nozzle are set values (limit values; upper limit value of flow rate, temperature, pressure, lower limit value, lower limit value) set in a range in which construction failure does not occur. value)
When it is detected that the temperature has reached the limit, the supply of the resin waterproof material to the spray nozzle and the spray application are stopped assuming that an abnormality has been detected, thereby reliably preventing the occurrence of a defective construction site. As a result, the desired waterproof coating film can be continuously formed only by the resin waterproof material supplied to the spray nozzle and spray-applied under desired supply conditions. Claim 2
In the waterproof construction apparatus described above, it is not necessary to measure all of the flow rate, the temperature, and the pressure, and at least one of the flow rate, the temperature, and the pressure may be measured and used as measurement data for abnormality detection. Further, a configuration for measuring all of the flow rate, temperature, and pressure can also be adopted. In this case, however, it is not necessary to use all of the flow rate, temperature, and pressure as measurement data for abnormality detection. The data may be used as measurement data for abnormality detection.

The first aspect of the invention focuses on the supply flow rate of the resin waterproofing material. The third aspect of the present invention particularly relates to a mixing ratio determined by the flow rate ratio of the reaction-curable resinous waterproofing material of the isocyanate component and the polyol component. In both cases, when it is detected that the supply condition of the resin waterproofing material to the spray nozzle has reached the set value of the allowable range set in a range that does not cause a construction defect, the supply of the resin waterproofing material is performed. Is stopped to obtain only a waterproof coating film having desired properties such as coating film physical properties and film thickness. In particular, in the invention according to the third aspect, the supply of the waterproof material to the spray nozzle is automatically stopped by the abnormality detection of the flow rate ratio (mixing ratio), so that it is difficult to manage even with the experience of the worker. There is an advantage that the mixture ratio can be controlled.

The invention according to claim 3 is not limited to a configuration in which the supply of the resin waterproofing material is stopped simply in response to the detection of an abnormality in the flow rate ratio. For example, in addition to the flow rate ratio, an isocyanate component and a polyol component may be added. It is more preferable to adopt a configuration in which the supply of the resin waterproof material is stopped also by detecting an abnormality in the measurement data of the supply pressure ratio between the supply lines. As a result, if the flow rate ratio and the pressure ratio of the isocyanate component and the polyol component in the individual supply lines are all within the allowable ranges set so as not to cause construction failure, the isocyanate component and the polyol component are desired in the mixing section. Of the isocyanate component and the polyol component in a desired mixing state (for example,
As a result, the desired physical properties can be stably and surely obtained in the waterproof coating film formed by spraying and applying the resin waterproofing material after mixing. Further, if the supply of the resin waterproofing material is stopped by the abnormality detection based on the measurement data of the temperature of the isocyanate component and the temperature of the polyol component through the individual supply lines, the waterproof coating film having the desired physical properties can be obtained more reliably.

In the present invention, it is more preferable to adopt the following configuration. The invention according to claim 4 is the invention according to claims 1 to 3
The waterproofing construction device according to any one of the above, further comprising a display unit for displaying a temperature, a flow rate, a pressure, a cumulative usage amount, and the like of the resin waterproof material supplied from the waterproof material supply mechanism to the spray nozzle. I do. According to a fifth aspect of the present invention, in the waterproofing apparatus according to any one of the first to fourth aspects, at least the flow rate of the temperature, flow rate, and pressure of the resin waterproof material supplied to the spray nozzle is included. It is characterized by including a printer that prints out a construction record that displays the above measurement data corresponding to the construction time. According to a sixth aspect of the present invention, in the waterproofing construction apparatus according to any one of the first to fifth aspects, at least the flow rate or the flow rate of the temperature, the flow rate, and the pressure of the resin waterproof material supplied to the spray nozzle. The one or more measurement data including the data calculated from the above is made to correspond to the data indicating the installation position of the resin waterproofing material by the waterproof coating film forming robot that sprays and applies the resin waterproofing material by the spray nozzle mounted on the traveling unit. And a printer for printing out construction records to be displayed. According to a seventh aspect of the present invention, in the waterproofing construction apparatus according to any one of the first to sixth aspects, the waterproofing apparatus is mounted on the traveling unit in response to the output of the waterproof material supply mechanism stop command from the waterproof material supply stop command unit. The invention is characterized in that a robot for forming a waterproof coating film, which sprays and applies a resin waterproof material with a spray nozzle, is provided with a construction stop command unit for outputting a command to stop driving.

[0010]

Embodiments of the present invention will be described below with reference to the drawings.

(First Embodiment) A waterproof construction device 50 shown in FIGS.
Is supplied to the spray nozzle 52 to spray a resin waterproofing material 6 onto a target construction surface 10 such as the top of a building, thereby forming a waterproof coating film. The waterproof coating film is drawn from the tanks 8b and 8c by the pump 8a. The sprayed resin waterproof material 6 is supplied to the spray nozzle 52 carried by the worker via a hose 90, and is sprayed and applied to the construction surface 10 by walking of the worker and swinging (reciprocating swing) of the spray nozzle 52. Has become.

1 and 2, the waterproofing material supply mechanism 51 includes a main agent A ("A" in FIG. 2) containing an isocyanate component (prepolymer) and a curing agent B ("A" in FIG. 2) containing a polyol component. B ") corresponds to the pressure-feeding / supply of the reaction-curable resin waterproofing material 6 composed of two types of liquid materials, and the two tanks 8b,
Supply line 8 for supplying the material from 8c to the spray nozzle 52
d and 8e are provided for each material (individual tank). The two types of materials are mixed in a mixing section 52 provided in a spray nozzle 52.
The mixture is stirred and mixed at a, and sprayed from the tip of the spray nozzle 52 in the form of a spray. As the resin waterproof material 6, a known material such as a urethane resin, an acrylic resin, an epoxy resin, or a silicone resin is employed. For example, in a urethane resin, a compound having an isocyanate group (isocyanate component)
And a compound having an active hydrogen group (polyol component) such as alcohol and amine. The materials individually supplied from the tanks 8b and 8c by the supply pipes 8d and 8e are mixed in the mixing section 52a of the spray nozzle 52, and then sprayed from the nozzle 52 as the resin waterproofing material 6 to form the work surface 10
Is sprayed on. The applied resin waterproof material 6 (a mixture of two types of materials) is cured to form a waterproof coating film 6a. In addition, it is optional to add a flame retardant, a brightener, and the like to the material constituting the resin waterproof material 6.
Further, in a waterproof material supply mechanism corresponding to a waterproof material made of one liquid, only one supply line is required.

Further, as shown in FIG. 2, the waterproof material supply mechanism 51 has a resin waterproof material 6 attached to the spray nozzle 52.
Temperature sensor 81 for measuring the temperature of the air, a flow sensor 82 for measuring the supply flow rate, and a pressure sensor 83 for measuring the pressure
And a control unit 84 to which measurement data of each of the sensors 81, 82, and 83 is input. The control unit 84 includes a display unit 85 that displays measurement data and the like from the sensors 81, 82, and 83 based on a command output from the control unit 84, and a display unit 85 based on a command output from the control unit 84. A printer 86 for printing out measurement data from the sensors 81, 82, 83 and the like as construction records is connected.

The sensors 81, 82 and 83 are provided for each of the supply lines 8d and 8e. Each supply line 8
The temperature, flow rate, and pressure of the material to which d and 8e are pumped are measured by the sensors 81, 82, and 83, and the measurement data is output from the sensors 81, 82, and 83 and input to the control unit 84 as needed. . In the control unit 84, each sensor 81,
When an abnormality (temperature, flow rate, pressure exceeding an allowable range) is detected in at least one of the temperature, flow rate, and pressure data measured by 82 and 83, a stop command output from the control unit 84 The driving of the pump 8a is stopped, and the supply of the waterproof material 6 under pressure is stopped. In addition, when an abnormality is detected in the flow ratio and the pressure ratio between the supply lines 8d and 8e, which are found from the measurement data of the flow rates and the pressures of the supply lines 8d and 8e, the stop command output from the control unit 84 can also be used. The driving of the pump 8a is stopped, and the supply of the waterproof material 6 under pressure is stopped. Specifically, the supply of the waterproof material 6 is stopped by closing the solenoid valves 8g and 8h provided in the supply lines 8d and 8e, and stopping the driving of the pump 8a of the waterproof material supply mechanism 51. You. Control unit 8
Reference numeral 4 denotes a waterproof material supply stop command unit that outputs a command to stop the pressurized supply of the resin waterproof material 6 (specifically, two types of materials constituting the resin waterproof material 6) by the waterproof material supply mechanism 8. I do.

The temperature, flow rate, and pressure measurement data from each of the sensors 81, 82, and 83, and the permissible range serving as a reference for judging the flow rate ratio and the pressure ratio determined (calculated) from these measurement data as "normal". The determination of whether or not exceeds
The determination is performed by the abnormality determination unit 84a mounted on the control unit 84. However, the allowable ranges (limit value; upper limit value, lower limit value) of temperature, flow rate, pressure, flow rate ratio, and pressure ratio, which are used as references for the abnormality determination section 84a to determine the abnormality of the supply condition of the resin waterproofing material 6, are as follows:
It is set with a margin more than a value that may cause poor construction (poor curing or insufficient film thickness due to improper mixing of the main agent and the curing agent in the mixing state in the mixing section 52a). When the supply of the resin waterproofing material 6 is stopped by the determination of the abnormality determining unit 84a, the supply of the resin waterproofing material 6 and the spray coating are not performed under conditions that may cause a construction failure. The resin waterproofing material 6 in which the main agent and the curing agent are mixed at an appropriate mixing ratio and in a mixed state in the mixing section 52a.
Only a waterproof coating film formed by spray coating is obtained. For this reason, there is no need to form a waterproof coating film having problems such as poor curing and insufficient film thickness.

The display unit 85 includes sensors 81, 82, 83
The measurement data or data calculated based on the measurement data is displayed in a visible manner. FIG.
A display as an example of the display unit 85 (hereinafter, may be referred to as “display 85”) is shown. In FIG. 3, a display 85 includes waterproof material temperature display portions 85a, 85a.
5b, a flow ratio display section 85c, a pressure difference display section 85d, a waterproof material usage display section 85e, and an alarm lamp 85f. The waterproof material temperature display sections 85a and 85b indicate the temperature of the waterproof material 6 for each of the supply lines 8d and 8e based on the temperature data measured by the temperature sensor 81 provided for each of the supply lines 8d and 8e (see FIG. 2). indicate. Flow rate display section 85c, pressure difference display section 85d, waterproof material usage display section 8
5e, the display data of each sensor 81, 82,
It is calculated based on the measurement data output from 83. The alarm lamp 85f is connected to each of the sensors 81, 8
Lights when an abnormality is detected based on the measurement data input to the control unit 84 from 2, 83. That is, at least one of the temperature, flow rate, and pressure measurement data input from each of the sensors 81, 82, and 83 to the control unit 84, and at least one of the mixture ratio (flow rate ratio) and the pressure ratio determined from these measurement data is controlled. When the value exceeds the allowable range preset in the unit 84, the alarm lamp 85f is turned on based on the output signal from the control unit 84. The waterproof material supply mechanism 51 can include an alarm sound output unit that emits an alarm sound when an abnormality is detected, in addition to the alarm lamp 85f of the display unit 85.

The configuration of the display is not limited to that shown in FIG. 3, and various configurations can be adopted. For example, a configuration including a display unit for displaying the remaining amount of the waterproof material, a display unit for displaying the position when an abnormality occurs, and the like can be adopted. In addition, since the mixing ratio (flow rate ratio) of the main agent and the curing agent has a great effect on the physical properties of the waterproof coating film, a display that displays an alarm when an abnormality is detected in the mixing ratio (alarm) (Display function) can also be employed. Similarly, as the alarm sound output unit, it is possible to adopt a configuration that outputs an alarm sound when an abnormality is detected in the mixture ratio. Furthermore, in addition to the mixing ratio, the physical properties of the waterproof coating film have a large effect on the supply pressure ratio of the main agent and the curing agent.In view of this, the alarm display function of the display and the alarm sound output unit include: It is also effective to output a warning when an abnormality is detected in at least one of the mixing ratio and the pressure ratio between the supply lines 8d and 8e.

FIG. 4 shows an example of the construction record 89 printed out from the printer 86 to the recording paper 88. In FIG. 4, the construction record 89 includes the sensors 81, 82, 8
Based on the measurement data output from 3, the supply pressure, flow rate ratio (“combination ratio” in FIG. 4), material usage (total usage of resin waterproofing material. Resin waterproofing material 6) The total supply amount of the liquid (“liter” in FIG. 4) is printed in correspondence with the time axis 89a (horizontal axis) indicating the construction time. The magnitudes of the values of the pressure, the flow ratio, and the amount of material used are shown in a direction perpendicular to the time axis 89a (a direction along the vertical axis 89b).

The two pressure display lines 91a and 91b (the pressure display line 91a is a broken line, and the pressure display line 91b is a one-dot chain line) respectively displayed corresponding to the supply lines 8d and 8e are the supply lines 8d , 8e extend parallel to each other along the time axis 89a if the desired pressure difference is always kept stable with respect to the construction time. When one or both pressure display lines 91a and 91b are not parallel to the time axis 89a, it indicates that the supply pressure has changed.

The flow ratio display line 92 (two-dot chain line) indicates the flow ratio of the material between the supply lines 8d and 8e. Therefore, if the flow ratio is always kept stable with respect to the construction time, It does not change from a constant numerical value (set flow ratio), and becomes a straight line parallel to the time axis 89a. If the flow ratio display line 92 deviates from the set desired flow ratio, the supply line 8d,
8e indicates that the desired flow rate has not been obtained for one or both of them. For example, FIG. 4 shows a case where the flow ratio of the main agent A and the curing agent B (“mixing ratio” in FIG. 4; “flow rate of the main agent A” / “flow rate of the curing agent B”) is set to 1. Flow ratio display line 92 indicating the material flow ratio of the two supply lines 8d and 8e
It is ideal that a straight line parallel to the time axis 89a remains "1" in terms of stable supply of material. But,
For some reason, such as the movement of the hose 90 and the bending state,
When the balance between the material flow ratios of the two supply lines 8d and 8e changes, the flow ratio display line 92 shifts from the above “1” to the smaller value side or the larger value side, for example, as shown in FIG. It is no longer a straight line, such as gently meandering. If the flow rate ratio display line 92 shifts to a side smaller than “1”, the flow rate of the curing agent B flowing through the supply line 8d is larger than that of the main agent A flowing through the supply line 8e, and conversely, the flow rate is smaller than “1”. If it shifts to the larger side, it can be seen that the flow rate of the main agent A is larger than that of the curing agent B. The abnormality determination unit 84a mounted on the control unit 84 (see FIG. 2) has a function of detecting an abnormality related to the flow rate of the resin waterproofing material.
d, 8e In addition to the function of determining whether or not the flow rates (for example, liters / second) of the individual materials exceed the allowable range, determine whether the flow rate ratio is within the allowable range (upper limit, lower limit). If the deviation of the flow ratio display line 92 from the set target flow ratio exceeds the allowable range, the abnormality determination unit 84a determines that an abnormality has occurred,
The supply of the material is stopped under the control of the control unit 84 (the pump 8a is stopped and the solenoid valves 8g and 8h are closed).

The usage amount display line 93 (solid line) is the maximum display value of the construction record 89 in the direction of the vertical axis 89b (500 in FIG. 4).
Liters), the value returns to "0", and the cumulative display of the used amount is continued. When the material usage amount display line 93 returns to “0”, it becomes a chevron. If the amount of material used is several thousand liters or tens of thousands of liters,
A plurality of mountain shapes are repeatedly formed along 9a. In the construction record 89, the number of chevrons of the usage amount display line 93 formed by the return to “0” and the usage amount display line 9 existing after the last (right side in FIG. 4) chevron in the direction of the horizontal axis 89a.
By reading the value in the direction of the vertical axis 89b at the end of three (only reading of the value at the end of the usage amount display line 93 when there is no chevron), the total of the material usage can be easily grasped. The printout of the construction record 89 from the printer 86 may be performed in real time in parallel with the progress of the construction, but the data stored in the control unit 84 or the like may be collectively performed after the completion of the construction. good.

The display unit 85 and the printer 86 can be installed anywhere as long as it does not hinder spray application of the resin waterproof material. For example, it can be carried by an operator or installed near the pump 8a or the tanks 8b and 8c. As shown in FIG. 3, a printer 86 is attached to the display 85, and when integrated, the display data on the display 85 can be checked and the printer 8 can be checked.
Confirmation of construction record 89 printed out from 6,
It can be performed efficiently at one place. The display unit and the printer can be installed at a monitoring station installed at a place remote from the construction site.

According to the waterproofing apparatus 50, as shown in FIG. 1, the worker operates the spraying nozzle 52 to spray and apply the resin waterproofing material 6 during the operation of spraying and applying the resin waterproofing material 6. If an abnormality is detected in the supply, the resin waterproof material 6
(Specifically, the two materials of the main agent A and the curing agent B constituting the resin waterproof material 6) are automatically stopped, so that the temperature, the flow rate, the pressure, the flow rate ratio (mixing ratio), and the pressure ratio are selected. The formation of the waterproof coating film 6a by the resin waterproof material 6 supplied in a state where at least one or more supply conditions are abnormal can be prevented. After the supply of the material is stopped, the cause of the abnormality is eliminated, and then the formation of the waterproof coating film 6a is restarted. As a result, the material is supplied under normal supply conditions, and only the waterproof coating film 6a formed by the resin waterproof material 6 mixed with the normal mixing ratio and the mixed state is obtained. (A film thickness) can be stably obtained over a wide range.

(Second Embodiment) In the waterproof construction apparatus of the present embodiment, the resin waterproof material 6 supplied from the waterproof material supply mechanism 8 is controlled by the waterproof coating film forming robot 1 (hereinafter abbreviated as "robot 1"). It is to be applied by spraying.

FIG. 5 is a view showing the robot 1.
(A) is a front sectional view showing the outline of the structure, and (b) is a plan sectional view showing the outline of the structure. 5A and 5B, the robot 1 is schematically constituted by a traveling unit 2 and a reciprocating mechanism 5. The waterproof material supply mechanism 8 supplies a resin waterproof material to the spray nozzle 7 at the tip of the arm 4 that is reciprocated by the reciprocating mechanism 5.

The traveling section 2 is capable of traveling at a constant speed by wheels 2a which are rotationally driven by a driving force of a driving device 3 such as a motor. The arm 4 provided on the rear side in the traveling direction (arrow A) of the traveling unit 2 reciprocates in a direction substantially perpendicular to the traveling direction A of the traveling unit 2 by a reciprocating mechanism 5 mounted on the traveling unit 2. It is being moved. The arm 4 protrudes rearward in the traveling direction from the traveling section 2, and a spray nozzle 7 for spraying the resin waterproof material 6 supplied from the waterproof material supply mechanism 8 is provided at the distal end of the arm 4. The hose 8i connected to the spray nozzle 7 constitutes a part of the supply line for supplying the waterproof material of the waterproof material supply mechanism 8 and has excellent flexibility. Even if it is moved, the hose supporting portion 2b provided on the traveling portion 2 and the spray nozzle 7 are appropriately followed and deformed to prevent twisting or bending, so that the supply of the resin waterproof material 6 can be stably continued.

Since the periphery of the movable range of the spray nozzle 7 by the reciprocating mechanism 5 is surrounded by the cover 7c for preventing the scattering of the waterproof material, the waterproof material 6 is provided to the running part 2 and the surroundings other than the construction surface 10. Waste can be prevented. The cover 7c is made of a woven fabric, a nonwoven fabric, a net-like structure, or the like.
In (a), the stay 7 d protrudes from the traveling unit 2 and is arranged in a mosquito net shape surrounding the movable range of the spray nozzle 7. The cover is not limited to a configuration surrounding the movable range of the spray nozzle 7, and may be, for example, a spray nozzle 7.
The reciprocating mechanism 5 can reciprocate the spray nozzle 7 with the precision, drive stability, and the like.
The cover is preferably formed separately from the spray nozzle 7 from the viewpoint of preventing vibration and the like. Further, the cover 7c, the cover 7
5c (the stay 7d in FIG. 5A)
It is preferable to use a material that is as light as possible in view of energy saving, running stability such as roll prevention, ease of turning, and the like. If the waterproof material 6 is hardened after spraying, it takes time to remove the waterproof material 6, so the cover 7c
By preventing the waterproof material 6 from adhering to a part other than the target construction surface 10 by the installation of the work, the subsequent removal work or the like can be omitted or reduced. In addition, the cover 7c also serves as a countermeasure against crosswinds,
Even under the condition where a somewhat strong cross wind exists, it is possible to spray and apply the waterproof material 6 to the target position of the construction surface 10.

For example, the robot 1 moves the construction surface 10 such as the top surface of a building or a floor,
While traveling, the resin waterproof material 6 is sprayed from the construction surface 10 side, that is, the downwardly directed spray nozzle 7, and the construction surface 1
Spray paint on 0. At this time, as shown in FIGS. 8A and 8B, the traveling unit 2 travels while the spray nozzle 7 is reciprocated by the reciprocating mechanism 5, so that the traveling unit 2 travels. A waterproof coating film 6 is sequentially provided on the rear side in the traveling direction of the part 2.
a is formed. When the supply amount of the waterproofing material 6 from the waterproofing material supply mechanism 8 is constant, the traveling speed of the traveling unit 2 is constant, and the reciprocating movement of the spray nozzle 7 is constant speed. Can easily be obtained. The arm 4 is supported by a guide 9 (see FIGS. 5 (a) and 5 (b)) provided in the traveling section 2 at its center, and slides the guide 9 so as to be substantially in the traveling direction A. Since the movement is performed in the vertical direction, the movement by the reciprocating mechanism 5 realizes a stable movement without rattling or tilting. The traveling speed of the traveling section 2 and the moving speed of the arm 4 by the reciprocating mechanism 5 are variable by setting. Traveling of the traveling unit 2, movement of the arm 4 by the reciprocating mechanism 5 (reciprocating motion)
Is basically constant after the change.

FIG. 6 shows an example of the waterproof material supply mechanism 8.
The waterproof material supply mechanism 8 shown in FIG. 6 corresponds to the pressure-feeding / supply of the reaction-curable resin waterproof material 6 made of two types of liquid materials, and the two tanks 8b and 8 are driven by a pump 8a.
supply line 8 for supplying each material from spray nozzle c to spray nozzle 7
d and 8e are provided for each liquid agent (individual tank). The two types of materials are stirred and mixed in a mixing section 7a provided in the spray nozzle 7, and are sprayed from the tip of the spray nozzle 7 by a high-pressure spray gas supplied from a spray gas supply section 8f. As the resin waterproof material 6, a known material such as a urethane resin, an acrylic resin, an epoxy resin, or a silicone resin is employed. For example, in a urethane resin, a compound having an isocyanate group (isocyanate component)
And a compound having an active hydrogen group (polyol component) such as alcohol and amine, the resin is cured, so that the materials individually supplied from the tanks 8b and 8c by the supply pipes 8d and 8e are mixed in the mixing section 7a of the spray nozzle 7. The mixture is mixed, and the mixture is quickly sprayed from a nozzle 7 by a spraying gas to be spray-coated. When the waterproof material 6 sprayed on the construction surface 10 cures, the waterproof coating film 6a is formed. In addition, it is optional to add a flame retardant, a brightener, and the like to the material constituting the resin waterproof material 6. In a waterproof material supply mechanism corresponding to a waterproof material made of one liquid, the supply line is one.
Just a book.

Next, an example of the reciprocating mechanism 5 is shown in FIG.
This will be described with reference to FIGS. 7A, 7B, 7A, 7B, and 8A. In these figures, the reciprocating mechanism 5
An endless strip 5 is provided between a pair of gears 5a and 5b opposed to each other on both sides in a width direction (a direction perpendicular to the running direction) of the running portion 2.
d, and the arm 4 is attached to the endless strip 5d so that the arm 4 can be moved integrally. The arm 4 is driven by a driving force transmitted from a driving device 5c (a motor in the present embodiment) to one of the gears 5a. The arm 4 integrated with the endless strip 5d is moved by rotationally driving the endless strip 5d. Specifically, each of the endless strips 5d is a chain, and is provided two in parallel along the width direction of the traveling portion 2, and the arm 4 is provided so as to connect the endless strips 5d. Attached to the attachment 5e. The attachment 5e is fixed by screws or the like to a tongue piece 5g protruding from each of the connecting plates 5f constituting the chain, which is the endless strip 5d in the present embodiment. When the arm 4 reaches the movement direction inversion positions 5h and 5i existing at both ends of the movable range of the arm 4 by the reciprocating mechanism 5, the movement direction of the endless strip 5d by the driving device 5a is automatically inverted. . By repeating this reversal and continuously reciprocating the arm 4, the same operation as the nozzle swing conventionally performed by the worker is realized. As a means for detecting that the arm 4 has reached the movement direction reversal position 5h, 5i, for example, a stepping motor is employed as the driving device 5c of the reciprocating mechanism 5, and the movement signal of the arm 4 is obtained by the drive signal. By monitoring the rotation speed of the gears 5a and 5b.

Further, in the robot 1, when the arm 4 reaches the movement direction reversal position 5h, 5i or its vicinity (a position slightly closer to the center of the movable range than the movement direction reversal position 5h, 5i), It is more preferable to adopt a configuration in which the amount of the resin waterproof material 6 sprayed from the spray nozzle 7 is reduced or the spray area is increased. Accordingly, it is possible to prevent a thick or thin portion from being formed at both ends in the spray width (see the arrow W in FIG. 8B) due to the recoating that occurs when the moving direction is reversed, and the waterproof film having the target film thickness can be prevented. The coating film 6a can be formed more stably, and construction accuracy can be improved. However, since the resin waterproofing material 6 immediately after spray coating is flattened due to fluidity, even if the worker has conventionally swung the nozzle, the increase in the film thickness due to the repetitive coating is within a range where there is no problem. Is normal, the amount of the resin waterproof material 6 sprayed from the spray nozzle 7 is reduced, or by adopting a configuration in which the spray area is increased, a coating film 6a having a target film thickness can be more stably and reliably obtained. The construction accuracy is improved.

The arm 4 which is reciprocated by the reciprocating mechanism 5 having the above-described structure is linearly moved except for the vicinity of the moving direction reversal positions 5h and 5i at both ends of the movable range. , 5i, the gears 5a, 5b are moved along the outer periphery.
b is rotated about the central axis. Since the direction of the spray nozzle 7 fixed to the tip of the arm 4 is also changed by rotating integrally with the arm 4, the spray direction of the resin waterproof material 6 from the spray nozzle 7 is changed. Specifically, as shown in FIGS. 8A and 8B, the direction of the arm 4 reaching the movement direction reversal positions 5h and 5i is changed to the gears 5a and 5b.
When it is changed around the central axis of b, the spray direction of the spray nozzle 7 is inclined toward the end of the spray width W. Thereby, the waterproof material 6 sprayed obliquely from the spray nozzle 7 toward the construction surface 10 is dispersed in a wider range as compared with the case where the waterproof material 6 is sprayed perpendicularly to the construction surface 10. This allows the spray nozzle 7 to move at the movement direction reversal positions 5h and 5i.
In the over-painted part that occurs when the moving direction of
A desired film thickness or a film thickness very close to the desired film thickness can be easily obtained. Although not shown, the moving direction reversal position 5
Near h and 5i, the guide 9 is curved in accordance with the movement locus of the arm 4.

When the resin waterproofing material 6 is sprayed toward the end of the target spray width W, the spray nozzle 7 is moved not to the position directly above the end of the spray width W but to the center of the spray width W. Since it is disposed at the position and inclined, the movable range of the arm 4 and the spray nozzle 7 by the reciprocating mechanism 5 can be narrowed compared to the case where the waterproof coating film 6a is always formed by spraying vertically downward. For this reason, downsizing of the traveling section 2 becomes possible,
For example, it is possible to make the width dimension of the traveling portion 2 smaller than the spray width W. If the traveling portion 2 is reduced in size, it is advantageous, for example, in a direction change to be described later, etc., in a construction site where a number of obstacles are present, or in a case where the shape of a region where the waterproof coating film 6a is formed is complicated. Even when the robot 1 is constructed, the construction becomes easy and the versatility of the robot 1 is improved.

The gears 5a and 5b function as a spray direction changing mechanism for changing the spray direction of the resin waterproof material 6 from the spray nozzle 7. The spraying direction changing mechanism is not limited to this, and various configurations such as a configuration in which only the nozzle 7 is tilted without tilting the arm 4 and a configuration in which the nozzle 7 is tilted forward in the traveling direction of the traveling unit 2 are used. Can be adopted.

As shown in FIGS. 5A and 5B, an obstacle detecting sensor 11 for detecting an obstacle ahead of the traveling direction A is provided in front of the traveling section 2 in the traveling direction A. As the obstacle detection sensor 11, various types of contact type and non-contact type sensors can be adopted. However, from the viewpoint of facilitating direction change at the time of obstacle detection, for example, a non-contact type sensor such as an ultrasonic sensor is used. Is more preferable.

The direction change mechanism 12 provided at the center of the traveling section 2 receives a detection signal output from an obstacle detection sensor 11 which has detected an obstacle 13 such as various structures on a building roof or various kinds of characters. To change the running direction of the running section 2. The direction change mechanism 12 is driven by an elevating mechanism 12 a driven based on a detection signal from the obstacle detection sensor 11, by projecting a support leg 12 b downwardly of the traveling unit 2 and pressing the construction surface 10. After lifting up the portion 2, the pinion gear 12 meshed with the master gear 12c provided around the support leg 12b
d is driven to rotate by the driving device 12e (a motor in the present embodiment) and rolls around the support leg 12b, thereby rotating the traveling unit 2 around the support leg 12b integrally with the pinion gear 12d. To change direction. The master gear 12c, the pinion gear 12d, and the driving device 12e constitute a direction changing mechanism 12f that changes the direction of the traveling unit 2 that has been lifted up. In addition, FIG.
In (b), a cylinder device that drives the support leg 12b to move in and out of the traveling section 2 by being driven by air pressure or hydraulic pressure is illustrated as the elevating mechanism 12a. However, it is needless to say that various configurations such as a configuration in which the support leg 12b moves in and out via a link mechanism driven by the driving force of the cylinder device can be adopted.

The operation of each device constituting the robot 1 such as each device mounted on the traveling unit 2 and each device on the side of the waterproof material supply mechanism 8 is controlled by the control unit 20 shown in FIG. In addition, the installation position of the control unit 20 may be any of the traveling unit 2, the vicinity of the tanks 8b and 8c installed at or near the construction site, or the like. As shown in FIG. 9, a CPU 24 (central processing unit) provided in the control unit 20
Includes various sensors 81 and 82 provided in the robot 1.
83, 14, 11 (temperature sensor 81, flow sensor 82,
Pressure sensor 83, speed sensor 14, obstacle detection sensor 1
1) and an input unit 22 for inputting signals and instructions from an operation panel 21 operated by an operator, and an output unit 23 for outputting an operation instruction to each operating unit, display unit 31, printer 27, etc. of the robot 1. And are connected. Further, as shown in FIG. 6, the control unit 20 is provided with a construction area calculation unit 25 controlled by the CPU 24 and an abnormality determination unit 26 (not shown in FIG. 9). In addition, signal transmission between each part which comprises the control part 20, input signal to the control part 20 (data transmission from each sensor 81,82,83,14, etc.),
Transmission of an output signal (command) from the control unit 20 is basically performed via electric wiring, but data transmission using wireless, optical fiber, hydraulic pressure, or the like can also be adopted.

In the robot 1, the driving of the traveling section 2 and the reciprocating mechanism 5 and the driving of the waterproof material supply mechanism 8 are linked by the control section 20. That is, the film thickness obtained by the robot 1 is determined by the relationship between the traveling speed of the traveling section 2 and the moving speed of the arm 4 by the reciprocating mechanism 5 and the supply amount of the resin waterproofing material 6 by the waterproofing material supply mechanism 8. For example, by inputting a film thickness to be obtained by operating the operation panel 21 (refer to FIG. 9) with respect to a preset supply amount (flow rate) of the waterproof material 6, the traveling speed of the traveling unit 2 is increased. A configuration or the like in which the moving speed of the arm 4 by the reciprocating mechanism 5 is automatically set can be adopted. In detail, it is necessary to adjust the curing time and supply temperature of the waterproof material 6 according to the temperature and weather at the site, and therefore, even under these conditions, the traveling speed of the traveling unit 2 and the arm by the reciprocating mechanism 5 It is preferable that the moving speed of No. 4 is automatically set. Further, the pump 8a of the waterproofing material supply mechanism 8, a heater (not shown) for adjusting the temperature of the waterproofing material, the traveling speed of the traveling unit 2, the reciprocating mechanism in response to the condition change during spray application of the waterproofing material 6. 5, the moving speed of the arm 4 is adjusted,
More preferably, the target film thickness is maintained. However, the traveling speed of the traveling unit 2 and the traveling speed of the arm 4 by the reciprocating mechanism are basically set to a constant speed under the initially set conditions, and the condition fluctuation exceeds a predetermined allowable range where no adjustment is necessary. To be adjusted only when
This is preferable in terms of operation stability of the robot 1 and simplification of the configuration. The setting of the operating conditions for the data such as the supply flow rate of the waterproof material 6 is not necessarily limited to both the traveling unit 2 and the reciprocating mechanism 5, but may be set to only one of them.

For example, each sensor 8 on the waterproof material supply mechanism 8 side
When an abnormality is found in the measurement data (supply-side data) input to the control unit 20 from 1, 82, and 83, or when a detection signal of the obstacle 13 from the obstacle detection sensor 11 is input to the control unit 20, The running of the running unit 2 and the waterproof material supply mechanism 8
, The supply of the resin waterproof material 6 is automatically stopped, and the spraying (application) of the resin waterproof material 6 is stopped.

The presence or absence of an abnormality based on the measurement data of the sensors 81, 82, and 83 is determined by the abnormality determination unit 26, and based on the determination result, a command to stop the waterproof material supply mechanism 8 from supplying the waterproof material 6 is issued. Output from the control unit 20 and the pump 8
is stopped, and the solenoid valves 8g and 8h are closed. At this time, the control unit 20 functions as a waterproof material supply stop command unit. The determination of whether or not an abnormality has occurred by the abnormality determination unit 26 is the same as that of the abnormality determination unit 84a described in the first embodiment, and includes measurement data (measurement values) of temperature, flow rate, and pressure, and a flow rate ratio determined from these measurement data. This is to determine whether the (mixing ratio) and the pressure ratio (mixing ratio of the main agent and the curing agent in the mixing section 7a, the pressure ratio) are within an allowable range set within a range that does not cause construction failure. The control unit 20 as the waterproof material supply stop command unit determines that the measured temperature, flow rate, pressure, flow rate ratio, and pressure ratio reach values that may cause a construction failure due to the supply stop of the resin waterproof material 6. It has the function of reliably preventing the formation of a waterproof coating film including defects such as poor curing and insufficient film thickness. As a result, it is possible to reliably obtain only the waterproof coating film formed by the normal flow ratio (mixing ratio) and the mixed resin waterproofing material. When a command to stop the supply of the resin waterproof material 6 from the waterproof material supply mechanism 8 is output from the control unit 20, a command to stop driving of the robot 1 such as traveling of the traveling unit 2 is output from the control unit 20. You. At this time, the control unit 20 functions as a construction stop command unit. The driving of the robot 1 stopped here may be the whole including the traveling of the traveling unit 2 or the like, or may be a part.

Further, a stop command input by an operator from the operation panel 21, a ride on an obstacle not detected by the obstacle detection sensor 11, a step on a traveling floor (construction surface 10) or a recess Even if the traveling unit 2 stops for some reason, such as getting stuck, a failure of the traveling drive system, or the like, the supply of the resin waterproofing material 6 by the waterproofing material supply mechanism 8 is stopped in conjunction with the stoppage of the traveling of the traveling unit 2. Is done. For example, the tank 8b,
If the remaining amount of the material 8c can be detected, a signal indicating that the material has run out can also be used to detect the running portion 2c.
And the supply of the resin waterproof material 6 can be automatically stopped.

When the traveling of the traveling section 2 is stopped, it is preferable that the driving of the reciprocating mechanism 5 is automatically stopped in conjunction with this. As a result, it is possible to safely and promptly investigate the cause of an emergency stop. In addition, stopping the supply of the waterproof material 6 by the waterproof material supply mechanism 8 in conjunction with the stop of the travel of the traveling unit 2 is unnecessary use of the waterproof material 6 and unnecessary use due to scattering of the waterproof material 6 at the site. It is preferable in that it can prevent excessive contamination. When the supply of the resin waterproof material 6 by the waterproof material supply mechanism 8 is stopped, the nozzle cleaning mechanism 1
5 is operated to feed high-pressure gas into the spray nozzle 7 for cleaning. By this operation, clogging due to hardening of the resin waterproof material 6 remaining at the tip of the nozzle 7 can be prevented. Therefore, the spraying of the waterproof material 6 can be smoothly restarted even in the spraying operation including the temporary stop. After the spraying operation is completed, the nozzle 7 removed from the arm 4 is washed or replaced, so that there is no problem of the nozzle 7 being clogged. Since the residual waterproofing material 6 in the nozzle 7 hardens and causes clogging, the nozzle 7 can be clogged by cleaning with the nozzle cleaning mechanism 15 simultaneously with or immediately after stopping the waterproofing material supply mechanism 8. Can be effectively prevented.

In FIG. 6, a display 31 functions as a display unit for displaying various data such as supply-side data (hereinafter, may be referred to as "display unit 31"). The installation position of the display unit as the display 31 may be any position as long as it does not hinder the formation of the waterproof coating film. However, in order to quickly monitor the operation of the traveling unit 2 and the waterproof material supply mechanism 8 and perform emergency stop and recovery when an abnormality occurs, it is preferable that the location is easy for a worker to visually check. In addition, if the operation of the traveling unit 2 and the waterproof material supply mechanism 8 can be monitored by a camera or the like, detailed site management can be performed even if the display unit 31 is installed at a location away from the construction site. It is.

The display section 31 displays various data under the control of the control section 20 based on various data such as measurement data output from the sensors 81, 82, 83 on the waterproof material supply mechanism 8 side. FIG. 10 illustrates an example of a display that is the display unit 31. In FIG. 10, a display 31 includes waterproof material temperature display sections 31a and 31b, a flow rate display section 31c, a pressure difference display section 31d, and a construction area display section 31.
e, a configuration including a waterproof material usage display section 31f and an alarm lamp 31g. Waterproof material temperature display sections 31a, 31
b indicates the temperature of the waterproof material 6 for each of the supply lines 8d and 8e based on the temperature data measured by the temperature sensor 81 provided for each of the supply lines 8d and 8e (see FIG. 6). The display data of the flow rate ratio display section 31c, the pressure difference display section 31d, the construction area display section 31e, and the waterproof material usage display section 31f are as follows.
In any case, after calculation is performed by the control unit 20 or the like based on the measurement data transmitted from each of the sensors 81, 82, 83, and 14, it is displayed according to the output command. For example, the display data of the construction area display unit 31e is displayed based on the calculation data of the construction area calculation unit 25. The construction area calculation unit 25 calculates the speed of the traveling unit 2 based on the speed data input by the speed data measured by the speed sensor 14 from the rotation speed of the wheels 2a of the traveling unit 2 and the elapsed time from the start of construction. The construction area of the waterproof coating film by the robot 1 is calculated based on the travel distance and the spray range of the resin waterproof material 6 due to the reciprocating motion of the spray nozzle 7. However, since the formation of the waterproof coating does not progress when the vehicle is running in a state where the supply of the waterproof material 6 from the waterproof material supply mechanism 8 is stopped, the construction area calculation unit 25 determines the flow rate in addition to the data from the speed sensor 14. By judging also based on the data from the sensor 82 and the like, the construction area is more accurately calculated. The alarm lamp 31g is activated when an abnormality in the supply condition of the resin waterproofing material (base agent, curing agent) is detected based on an input signal from the sensors 81, 82, 83, and 14 to the control unit 20 and the like. It is lit. The display 31 may include an alarm sound output unit that emits an alarm sound when an abnormality is detected, in addition to the alarm lamp 31g. The configuration of the display is not limited to that shown in FIG. 10, and various configurations can be adopted. For example, the display is provided with a display unit for displaying the remaining amount of the waterproof material, a display unit for displaying the position when an abnormality occurs, and the like. Configurations can also be employed.

The printer 27 prints out a construction record by the waterproof construction apparatus on a recording paper 29. Specifically, the printer 27 is provided in the display 31 as shown in FIG. However, the installation position of the printer 27 is not limited to FIG.
It may be separate from one. FIG. 12 shows a construction record 28 printed out from the printer 27. The construction record 28 is a horizontal axis 28a indicating the construction area (construction completed area. M ² ) instead of the time axis 89a of the construction record 89 shown in FIG.
The supply pressure, the flow rate ratio (“combination ratio” in FIG. 12) of the resin waterproof material, the amount of material used (total use amount of the resin waterproof material. The two types of materials constituting the resin waterproof material 6) are used. The total supply amount ("liter" in FIG. 4) is displayed in correspondence with the construction area. Since the robot 1 advances the spraying of the resin waterproof material 6 at a constant width due to the reciprocating movement of the nozzle 7, the supply conditions (pressure, flow ratio, material usage) of the resin waterproof material 6 are determined from the horizontal axis 28a (construction area) of the construction record 28. Amount) can be grasped substantially corresponding to the construction position of the resin waterproof material 6. For example, the supply condition of the resin waterproofing material 6 can be grasped in units of construction area divided by the scale attached to the horizontal axis 28a. Although not shown, the construction record 28 may be provided with a display indicating the traveling, the direction change, and the like of the robot 1 in a state where the supply of the waterproof material 6 from the waterproof material supply mechanism 8 is stopped.

Next, an example of the waterproofing operation of the robot 1 will be described with reference to FIG. For example, in the construction of a flat place such as a building roof, the waterproof part 6 is sprayed and applied to the construction surface 10 to form the waterproof coating film 6a while the traveling part 2 travels zigzag in the intended construction area. The movement route of the traveling unit 2 can be set by a command input from the operation panel 21 or the like, but there is an obstacle such as a parapet on a building roof that extends to surround a target construction area. In this case, the traveling direction of the traveling unit 2 is turned back each time the obstacle is detected by the obstacle detection sensor 11,
It is also possible to spray-coat the construction surface 10 over the construction area.

As shown in FIG. 11, the obstacle detecting sensor 11 of the traveling unit 2 which travels linearly in the direction of arrow B while spray coating the resin waterproof material 6 detects the obstacle 13 and outputs a detection signal. Then, based on this detection signal, first, the traveling of the traveling section 2, the driving of the reciprocating mechanism 5, and the supply of the waterproof material 6 by the waterproof material supply mechanism 8 are stopped. The traveling direction of the traveling unit 2 is changed by 90 degrees (arrow C). The supply of the waterproof material 6 is stopped by closing the solenoid valves 8g and 8h provided in the respective supply lines 8d and 8e (see FIG. 6) and stopping the driving of the pump 8a of the waterproof material supply mechanism 8. You. In the following description, the stop of the supply of the waterproof material 6 indicates the same operation. Further, immediately after the supply of the waterproof material 6 is stopped, the nozzle cleaning mechanism 15 is automatically driven immediately and the residual waterproof material in the nozzle 7 is removed. In the following description, the cleaning of the inside of the nozzle 7 by the nozzle cleaning mechanism 15 is necessarily performed immediately after the supply of the waterproof material 6 is stopped.

To change the direction of the traveling section 2, first, the lifting mechanism 1
2a (see FIG. 5A) is driven to lift up the traveling unit 2, and then the direction changing mechanism 12f is driven to change the direction of the traveling unit 2 by 90 degrees, and the arrow C is set. When the traveling unit 2 is directed to the arrow C, the lifting / lowering mechanism 12a is driven again to lower the traveling unit 2 onto the construction surface 10, and the waterproof material 6 is sprayed, that is, the traveling of the traveling unit 2 and the reciprocating mechanism 5 Driving, supply of waterproof material 6 by waterproof material supply mechanism 8 (pump 8
(a) and restart the pressure-feeding of the waterproof material 6 and open the solenoid valves 8g and 8h). When the traveling distance of the traveling unit 2 in the direction of arrow C reaches the spray width W (about 1 m) of the waterproof material 6, after the spray application is stopped, the traveling direction is again changed by 90 degrees by driving the direction change mechanism 12 again. This time, arrow B is exactly 180
The direction is an arrow D direction which is a direction inverted by degrees. The traveling distance of the traveling unit 2 is determined by the control unit 2 based on the data from the speed sensor 14.
0, the traveling distance of the traveling section 2 is
At the same time as the spray width W, the spraying application is automatically stopped by the control of the control unit 20. The control unit 2 also controls the direction change and the resumption of spray application in the direction of arrow D.
It can be performed automatically by control of 0.

In the spray application by traveling of the traveling unit 2 in the direction of arrow D, the construction is stopped and the direction of the traveling unit 2 is automatically changed by detecting an obstacle such as a parapet. Thereby, every time an obstacle is detected, the direction is changed so that the traveling unit 2 turns back, and by repeating this, after all, the traveling unit 2 travels zigzag in an area surrounded by the obstacle. The waterproof coating film 6a can be sprayed and applied to the entire target construction surface 10. In the direction change by the direction change mechanism 12, between arrows B and C, arrows C and D
Since the coating film is made continuous between the layers, the desired film thickness can be stably obtained over the entire construction surface 10.

If there is no suitable obstacle such as a parapet part which serves as a guide for the edge of the construction area, the operation panel 21
It is also possible to program the movement route and the like of the traveling unit 2 by inputting a command or the like from the computer and perform spray coating under the control of the control unit 20 based on this program. The traveling distance and the like of the traveling unit 2 are determined by the control unit 2 based on data from the speed sensor 14.
Since it can be grasped as 0, the traveling movement of the traveling unit 2 can be automatically controlled based on the command based on the command input from the operation panel 21. In addition, even if there is an appropriate obstacle such as a parapet part which is a guide of the edge of the construction area, the shape of the construction area (for example, the shape of a building roof) is complicated, and the shape and arrangement of the obstacle are also complicated. In some cases, it is difficult to control the direction change of the traveling unit 2 by a control program. In such a case, the direction change mechanism 12 or the like is directly operated by operating the operation panel 21 to change the direction. May be performed.

The direction change of the traveling section 2 can be automatically performed even when an obstacle existing in the construction area is detected. The position of the obstacle existing inside the construction area and the position of the obstacle
The control unit 20 is instructed in advance about the direction change operation at the time of detection by the control unit 20. Note that the direction change of the traveling unit 2 is not limited to reversing the traveling direction of the traveling unit 2 by 180 degrees in the order of arrows B, C, and D as shown in FIG. 2 is set as appropriate. When an obstacle that has not been taught to the control unit 20 is detected by the obstacle detection sensor 11, it is determined that an abnormality has been detected, and the operation of the entire robot 1 is stopped. That is, the detection of an obstacle that is not taught to the control unit 20 can be a detection of an intrusion of a person in front of the traveling direction of the traveling unit 2 or an obstacle left carelessly. It is necessary to stop the robot 1 (especially the traveling unit 2) at the same time as the detection to prevent accidents. The emergency stop is performed, for example, by operating an emergency stop button (not shown) provided near the display 31.

According to the waterproofing construction apparatus of the present embodiment, the use of the robot 1 makes it possible to automate the formation of the waterproof coating film 6a by spraying the waterproof material 6, thereby relieving the worker from the troublesome work and the conventional technique. Compared with the construction that relied on the intuition of the worker, the desired film thickness can be obtained more stably and reliably. It is possible to stably obtain a waterproof coating film 6a having desired physical properties and film thickness formed by a resin waterproof material mixed with an agent. For example, even when it takes several days to construct the entire construction surface 10, the waterproof coating film 6a having a constant film thickness can be stably obtained unless the condition setting of the robot 1 is changed. Further, since the worker only needs to monitor the driving of the robot 1, the required manpower can be reduced and the cost can be reduced. In addition, since the target film thickness can be stably obtained by setting the conditions, there is no need to secure skilled workers, and there is an advantage that it is easy to secure personnel.

Further, in the robot 1, the display unit 31
The display of various data at
Since the area where the construction is completed can be grasped, it is easy to perform on-site management and monitoring for the presence or absence of an abnormality. As shown in FIG.
For example, the remaining area of the construction and the remaining amount of the waterproof material 6 can be grasped from the construction completion area displayed on the construction area display section 31e and the total usage amount of the waterproof material 6 displayed on the usage amount display section 31f. Thus, it is possible to determine whether or not the replenishment of the waterproof material 6 is necessary, the timing of the replenishment, and the like.

It should be noted that the present invention is not limited to the above-described embodiment, and various changes can be made. For example, the waterproof material supply mechanism of the waterproof construction apparatus according to the first and second aspects of the present invention includes 2
It is not limited to the one corresponding to the supply of the liquid type resin waterproof material. By changing the number of supply lines, the waterproof material supply mechanism can respond to the supply of a one-component resin waterproof material or a resin waterproof material composed of three or more liquids. When using a resin waterproofing material other than the two-pack type, not only the waterproofing material supply mechanism,
It goes without saying that the configuration of the display unit and the construction record are also changed. For example, in the display unit and the construction record corresponding to the display of the supply condition of the one-pack type resin waterproofing material, the flow rate ratio and the pressure in the display units 85 and 31 and the construction records 89 and 28 corresponding to the two-package type resin waterproof material are shown. This can be dealt with by replacing the difference with the display of the supply flow rate and the supply pressure of the resin waterproofing material. In addition, in order to correspond to the resin waterproof material composed of three or more liquids, instead of the flow rate ratio and the pressure difference in the display units 85 and 31 and the construction records 89 and 28 corresponding to the two-liquid type resin waterproof material,
This can be dealt with by replacing the indication of the supply flow rate and supply pressure of each material constituting the resin waterproofing material, or the like.

[0055]

As described above, according to the waterproof construction device of the first aspect, the supply and the spraying of the resin waterproof material are stopped by detecting the abnormality in the measurement data of the supply flow rate of the resin waterproof material. It is possible to prevent the formation of a waterproof coating film made of a resin waterproof material that does not provide a desired flow rate, and it is possible to obtain only a waterproof coating film formed by a resin waterproof material supplied at a desired flow rate. Can reliably form a waterproof coating film. According to the waterproof construction device of the second aspect, when an abnormality is detected in the supply condition (at least one of temperature, flow rate, and pressure) of the resin waterproof material, the waterproof material supply stop command unit is activated to activate the resin. By automatically stopping the pressurized supply of the waterproof material, the formation of the waterproof coating film by the resin waterproof material supplied without satisfying the desired supply conditions can be prevented, and the formation by the resin waterproof material supplied under the desired supply conditions can be prevented. It is possible to obtain only the waterproof coating film. Thereby, even when the construction area is large, there is an excellent effect that a waterproof coating film having excellent waterproof performance can be formed without causing a construction failure portion. When the waterproof coating film has desired properties including film thickness or other properties other than film thickness, longer-term quality assurance can be realized. According to the waterproofing construction device of the third aspect, when an abnormality is detected in the mixing ratio of the isocyanate component and the polyol component, the supply of the resin waterproofing material to the spray nozzle is stopped. It is possible to reliably obtain a waterproof coating film without any.

According to the waterproof construction device of the fourth aspect, the display unit for displaying the temperature, flow rate, pressure, total usage amount, etc. of the resin waterproof material supplied from the waterproof material supply mechanism to the spray nozzle is provided. For example, it is possible to know the progress of construction, the remaining amount of the resin waterproofing material, and the like. In addition, the display data on the display unit can be used to understand the cause when an abnormality occurs,
An excellent effect of shortening the recovery time can be achieved. According to the waterproof construction apparatus of the fifth aspect, the construction record printed out from the printer can be used for certifying that the formation of the waterproof coating film has been normally performed. As a result, there is an excellent effect that the reliability of the waterproof performance of the formed waterproof coating film can be enhanced. Claim 6
According to the waterproofing construction apparatus described above, in the construction record printed out from the printer, the temperature, the flow rate, and the pressure of the resin waterproof material supplied to the spray nozzle are calculated from at least the flow rate or the flow rate among the pressures. One or more measurement data including data is displayed in association with data indicating a construction position of the resin waterproofing material by a waterproof coating film forming robot that sprays and applies a resin waterproofing material by a spray nozzle mounted on a traveling unit. Therefore, the construction record provides an excellent effect that it is possible to prove that the formation of the waterproof coating film has been normally performed in association with the construction position. According to the waterproof construction device of claim 7, the flow rate of the resin waterproof material supplied to the spray nozzle from the waterproof material supply mechanism,
Alternatively, when an abnormality is detected in at least one or more of the measurement data of the temperature, the flow rate, and the pressure, not only the waterproof material supply mechanism but also a command from the construction stop command unit,
Since the waterproof coating film forming robot that sprays and applies the resin waterproof material by the spray nozzle mounted on the traveling unit is also stopped, the formation of the waterproof coating film by the resin waterproof material supplied without satisfying the desired supply conditions is stopped. Can be stopped more reliably.
In addition, since the situation at the time of occurrence of the abnormality is saved by stopping the robot, an excellent effect is provided in that it becomes easy to investigate the cause of the occurrence of the abnormality and to set a restart position at the time of restarting spraying after the cause is eliminated.

[Brief description of the drawings]

FIG. 1 is an overall view showing a waterproof construction apparatus according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of the waterproof construction device of FIG.

FIG. 3 is a front view showing a display as an example of a display unit of the waterproof construction apparatus of FIG. 1 and a printer.

4 is a plan view showing an example of a construction record printed out from a printer of the waterproof construction apparatus of FIG. 1;

FIG. 5 is a view showing an example of a waterproof coating film forming robot applied to the waterproof construction apparatus according to the second embodiment of the present invention, where (a) is a front sectional view and (b) is a plan sectional view. It is.

6 is a block diagram showing a configuration of a waterproof material supply mechanism and a control unit of the waterproof coating film forming robot of FIG. 5;

7A and 7B are views showing an example of a spraying direction changing mechanism applied to the waterproof coating film forming robot of FIG. 5, wherein FIG. Shows the nozzle orientation when the width end is constructed.

8A and 8B are views showing the operation of a reciprocating mechanism applied to the waterproof coating film forming robot of FIG. 5, wherein FIG. 8A is a side view schematically showing movement of a spray nozzle by the reciprocating mechanism. And (b) is a plan view showing spray application of a resin waterproof material by a spray nozzle moved by the reciprocating mechanism.

FIG. 9 is a block diagram illustrating an example of a control unit applied to the waterproof coating film forming robot of FIG. 5;

FIG. 10 is a front view showing a display as a display unit applied to the waterproof coating film forming robot of FIG. 5 and a printer.

FIG. 11 is a plan view showing an example of a direction changing operation of the waterproof coating film forming robot of FIG. 5;

FIG. 12 is a plan view showing an example of a construction record printed out from a printer of the waterproof coating film forming robot of FIG. 5;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Robot, 2 ... Running part, 6 ... Resin waterproof material, 6a ... Waterproof coating film, 7 ... Spray nozzle, 8 ... Waterproof material supply mechanism, 10 ...
Construction surface, 20 ... Control unit (waterproofing material supply stop command unit, construction stop command unit), 27 ... Printer, 28 ... Construction record, 31 ...
Display unit (display), 50: waterproof construction device, 51:
Waterproof material supply mechanism, 52: spray nozzle, 84: control unit (waterproof material supply stop command unit), 85: display unit, 86: printer, 89: construction record.

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) E04D 7/00 E04D 7 / 00F (72) Inventor Atsushi Tamura 86, Kamigohongo, Matsudo-shi, Chiba Die Flex Co., Ltd. Inside the Matsudo Plant (72) Inventor Kazuhisa Kawabata 86 Kamigongo, Matsudo City, Chiba Prefecture F-Term Co., Ltd.F-Term in Matsudo Plant (reference) 4D075 AA01 AA71 AA83 AA84 AA86 CA47 DA06 DB12 DC02 DC05 EA05 EB38 EC07 4F033 AA01 BA03 DA11 EA01 GA00 QA01 QB03X QK02X

Claims (7)

[Claims] 1. A waterproof construction apparatus for supplying a resin waterproof material to a spray nozzle by a waterproof material supply mechanism and spraying and applying the resin waterproof material on a target construction surface such as a building roof surface, wherein the waterproof material is provided. A waterproof material supply stop that outputs a command to stop the supply of the resin waterproof material by the waterproof material supply mechanism when an abnormality is detected in the flow rate measurement data of the resin waterproof material supplied to the spray nozzle from the supply mechanism. A waterproof construction device comprising a command unit. 2. A waterproofing construction apparatus for supplying a resin waterproofing material to a spray nozzle by a waterproofing material supply mechanism and spraying and applying the resinous waterproofing material onto a target construction surface such as a building roof surface, wherein the waterproofing material is provided. The supply of the resin waterproof material by the waterproof material supply mechanism is stopped when an abnormality is detected in at least one of the measurement data of the supply flow rate, the temperature, and the pressure of the resin waterproof material to the spray nozzle by the supply mechanism. A waterproofing construction device comprising a waterproof material supply stop command unit for outputting a command to perform a waterproofing operation. 3. An isocyanate component and a polyol component constituting the resin waterproofing material are supplied to a mixing section via separate supply lines and mixed, and then sprayed and applied from a spray nozzle to a target construction surface such as a building upper surface. In the waterproofing construction apparatus for forming a waterproof coating film by performing, when an abnormality is detected in the flow ratio between the supply line for the isocyanate component and the supply line for the polyol component, the waterproofing of the resin by the waterproof material supply mechanism A waterproof construction apparatus comprising a waterproof material supply stop command unit that outputs a command to stop material supply. 4. A display unit for displaying a temperature, a flow rate, a pressure, a cumulative usage amount, and the like of the resin waterproof material supplied to the spray nozzle from the waterproof material supply mechanism. The waterproof construction device according to any one of the above. 5. Print out a construction record displaying at least one measurement data including at least the flow rate among the temperature, flow rate, and pressure of the resin waterproof material supplied to the spray nozzle in accordance with the construction time. The waterproof construction apparatus according to any one of claims 1 to 4, further comprising a printer. 6. A traveling unit is provided with at least one of the temperature, flow rate, and pressure of the resin waterproof material supplied to the spray nozzle and at least one measurement data including data calculated from the flow rate. A printer for printing out a construction record displayed in correspondence with data indicating a construction position of the resin waterproofing material by a waterproof coating film forming robot that sprays and applies the resin waterproofing material by the spraying nozzle. The waterproof construction device according to any one of 1 to 5. 7. A waterproof coating film forming robot that sprays and applies a resin waterproof material by a spray nozzle mounted on a traveling unit in response to output of a waterproof material supply mechanism stop command from a waterproof material supply stop command unit. The waterproof construction apparatus according to any one of claims 1 to 6, further comprising a construction stop command unit that outputs a command to stop the construction.