JP2023049728A - Fireproof coating material spraying device - Google Patents

Abstract

To provide a fireproof coating material spraying device which can automatically spray an appropriate amount of fireproof coating material to a beam composed of H-shaped steel, and can achieve efficiency of a spraying work and quality improvement.SOLUTION: A spraying device has an injector having a spray port for injecting a fireproof coating material toward a spray direction; a robot arm which holds the spray port, and can change a position of the spray port and the spray direction; and a controller which controls the injector and the robot arm, and automatically sprays the fireproof coating material to a beam composed of H-shaped steel. Further, the spraying device controls the robot arm so that a position change speed of the spray port becomes smaller as an angle between a beam surface to be sprayed and the spray direction becomes smaller.SELECTED DRAWING: Figure 5C

Description

The present invention relates to a refractory coating material spraying device, and more particularly to a refractory coating material spraying device for spraying a refractory coating material onto a beam made of H-section steel.

BACKGROUND ART In order to prevent fire damage to columns and beams, which are the framework of steel-framed buildings, so-called fireproof coating work is performed. Fireproof covering work refers to the work of covering the building frame by spraying rock wool, which is a fireproof covering material, onto the surfaces of columns and beams.
Patent Literature 1 discloses a refractory coating material spraying system equipped with a nozzle capable of spraying a mixture of rock wool, which is a refractory coating material, and cement slurry, which is a binder.

In recent years, in order to protect workers from large amounts of refractory coating material that scatters at work sites where refractory coating work is performed, a fireproof coating spraying robot capable of automating fireproof coating work has been developed.
FIG. 9 shows a spraying robot 100 spraying a refractory coating F onto a beam B made of H-beam steel. As shown in FIG. 9, the spraying robot 100 includes an injection nozzle 101 for injecting a refractory coating material (rock wool), a supply hose 102 for supplying rock wool and cement slurry to the injection nozzle 101, and an injection nozzle 101. It has a robot arm 103 that holds and controls the position and angle of the injection nozzle 101, and a traversing device 104 that slides the robot arm 103 in the extension direction of the beam. The robot arm 103 and the traversing device 104 are controlled such that the injection nozzle 101 moves with respect to the beam B in a preset path and angle.

JP 2021-004525 A

The spraying robot 100 can protect workers from scattering rock wool, and can improve the spraying work efficiency. However, in order to ensure fire resistance, it is necessary to reliably cover the entire beam B with the fire-resistant coating material F with a thickness equal to or greater than a predetermined coating thickness. there was room for

The present invention has been made in view of the above problems, and its object is to automatically spray an appropriate amount of refractory coating material on a beam made of H-shaped steel, thereby improving the efficiency of the spraying work. It is an object of the present invention to provide a refractory coating material spraying device capable of improving quality.

According to the fireproof coating material spraying apparatus of the present invention, the fireproof coating material spraying apparatus for spraying the fireproof coating material onto a beam made of H-section steel, the fireproof coating material being sprayed in the spraying direction. an injection device having an orifice, a holding device that holds the spraying port and can change the position of the spraying port and the direction of the spraying, and the injection device and the holding device based on three-dimensional data of a frame including the beam. a control device for controlling the apparatus, wherein the control device controls the holding device so that the position change speed of the spray port decreases as the angle formed between the sprayed surface of the beam and the spray direction decreases. It is solved by controlling.

According to the above configuration, the injection device and the holding device are controlled so as to automatically perform the spraying work based on the three-dimensional data of the frame. As a result, the efficiency of the spraying work is realized.
Further, the control device controls the holding device so that the position change speed of the spray port decreases as the angle formed by the sprayed surface and the spraying direction decreases. As a result, even if the adhesion of the refractory coating material to the surface to be sprayed is reduced due to the small angle formed by the surface to be sprayed and the direction of spraying, the speed of changing the position of the injection device can be reduced. An appropriate amount of refractory coating material can be adhered to the sprayed surface, making it possible to improve the quality of the spraying work.

Further, the control device is arranged such that the spray port is positioned below the upper surface of the upper flange of the beam, and the distance between the spray target point on the surface to be sprayed and the spray port is a constant distance. Advantageously, the holding device is controlled by
According to the above configuration, the spray port does not come into contact with and damage the ceiling or the like supported by the beam. In addition, the refractory coating material sprayed from the spray port can be adhered to the surface to be sprayed while being properly mixed with the binder. That is, if the distance between the spraying target point and the spray port is too small, the refractory coating material and the binder will not be sufficiently mixed, and the refractory coating material will be sprayed unevenly on the surface to be sprayed. On the other hand, if the distance between the spray target point and the spray port is too large, the refractory coating material will spread to places other than the spray target point, resulting in excessive consumption of the refractory coating material. Therefore, by controlling the holding device to keep the distance between the spray target point and the spray port at an appropriate distance (for example, 400 mm to 600 mm), the quality of the spray work is stabilized and the fireproof coating material is wasted. It is possible to prevent this.

Further, the control device allows the angle formed by the sprayed surface and the spraying direction to be the maximum spraying angle based on the distance between the spraying target point and the spraying port and the height dimension of the beam. It is preferable to control the holding device as such.
According to the above configuration, the spraying operation can be performed in a state where the angle formed by the sprayed surface and the spraying direction is the largest within the range where the spraying port does not contact the ceiling or the like supported by the beam. Adhesiveness of the fireproof coating material is improved, and the fireproof coating material can be efficiently adhered to the surface to be sprayed.

In addition, the beam includes a web having a vertical surface, an upper flange that connects with the web at an upper end of the web, and a lower flange that connects with the web at a lower end of the web, and the control device includes: Preferably, the holding device is controlled such that the smaller the angle formed by the upper surface of the lower flange and the direction of spraying, the smaller the position change speed of the spray port.
According to the above configuration, the upper surface of the lower flange of the beam that supports the ceiling can be sprayed automatically, and the quality of the spraying can be improved.

Further, the control device includes a first spray control unit for controlling the holding device so that the position change speed of the spray port with respect to the web becomes a constant standard speed; It is preferable to have a second blowing control section for controlling the holding device so that the speed of changing the position of the blowing port becomes a speed obtained by multiplying the standard speed by a predetermined deceleration factor.
According to the above configuration, it is possible to improve the quality of the beam spraying work by performing a simple operation of multiplying the standard position change speed by the predetermined deceleration factor.

According to the refractory coating material spraying apparatus according to the present invention, an appropriate amount of refractory coating material can be automatically sprayed onto a beam made of H-section steel, thereby improving the efficiency and quality of the spraying work. It becomes possible.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the whole spraying apparatus structure which concerns on this embodiment. FIG. 4 is a perspective view showing the appearance of a beam to be sprayed with a fireproof covering material; It is a figure which shows the functional structure of a control apparatus. FIG. 4 is a side view for explaining the position of the spray port and the spray direction with respect to the web; FIG. 5 is a perspective view for explaining position change control of the spray port with respect to the web; It is a side view for demonstrating the position of a spray opening with respect to the upper surface of a lower flange, and a spray direction. FIG. 10 is a perspective view for explaining position change control of the spray port with respect to the upper surface of the lower flange; It is a figure which shows an example of a deceleration coefficient table. FIG. 10 is a diagram showing a state of adhesion when spraying onto the upper surface of the lower flange at a standard speed; FIG. 10 is a diagram showing a state of adhesion when spraying onto the upper surface of the lower flange at a decelerated speed; It is a side view for demonstrating the position of a spray opening with respect to the lower surface of an upper flange, and a spray direction. It is a perspective view for demonstrating position change control of the spray mouth with respect to the lower surface of an upper flange. It is a figure which shows the flow of spraying control processing. It is a figure for demonstrating the conventional fireproof coating material spraying apparatus.

A spraying device 1 according to an embodiment (hereinafter referred to as the present embodiment) of the present invention will be described below with reference to FIGS. 1 to 8. FIG. The spraying device 1 according to the present embodiment is used to automate and improve the efficiency of spraying work by automatically spraying rock wool, which is a fireproof covering material, onto beams at a preset route and angle. be done. Further, the spraying device 1 in this embodiment is used to improve the quality of spraying work on beams.

The embodiments described below are merely examples for facilitating understanding of the present invention, and do not limit the present invention. In other words, the present invention can be modified and improved without departing from its spirit, and the present invention includes equivalents thereof.

<<Overall configuration of spraying device 1>>
FIG. 1 is a diagram showing the overall configuration of a spraying device 1. As shown in FIG. The spraying device 1 mainly includes an injection device 10 , a robot arm 20 , a lifting device 30 , a traveling device 40 and a control device 50 . The spraying device 1 sprays the refractory coating material F from the spray port 11 at the tip of the spraying device 10 . At this time, the spray port 11 is moved along a predetermined path by the lifting device 30 and the traveling device 40 while being held by the robot arm 20 . As a result, the automatic spraying operation of the fireproof coating material F by the spraying device 1 is performed.

The refractory coating material F is composed of rock wool and cement slurry. Rock wool is an artificial mineral fiber made by melting mineral raw materials such as blast furnace slag or basalt. The binder cement slurry is a mixture of cement and slurry. By simultaneously spraying rock wool and cement slurry on the building frame, the fire resistance, heat insulation, and sound absorption of the frame can be improved.

The injection device 10 has a spray port 11, a hose 12, a tank 13, and a pump 14, and the refractory coating material F stored in the tank 13 is sprayed through the hose 12 by the pump 14. 11 can be injected.
In FIG. 1, the tank 13 and the pump 14 are mounted on the traveling device 40 and shown to be movable. The refractory coating F may be supplied to the spray port 11 by extension.

A rock wool spraying port for spraying rock wool is arranged in the center of the spraying port 11, and a plurality of cement slurry spraying ports for spraying cement slurry are arranged around the periphery thereof. By concentrically arranging the rock wool spray port and the cement slurry spray port and simultaneously spraying the rock wool and the cement slurry, the adhesion of the refractory coating material F to the frame can be enhanced. Here, in order to properly adhere the refractory coating material F to the frame, it is necessary to control the distance of the spray port 11 from the surface to be sprayed of the frame, the spray angle, and the spray speed to an appropriate state. will be described later.

The robot arm 20 has a spray port holder 21 , an upper arm 22 , a lower arm 23 and a movable mechanism 24 . The spray port holding portion 21 is a holding member for holding the spray port 11 at an appropriate position and spray direction. The upper arm 22 and the lower arm 23 are arm members that are connected to the spray port holder 21 via a movable mechanism 24 . The movable mechanism 24 is composed of a first movable mechanism 24A and a second movable mechanism 24B, and can change the position and the spray direction of the spray port 11 held by the spray port holder 21 . That is, the robot arm 20 can flexibly change the position of the spray port 11 and the spray direction, thereby making it possible to spray the refractory coating material F over a wide area of the surface to be sprayed.

In FIG. 1, the robot arm 20 has been described as having the upper arm 22, the lower arm 23, and the movable mechanism 24, but it is sufficient if the position of the spray port 11 and the spray direction can be flexibly changed. , a known articulated arm or other movable holding device can be employed.
The robot arm 20 corresponds to a holding device.

The lifting device 30 has an expandable pantograph structure, and can lower the robot arm 20 by contracting and raise the robot arm 20 by expanding. The elevating device 30 can elevate the injection device 10 and the robot arm 20, thereby enabling automatic spraying work on a frame positioned at a high place.

The travel device 40 has wheels 41, a power source, a transmission mechanism for transmitting the rotational motion generated by the power source to the wheels 41, and a direction control mechanism capable of changing the traveling direction, and travels along a preset route. can run along. The traveling device 40 makes it possible to move the spray port 11 over a wide area in the building to carry out spraying work.

The control device 50 includes a processor 51, a storage device 52, a communication device 53, and the like, and controls the spraying device 1 as a whole. That is, the control device 50 controls the pump 14 of the injection device 10 so that a predetermined constant amount of the refractory coating material F is injected from the spray port 11 . The control device 50 also controls the robot arm 20, the lifting device 30, and the traveling device 40 so that the spray port 11 is at an appropriate position and spray direction with respect to the sprayed surface of the beam B, which will be described later. In other words, the control device 50 controls the position (path) of the spray port 11, the spray direction, and the injection timing based on the three-dimensional data of the skeleton stored in the storage device 52 in advance.

The processor 51 of the control device 50 loads the programs stored in the storage device 52 and sequentially executes them, thereby controlling a web spray control unit 54, a lower flange upper surface spray control unit 55, an upper flange It functions as a lower surface spray control section 56 and a setting input section 57 .
The communication device 53 is a communication interface capable of inputting setting parameters of the spraying device 1 from the outside.

<<Regarding beam B to be sprayed>>
FIG. 2 shows a beam B made of H-section steel, to which the refractory coating F is to be sprayed. As shown in FIG. 2, the beam B has a web B1 having a vertical surface, an upper flange B2 that connects with the web B1 at the upper end of the web B1, faces the upper flange B2, and connects with the web B1 at the lower end of the web B1. It has a bottom flange B3 extending horizontally.

The web B1 has a side surface B1a that is a vertical surface, is connected to the upper flange B2 at the lower surface B2b of the upper flange B2, and is connected to the lower flange B3 at the upper surface B3a of the lower flange B3.
The beam B supports the ceiling C while being in contact with the ceiling C at the upper surface B2a of the upper flange B2.

Below, the case where the spraying device 1 sprays the fireproof coating material F against the side surface B1a of the web B1, the upper surface B3a of the lower flange B3, and the lower surface B2b of the upper flange B2 will be described. A description of the work is omitted.

<<Regarding the spraying method of the spraying device 1 and the functional configuration of the control device 50>>
Next, the method of spraying the fireproof covering material F onto the beam B by the spraying device 1 will be described together with the functional configuration of the control device 50 .
FIG. 3 shows the functional configuration of the control device 50. As shown in FIG. As shown in FIG. 3, the control device 50 has a web spray control section 54, a lower flange upper surface spray control section 55, an upper flange lower surface spray control section 56, and a setting input section 57. Spraying control processing, which will be described later with reference to this, is executed.

First, the web blowing controller 54 will be described. The web spray control unit 54 controls the robot arm 20, the lifting device 30, and the travel device 40 so that the spray port 11 of the jet device 10 is positioned and sprayed in an appropriate direction with respect to the side surface B1a of the web B1. The refractory coating material F is sprayed from the spray port 11 by controlling.

FIG. 4A shows a state in which the fireproof coating material F is sprayed from the spray port 11 against the side surface B1a of the web B1. As shown in FIG. 4A, when the fireproof coating material F is sprayed onto the web B1, the spraying is performed in a state where the distance between the side surface B1a, which is the surface to be sprayed, and the spray port 11 is a constant distance (L1). will be Here, L1 is the distance at which the rock wool and cement slurry jetted from the spray port 11 adhere to the sprayed surface in an appropriately mixed state, and is, for example, 500 mm.

If the distance between the surface to be sprayed and the spray port 11 is smaller than L1, the rock wool and the cement slurry will reach the surface to be sprayed without being sufficiently mixed. In this case, the adhesion of the refractory coating material F to the surface to be sprayed decreases, and the refractory coating material F may not uniformly adhere to the surface to be sprayed, resulting in unevenness. On the other hand, if the distance between the surface to be sprayed and the spray port 11 is greater than L1, the adherence density of the refractory coating material F becomes low, and the spraying quality deteriorates. Therefore, it is preferable to control the robot arm 20 so that the distance between the surface to be sprayed and the spray port 11 of the injection device 10 is L1.

The web spraying control unit 54 controls the robot arm 20 so that the angle formed by the side surface B1a, which is the surface to be sprayed, and the spraying direction becomes the largest angle (that is, 90 degrees). As a result, it is possible to perform spraying in a state in which the adhesion of the fireproof coating material F to the surface to be sprayed is the highest, and the quality of spraying can be stabilized.

FIG. 4B shows the direction and speed of movement of the spray port 11 relative to the side surface B1a of the web B1. As shown in FIG. 4B, the web spray control unit 54 controls the robot arm 20 so that the spray port 11 moves at a predetermined speed (standard speed Vs) in the horizontal direction in which the beam B extends. do. The standard speed Vs means that when a certain amount of fireproof coating material F is sprayed from the spray port 11, an appropriate amount of fireproof coating material F can be adhered to the side surface B1a that is the surface to be sprayed. , is the velocity determined in advance by experiments. In this embodiment, Vs=0.56 m/sec.
The web spray control section 54 corresponds to a first spray control section.

Next, the lower flange upper surface spray control unit 55 will be described. The lower flange upper surface spray control unit 55 controls the robot arm 20, the lifting device 30, and the traveling device 40 so that the spray port 11 is at an appropriate position and spray direction with respect to the upper surface B3a of the lower flange B3. Then, the refractory coating material F is jetted.

FIG. 5A shows a state in which the fireproof coating material F is sprayed from the spray port 11 onto the upper surface B3a of the lower flange B3. As shown in FIG. 5A, when the fireproof coating material F is sprayed onto the upper surface B3a of the lower flange B3, the distance between the spraying target point on the upper surface B3a of the lower flange B3, which is the surface to be sprayed, and the spray port 11 is It is controlled to be L1 described above. Here, the spraying target point can be, for example, an intermediate point between the tip of the lower flange B3 and the connecting portion with the web B1.

The lower flange upper surface spray control unit 55 controls the robot arm 20 so that the angle formed by the upper surface B3a, which is the surface to be sprayed, and the spraying direction becomes the maximum spraying angle A1. The maximum spraying angle A1 is an angle at which the spraying port 11 does not come into contact with the ceiling C (that is, an angle at which the spraying port 11 is positioned below the upper surface B2a of the upper flange B2), and the angle between the surface to be sprayed and the spraying direction. This is the maximum angle to form. The maximum spray angle A1 is geometrically calculated based on the beam height (the height H of the beam B), the outer dimensions of the spray port 11, and the distance L1 between the spray target point and the spray port 11. be able to. However, the maximum spray angle A1 is not strictly limited to the angle at which the spray device 10 does not come into contact with the ceiling C, and a predetermined clearance can be secured between the spray port 11 and the ceiling C. It is an angle that includes a predetermined angle that is possible.

If the upper surface B3a of the lower flange B3 is sprayed at an angle smaller than the maximum spraying angle A1, adhesion of the refractory coating material F to the upper surface B3a of the lower flange B3 is reduced, resulting in deterioration of spraying quality. In other words, by spraying the refractory coating material F at the maximum spraying angle A1, it is possible to suppress the decrease in adhesion of the refractory coating material F to the upper surface B3a of the lower flange B3, thereby ensuring stable spraying quality. becomes possible.

FIG. 5B shows the direction and speed of movement of the spray port 11 relative to the upper surface B3a of the lower flange B3. As shown in FIG. 5B, the lower flange upper surface spray control unit 55 multiplies the above-described standard speed Vs of the spray port 11 in the horizontal direction in which the beam B extends by a deceleration coefficient K obtained in advance by experiment. Control the robot arm 20 to move at a speed. The deceleration coefficient K is set to decrease as the angle formed between the upper surface B3a, which is the surface to be sprayed, and the spraying direction decreases. That is, the lower flange upper surface spray control unit 55 controls the robot arm 20 so that the horizontal position change speed of the spray port 11 decreases as the angle formed between the surface to be sprayed and the spray direction decreases.

FIG. 5C shows an example of a deceleration factor table that defines the relationship between beam height H, maximum blowing angle A1, and deceleration factor K. FIG. In the deceleration coefficient table of FIG. 5C, in four stages from setting A to setting D, the smaller the beam height H, the smaller the maximum spray angle A1 and the smaller the deceleration coefficient K (horizontal position change speed of the spray port 11). becomes smaller). More specifically, in setting A, the beam height is greater than 450 mm, and the angle between the surface to be sprayed and the direction of spraying is greater than 15 degrees. At this time, the deceleration coefficient K is 1.0, and the lower flange upper surface spray control unit 55 controls the robot arm 20 so that the spray port 11 moves at the standard speed Vs.

In setting B, the beam depth is greater than 350 mm and less than or equal to 450 mm, and the maximum spray angle A1 is greater than 10 degrees and less than or equal to 15 degrees. At this time, the deceleration coefficient K is 0.85, and the lower flange upper surface spray control unit 55 controls the robot arm 20 so that the spray port 11 moves at 0.85 times the standard speed Vs.

In setting C, the beam depth is greater than 200 mm and less than or equal to 350 mm, and the maximum spray angle A1 is greater than 5 degrees and less than or equal to 10 degrees. At this time, the deceleration coefficient K is 0.75, and the lower flange upper surface spray control unit 55 controls the robot arm 20 so that the spray port 11 moves at 0.75 times the standard speed Vs.

Finally, in setting D, the beam height is 200 mm or less, and the maximum spray angle A1 is 5 degrees or less. At this time, the deceleration coefficient K is 0.6, and the lower flange upper surface spray control unit 55 controls the robot arm 20 so that the spray port 11 moves at a speed 0.6 times the standard speed Vs.
FIG. 5C shows the attenuation coefficient table when the distance between the spraying target point and the spraying port 11 is L1. A coefficient table may be provided. The lower flange upper surface spray control unit 55 controls the robot arm 20 so as to spray at the maximum spray rate based on the distance between the spray target point and the spray port 11 and the beam height.

6A and 6B show how the fireproof covering material F adheres to the upper surface B3a of the lower flange B3.
FIG. 6A shows the adhesion state of the fireproof coating material F when the robot arm 20 is controlled so that the spray port 11 moves at the standard speed Vs. As shown in FIG. 6A, when the robot arm 20 is controlled to change the position of the spray port 11 at the standard speed Vs, the adhesion amount of the refractory coating material F on the upper surface B3a of the lower flange B3 is and less than the adhesion amount on the lower surface B2b of the upper flange B2. In other words, a decrease in adhesion of the fireproof coating material F to the surface to be sprayed is observed.

On the other hand, FIG. 6B shows the adhesion state of the refractory coating material F when the robot arm 20 is controlled so that the spray port 11 moves at a speed obtained by multiplying the standard speed Vs by the deceleration coefficient K. As shown in FIG. 6B, when the robot arm 20 is controlled to reposition the spray port 11 at a reduced speed, a sufficient amount of refractory coating F is applied to the upper surface B3a of the lower flange B3. can be done.

By reducing the speed of changing the position of the spray port 11 with respect to the surface to be sprayed in this way, a sufficient amount of the fire-resistant coating material F can be applied even when the adhesion of the fire-resistant coating material F to the surface to be sprayed is reduced. It can be adhered, and the quality of the spraying work can be improved.
Note that FIG. 5C shows a case where the deceleration coefficient K is defined in four steps from setting A to setting D, but the present invention is not limited to this. That is, five or more stages of deceleration coefficients K may be set.
The lower flange upper surface spray control section 55 corresponds to a second spray control section.

Returning to FIG. 3, the upper flange lower surface spray control unit 56 will be described. The upper flange lower surface spray control unit 56 controls the robot arm 20, the lifting device 30, and the traveling device 40 so that the spray port 11 is at an appropriate position and spray direction with respect to the lower surface B2b of the upper flange B2. The refractory coating material F is jetted under control.

FIG. 7A shows a state in which the fireproof covering material F is sprayed from the spray port 11 onto the lower surface B2b of the upper flange B2. As shown in FIG. 7A, when the fireproof coating material F is sprayed onto the lower surface B2b of the upper flange B2, the distance between the spraying target point on the lower surface B2b, which is the surface to be sprayed, and the spray port 11 is L1 and The robot arm 20 is controlled so that Here, the spraying target point can be, for example, an intermediate point between the tip of the upper flange B2 and the connecting portion with the web B1.

The upper flange lower surface spray control unit 56 controls the robot arm 20 so that the spray direction with respect to the lower surface B2b, which is the surface to be sprayed, has a predetermined inclination angle A2. Here, A2 is an angle at which the refractory coating material F can be sufficiently adhered to the surface to be sprayed, and is an angle between 20 degrees and 70 degrees, for example.

If A2 is too small, a sufficient amount of the refractory coating material F will not reach the lower surface B2b of the upper flange B2, and the adhesion of the refractory coating material F will be reduced. On the other hand, if A2 is too large, the refractory coating material F will adhere to the lower surface B3b of the lower flange B3 before adhering to the lower surface B2b of the upper flange B2. It does not reach the lower surface B2b of B2. Therefore, the adhesion amount of the fireproof coating material F to the lower surface B2b of the upper flange B2 is reduced.

FIG. 7B shows the direction and speed of movement of the spray port 11 relative to the lower surface B2b of the upper flange B2. As shown in FIG. 7B, the upper flange lower surface spray control unit 56 controls the robot arm 20 so that the spray port 11 moves at the above-described standard speed Vs in the horizontal direction in which the beam B extends. As a result, an appropriate amount of fireproof coating material F can be adhered to the lower surface B2b, which is the surface to be sprayed.
The upper flange lower surface spray control section 56 corresponds to a first spray control section.

Returning to FIG. 3 , the setting input unit 57 receives input of setting parameters for the control device 50 . Here, the setting parameters may include the maximum spray angle A1 or the deceleration factor K described above. Further, information about the start position and the end position of spraying the fireproof coating material F on the beam B may be included.

The setting input unit 57 can receive input of setting parameters via the communication device 53 . The setting input unit 57 may also receive input of setting parameters via an operation unit (not shown). The setting parameters received by the setting input unit 57 are stored in the storage device 52 . The setting parameters stored in the storage device 52 are referred to by the web spray control section 54, the lower flange upper surface spray control section 55, and the upper flange lower surface spray control section 56 described above.

<<Regarding the flow of spraying control processing>>
Next, the flow of spraying control processing will be described.
FIG. 8 shows the flow of spray control processing executed by the control device 50 . It is assumed that the setting parameters are input via the setting input unit 57 and stored in the storage device 52 prior to execution of the spraying control process.
As shown in FIG. 8, the processor 51 of the control device 50 reads the three-dimensional data of the skeleton and setting parameters from the storage device 52 (step S10). The three-dimensional data is BIM (Building Information Modeling) data. That is, the three-dimensional data includes data on the dimensions and shapes of the building materials that make up the frame of the building. The processor 51 determines the path and order of spraying the fireproof coating material F on the beam B, the moving speed of the spray port 11, etc., based on the three-dimensional data.

Further, the control device 50 may determine the spraying start position and the spraying end position based on the setting parameters. By doing so, the control device 50 can automatically move the spraying device 1 to the spraying start position and start the automatic spraying operation by controlling the traveling device 40 .

Next, the processor 51 controls the injection device 10, the robot arm 20, the lifting device 30, and the traveling device 40 so as to spray the fireproof coating material F onto the upper surface B3a of the lower flange B3 (step S20). As described above, the processor 51 controls the robot arm 20 so that the spray port 11 moves horizontally at a speed obtained by multiplying the standard speed Vs by the predetermined deceleration coefficient K, thereby moving the upper surface B3a of the lower flange B3. Refractory coating material F is sprayed against. In addition, you may spray the fireproof coating material F to the upper surface B3a of the lower flange B3, reciprocating in a horizontal direction several times.

Subsequently, the processor 51 controls the injection device 10, the robot arm 20, the lifting device 30, and the traveling device 40 so as to spray the fireproof coating material F onto the web B1 (step S30). As described above, the processor 51 controls the robot arm 20 so that the spray port 11 moves horizontally at the standard speed Vs to spray the refractory coating material F onto the side surface B1a of the web B1. The fireproof coating material F may be sprayed onto the side surface B1a of the web B1 while reciprocating in the horizontal direction multiple times.

Then, the processor 51 controls the injection device 10, the robot arm 20, the lifting device 30, and the traveling device 40 so as to spray the fireproof coating material F onto the lower surface B2b of the upper flange B2 (step S40), thereby controlling the spraying. End the process. As described above, the processor 51 controls the robot arm 20 so that the spray port 11 moves horizontally at the standard speed Vs to spray the refractory coating material F onto the lower surface B2b of the upper flange B2. Note that the fireproof coating material F may be sprayed onto the lower surface B2b of the upper flange B2 while reciprocating a plurality of times in the horizontal direction.

In this manner, the control device 50 controls the spraying of the fireproof coating material F in the order of the lower flange B3, the web B1, and the upper flange B2. In other words, at the start of the spraying operation, the control device 50 controls the spray port 11 to be in the range where the spray port 11 does not come into contact with the ceiling C (that is, the range in which the spray port 11 is positioned below the upper surface B2a of the upper flange B2). Control the robot arm 20 and the lifting device 30 to be in a high position. After the spraying control on the upper surface B3a of the lower flange B3 is completed, the spraying control is performed in the order of the web B1 and the lower surface B2b of the upper flange B2. Control. Therefore, if it is confirmed that the spray port 11 is not in contact with the ceiling C at the start of the spraying work, it is necessary to pay attention to the fact that the spray port 11 is not in contact with the ceiling C during the subsequent spraying work. There is no That is, it becomes possible to reduce the burden on the operator.

As described above, the control device 50 controls the injection device 10, the robot arm 20, the lifting device 30, and the traveling device 40, so that the automatic spraying work of spraying the fireproof coating material F onto the beam B is performed. It is possible to achieve both work efficiency and quality improvement.

The invention is not limited to the embodiments described above. For example, the object to be sprayed with the fireproof coating material F is not limited to the beam B, and may be a pillar as long as it is the frame of the building.
Further, in the above-described embodiment, the lower flange upper surface spray control unit 55 is described as determining the position change speed of the spray port 11 with reference to the deceleration coefficient table. It is also possible to obtain the position change speed by the calculation of .

1 Spraying device (refractory coating material spraying device)
10 injection device 11 spray port 12 hose 13 tank 14 pump 20 robot arm (holding device)
21 Spray port holder 22 Upper arm 23 Lower arm 24 Movable mechanism 24A First movable mechanism 24B Second movable mechanism 30 Lifting device 40 Traveling device 41 Wheel 50 Control device 51 Processor 52 Storage device 53 Communication device 54 Web spray control unit 55 Bottom Flange upper surface spray control unit 56 Upper flange lower surface spray control unit 57 Setting input unit 100 Spray robot 101 Injection nozzle 102 Supply hose 103 Robot arm 104 Traversing device B Beam B1 Web B1a Side surface B2 Upper flange B2a Upper surface B2b Lower surface B3 Lower flange B3a Upper surface B3b Lower surface C Ceiling F Fireproof covering material

Claims (5)

A refractory coating material spraying device for spraying a refractory coating material on a beam made of H-beam,
an injection device having a spray port for spraying the refractory coating material in a spraying direction;
a holding device that holds the spray port and is capable of changing the position of the spray port and the direction of the spray;
a control device that controls the injection device and the holding device based on three-dimensional data of a frame including the beam;
The control device controls the holding device so that the position change speed of the spray port decreases as the angle formed by the sprayed surface of the beam and the spraying direction decreases. . The control device controls the spray port so that the spray port is positioned below the upper surface of the upper flange of the beam, and the distance between the spray target point on the surface to be sprayed and the spray port is a constant distance. 2. A refractory coating spraying device according to claim 1, characterized in that it controls a holding device. The control device adjusts the angle formed by the sprayed surface and the spraying direction to be the maximum spraying angle based on the distance between the spraying target point and the spraying port and the height dimension of the beam. 3. The refractory coating spraying device according to claim 2, wherein the device controls the holding device. the beam comprises a web having a vertical surface, an upper flange connecting the web at an upper end of the web, and a lower flange connecting the web at a lower end of the web;
The control device controls the holding device such that the smaller the angle formed by the upper surface of the lower flange and the direction of spraying, the slower the speed of changing the position of the spray port. 4. The refractory coating material spraying device according to any one of 3. The control device is
a first blowing control unit that controls the holding device so that the position change speed of the blowing port with respect to the web becomes a constant standard speed;
a second blowing control unit for controlling the holding device so that the position change speed of the blowing port with respect to the upper surface of the lower flange becomes a speed obtained by multiplying the standard speed by a predetermined deceleration coefficient. The refractory coating material spraying device according to claim 4, characterized in that:

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