JP6904755B2 - Spraying device and spraying method - Google Patents

Description

The present invention relates to a spraying device for spraying a fireproof coating material on an object to be constructed and a method for spraying the fireproof coating material on the object to be constructed.

It is common for an operator to carry a spray gun (nozzle) or hose and move while spraying a fireproof coating material such as rock wool onto an object to be constructed such as a beam or a pillar of a building.
However, since the above work is hard work, for example, as described in Patent Document 1, a spraying device in which a fireproof coating material is sprayed while moving a nozzle along a surface such as a beam by a robot arm has been proposed. Has been done.

Japanese Unexamined Patent Publication No. 7-323247

In the above-mentioned prior art, the nozzle is moved in parallel with the spraying surface of the beam to perform spraying while the nozzle is facing the beam. In such a movement of the nozzle, for example, a beam or a column is used. The fireproof coating material could not be sufficiently attached to the corners of the beam.
Therefore, in the prior art, the thickness of the fireproof coating material adhering to the corner portion of the work piece is thinner than the thickness of the fireproof coating material adhering to the flat portion.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a spraying device capable of suppressing the thickness of the fireproof coating material to be sprayed on the corners of the work piece to be thinner than that of the flat portion. It is to provide a spraying method.

According to the spraying device according to the present invention, the above-mentioned problem is a device for spraying a fireproof coating material on an object to be constructed, the injection device for injecting the fireproof coating material from an injection port, and the injection port. The robot arm that changes the position and angle and the three-dimensional data of the building including the work piece are stored, the injection of the fireproof coating material by the injection device is controlled, and the injection of the fireproof coating material is controlled based on the three-dimensional data of the building. A control device for controlling the position and angle of the injection port by the robot arm is provided, the side surface of the work piece has a flat portion and a corner portion, and the control device is a predetermined number in the building. The position of the injection port arranged at the starting position in the height direction and the horizontal direction of the work piece at the injection port while maintaining the angle of the injection port at the first angle facing the flat portion. a first moving from the first starting position for starting the spraying of the refractory coating material to the flat part, to the first stop position to stop the spraying of the refractory coating material to the flat part 1 The movement control means and the coordinate position of the injection port in the building are acquired, the angle of the injection port is changed to the second angle facing the corner, and the injection port is changed to the first stop position. After moving to the second starting position corresponding to the corner portion, the second movement control means for moving the injection port in the height direction of the work piece, the first movement control means, and the second movement. This is solved by having a spray control means for injecting the fireproof coating material from the injection device while the injection port is being moved by the control means.

Further, the above-mentioned problem is a method of spraying the fireproof coating material on the object to be constructed by the spraying device according to the method of spraying the fireproof coating material according to the present invention. The fireproof coating material by the injection device, which stores three-dimensional data of a building including the injection device for injecting the fireproof coating material, a robot arm for changing the position and angle of the injection port, and the object to be constructed. A control device for controlling the injection of the building and controlling the position and angle of the injection port by the robot arm based on the three-dimensional data of the building, and the side surface of the work piece is a flat portion and a corner portion. The control device has the injection port arranged at a predetermined first starting position in the building, while maintaining the angle of the injection port at the first angle facing the flat portion. The position of the work piece in the height direction and the horizontal direction at the injection port is the fireproof coating on the flat portion from the first starting position for starting the spraying of the fireproof coating material on the flat portion. The step of moving the material to the first stop position where the spraying of the material is stopped, the coordinate position of the injection port in the building is acquired, and the angle of the injection port is changed to the second angle facing the corner portion. At the same time, a step of moving the injection port from the first stop position to a second start position corresponding to the corner portion and then moving the injection port in the height direction of the work piece, and the injection port. It is solved by having a step of injecting the fireproof coating material from the injection device while moving the above.

According to the above-mentioned spraying device and spraying method, it is possible to prevent the thickness of the fireproof coating material sprayed on the corners of the work piece from becoming thinner than that of the flat portion.
By doing so, the fireproof coating material can be adhered to both the flat portion and the corner portion of the work piece to have a specified thickness.

In the spraying device, the second movement control means uses the three-dimensional data of the building, the first starting position in the building, and the moving distance of the injection port to indicate the injection port in the building. The coordinate position of the injection port is acquired, the angle of the injection port is changed to the second angle based on the coordinate position of the injection port in the building, and the injection port is changed from the first stop position to the second start. After moving to the position, it is preferable to move the injection port in the height direction of the work piece .

In the spraying device, the work piece is a pillar including a plurality of the flat portions and a plurality of the corner portions connecting the plurality of flat portions, and the plurality of the flat portions and the plurality of the flat portions. The fireproof coating material is injected by the spray control means while moving the injection port by the first movement control means and the second movement control means for each of the corners of the above, and the second starting position. Is preferably on a line that substantially bisects the corner portion in the horizontal direction of the work piece in a top view.
By doing so, the refractory coating material can be adhered to a specified thickness over the entire circumference of the column.
By doing so, the fireproof coating material can be efficiently adhered to the corner portion.

In the spraying device, the first corner portion and the second corner portion are connected to both sides of the flat portion in the horizontal direction, and the first starting position is the flat portion and the first corner portion. It is a position facing the boundary of the portions, and the first stop position is preferably a position facing the boundary between the flat portion and the second corner portion.
By doing so, the refractory coating material can be efficiently adhered to the flat portion.

In the spraying device, the control device acquires the coordinate position of the injection port in the building, and the injection port is predetermined from a connecting body connected to the end portion in the height direction of the work piece. When the distance is reached, the movement stop means for stopping the movement of the injection port in the height direction of the object to be constructed and the coordinate position of the injection port in the building are acquired, and the injection is performed by the movement stop means. Rotation control means for rotating the injection port within a range of the first angle and a third angle toward the connection portion between the work piece to be constructed and the connection body in the building after the movement of the mouth is stopped. It is preferable that the spray control means injects the fireproof coating material from the injection device while the injection port is being rotated by the rotation control means.
By doing so, the fireproof coating material can be sufficiently adhered to the end portion in the height direction of the work piece to be connected to other members.

According to the spraying device and the spraying method according to the present invention, it is possible to prevent the thickness of the fireproof coating material sprayed on the corners of the work piece from becoming thinner than that of the flat portion.

It is a figure which shows the whole structure of the spraying apparatus which concerns on this embodiment. It is a figure which shows the pillar which is the object of spraying of a spraying device. It is a figure explaining the movement of the injection port of an injection device around a pillar. It is a figure explaining the movement of the injection port with respect to the side surface of a pillar. It is a figure explaining the movement range in the vertical direction of an injection port. It is a figure explaining the rotation of an injection port. It is a figure explaining the rotation of an injection port. It is a figure which shows the function provided in the control device.

Hereinafter, the fireproof coating material spraying device 1 and the method of spraying the fireproof coating material according to one embodiment of the present invention (hereinafter referred to as the present embodiment) will be described with reference to FIGS. 1 to 8.
The spraying device 1 is a device that sprays a fireproof coating material such as rock wool on building materials such as pillars and beams of a building. In this embodiment, an example in which the spraying device 1 is used for spraying a fireproof coating material on a column (an example of an object to be constructed) will be described.
It should be noted that the embodiments described below are for facilitating the understanding of the present invention and do not limit the present invention. That is, the present invention can be modified and improved without deviating from the gist thereof, and it goes without saying that the present invention includes an equivalent thereof.

[Configuration of spraying device 1]
FIG. 1 shows the overall configuration of the spraying device 1. As shown in FIG. 1, the spraying device 1 includes a control device 10, an injection device 20, a robot arm 30, and a carriage device 40.

The control device 10 includes a processor 11, a storage device 12, and a communication interface 13 as hardware.

The processor 11 is hardware for executing the instruction set described in the program. Then, the processor 11 executes various arithmetic processes based on the programs and data stored in the storage device 12.

The storage device 12 includes, for example, a memory and a magnetic disk device, stores various programs and data, and also functions as a work memory of the processor 11. The storage device 12 may include an information storage medium such as a flash memory or an optical disk.

The communication interface 13 includes, for example, a network interface card that enables wired or wireless communication, and communicates with the injection device 20, the robot arm 30, and the carriage device 40.
Then, the control device 10 transmits the control signal generated by the processor 11 to the injection device 20, the robot arm 30, and the carriage device 40 via the communication interface 13, thereby transmitting the injection device 20, the robot arm 30, and the carriage device. Control each operation of 40.

The injection device 20 is a device that injects a refractory coating material, and includes, for example, a tank 21, a high-pressure pump 21A, a hose 22, and an injection port 23.
In the injection device 20, the refractory coating material stored in the tank 21 is pumped up by the high-pressure pump 21A. Then, the injection device 20 injects (sprays) the refractory coating material pumped up by the high-pressure pump 21A from the injection port 23 via the hose 22.
By controlling the operation of the high-pressure pump 21A, the injection amount of the refractory coating material from the injection device 20 is controlled.

The robot arm 30 has a link mechanism 31, and can move the holding portion 32 provided at the tip of the link mechanism 31 in three axial directions of up and down (height), front and back, and left and right. The holding portion 32 holds the injection port 23, and the injection port 23 follows the movement of the holding portion 32. That is, the robot arm 30 has a function of changing the position and angle of the injection port 23. Including the above-mentioned front-back and left-right directions, the horizontal direction is used.

The trolley device 40 is a device that carries the robot arm 30 and the injection device 20 installed on the upper surface of the trolley device 40.
The bogie device 40 has a drive mechanism such as a wheel 41, a motor for rotating the wheel 41, and a steering wheel for controlling the direction of the wheel 41, and moves the position according to a control signal from the control device 10.

[Explanation of the object to be sprayed with the fireproof coating material 25]
Here, FIG. 2 shows a pillar 50 to be sprayed with the refractory coating material by the spraying device 1 according to the present embodiment.
As shown in FIG. 2, the pillar 50 is a prism extending in the vertical direction (height direction), and the pillar 50 is connected to a floor 60 having a surface extending in the horizontal direction at a connecting portion 55.

The pillar 50 has a substantially square pillar shape, and the side surface 50A of the pillar 50 is composed of four flat portions 51 (faces) and four corner portions 52. Here, each flat portion 51 is connected via a corner portion 52.
In the present embodiment, the corners 52 are rounded, but the present invention is not limited to this, the corners 52 may be chamfered, and the corners 52 may be rounded or chamfered. It does not have to be treated.

[Explanation of spraying method of refractory coating material 25 by spraying device 1]
Next, a method of spraying the refractory covering material 25 on the pillar 50 by the spraying device 1 will be described with reference to FIGS. 3 to 7.
In the example described below, the control device 10 of the spraying device 1 stores the three-dimensional data of the building including the pillar 50 in the storage device 12, and controls the position of the injection port 23 based on the three-dimensional data. May be.

As shown in FIGS. 3 and 4, the control device 10 controls the carriage device 40 and the robot arm 30 so that the injection port 23 faces the boundary between the flat portion 51 of the pillar 50 and the right corner portion 52. It is arranged at the first starting position 70 (P1).
Here, the first starting position 70 is a position where the spraying of the fireproof coating material 25 onto the flat portion 51 is started, and is located on the boundary line with the corner portion 52 on the right end side of the flat portion 51. Here, the height of the first starting position 70 may be the upper end of the flat portion 51 or may be between the upper end and the lower end.

As shown in FIG. 3, the control device 10 controls the robot arm 30 to control the angle of the injection port 23 so that the injection port 23 faces the front with respect to the flat portion 51. Here, the angle at which the injection port 23 faces the front with respect to the flat portion 51 is defined as the front angle (first angle).

Next, as shown in FIGS. 4 and 5, the control device 10 controls the robot arm 30 to inject the robot arm 30 until the injection port 23 reaches the lower end folding position 71A while maintaining the injection port 23 at a front angle. Move the mouth 23. While the injection port 23 is moving downward, the control device 10 injects the fireproof coating material 25 from the injection device 20 to spray the fireproof coating material 25 onto the flat portion 51.

Here, as shown in FIG. 5, the lower end folding position 71A is a position where the height from the floor 60 is D (predetermined height).
When the injection port 23 reaches the lower end turn-back position 71A, the control device 10 controls the robot arm 30 to direct the angle of the injection port 23 toward the connection portion 55 between the pillar 50 and the floor 60, as shown in FIG. And rotate.
Specifically, the control device 10 controls the robot arm 30, and the angle from the front angle (θ1) at which the injection port 23 faces the front with respect to the flat portion 51 to the angle at the connection portion (θ3, th) toward the connection portion 55. Rotate in the range up to (corresponding to the angle of 3).
Further, as shown in FIG. 7, the control device 10 controls the robot arm 30 to face the front with respect to the flat portion 51 from the connection portion direction angle (θ3) at which the injection port 23 faces the connection portion 55. Rotate it to the front angle (θ1) and return it to its original direction.
Assuming that the position where the injection port 23 faces the front angle is P21 and the position where the injection port 23 faces the angle toward the connecting portion is P22, the state of the injection port 23 changes in the order of P21, P22, and P21.

The control device 10 injects the fireproof coating material 25 from the injection device 20 while the injection port 23 is rotated by the robot arm 30, and puts the fireproof coating material 25 on the lower portion of the flat portion 51 and the connection portion 55. Spray.
As a result, as shown in FIG. 7, the fireproof coating material 25 can be sufficiently adhered to the lower part of the flat portion 51.

Next, as shown in FIG. 4, the control device 10 controls the robot arm 30 to move the position of the injection port 23 from the lower end folding position 71A to the upper left direction of the injection port 23.
Then, when the injection port 23 reaches the upper end turning position 71B which is the same height as the first starting position 70, the control device 10 stops the movement of the injection port 23.
The control device 10 may or may not inject the refractory coating material 25 from the injection device 20 while the injection port 23 is moving in the upper left direction.

Then, after the injection port 23 reaches the upper end turning position 71B, the control device 10 repeatedly executes the same processing as the processing executed at the first starting position 70.
Then, when the injection port 23 reaches the first stop position 72, which is the lower end of the boundary between the flat portion 51 and the left corner portion 52, the control device 10 completes the spraying process at the first stop position 72. Is sprayed on the left corner 52.

In this example, as shown in FIG. 3, the control device 10 controls the robot arm 30 to divide the corner portion 52 of the pillar 50 into substantially two equal parts in the horizontal direction in a top view. The injection port 23 is moved to the second starting position 73 above. In this example, since the cross section of the pillar 50 is substantially square, the bisector 54 is a line connecting the corner center position 52A, which is the horizontal center position of the corner 52, and the core 53. The angle between the bisector 54 and the side of the pillar 50 (flat portion 51) is approximately 45 degrees.
Here, as shown in FIG. 4, the height of the second starting position 73 is the same as that of the first starting position 70.
Further, as shown in FIG. 3, the control device 10 controls the robot arm 30 to adjust the direction of the injection port 23 so that the angle of the injection port 23 is parallel to the bisector 54.
For example, as shown in FIG. 3, the angle of the injection port 23 at the first stop position 72 (first angle) and the angle of the injection port 23 at the second start position 73 (second angle) are 45. Make it different.

Next, as shown in FIG. 4, the control device 10 maintains the injection port 23 at the second angle until the injection port 23 reaches the second stop position 74 from the second start position 73. To move. The control device 10 injects the fireproof coating material 25 from the injection device 20 while the injection port 23 is moving downward, and sprays the fireproof coating material 25 on the corners 52.
Then, when the injection port 23 reaches the second stop position 74, the control device 10 rotates the angle of the injection port 23 toward the connection portion 55 between the pillar 50 and the floor 60, as shown in FIGS. 6 and 7. After that, put it back. At this time, the control device 10 sprays the fireproof coating material 25 from the injection port 23 to the lower end of the corner portion 52.
As a result, the fireproof coating material 25 can be sprayed on the flat portion 51 and the corner portion 52 on the front side of the pillar 50.

Further, the spraying device 1 also sprays the refractory coating material 25 onto the flat portion 51 and the corner portion 52 on the left side while moving the injection port 23 to the positions P4 to P6 shown in FIG.
Further, the spraying device 1 also sprays the refractory coating material 25 on the flat portion 51 and the corner portion 52 on the back side while moving the injection port 23 to the positions P7 to P9 shown in FIG.
Then, the spraying device 1 also sprays the refractory coating material 25 onto the flat portion 51 and the corner portion 52 on the right side while moving the injection port 23 to the positions P10 to P12 shown in FIG.
By the above processing, the spraying device 1 can spray the fireproof coating material 25 on each of the flat portions 51 and the corner portions 52 of the pillar 50.
According to the spraying device 1, it is possible to prevent the fireproof coating material 25 from being thinner than the flat portion 51 on the corner portion 52 and the connecting portion 55 of the pillar 50.

[Explanation of functions provided in the control device 10]
FIG. 8 shows the functions provided in the control device 10 in order to realize the above processing. As shown in FIG. 8, the control device 10 functions as a height movement control unit 100 (height movement control means), a horizontal movement control unit 101 (horizontal movement control means), and a movement stop unit 102 (movement stop means). ), Rotation control unit 103 (rotation control means), first movement control unit 104 (first movement control means), second movement control unit 105 (second movement control means), and spray control unit 106 (spray control means). ) Is provided.

Each of the above-mentioned functions provided in the control device 10 is realized by the processor 11 of the control device 10 controlling each part of the control device 10 based on the programs and data stored in the storage device 12. .. The control device 10 may read the above program from a computer-readable information storage medium, or may download the program via a communication network such as the Internet or an intranet.
Hereinafter, details of each of the above functions provided in the control device 10 will be described.

The height movement control unit 100 is a function of moving the injection port 23 of the injection device 20 in the height direction. Here, the above-mentioned height direction is a vertical direction.
For example, the height movement control unit 100 keeps the angle of the injection port 23 at the first angle facing the flat portion of the work piece (for example, the flat portion 51 of the pillar 50), and keeps the injection port 23 in the height direction. Move to.

The height movement control unit 100 is mainly realized by the processor 11, the storage device 12, and the communication interface 13 of the control device 10 as follows.
Specifically, the processor 11 of the control device 10 transmits a control signal for moving the holding portion 32 of the robot arm 30 in the height direction to the robot arm 30 via the communication interface 13, thereby transmitting the injection port 23. To move in the height direction.

The horizontal movement control unit 101 is a function of moving the injection port 23 of the injection device 20 in the horizontal direction.
For example, the horizontal movement control unit 101 moves the injection port 23 in the horizontal direction while maintaining the angle of the injection port 23 at the first angle facing the flat portion of the work piece (for example, the flat portion 51 of the pillar 50). Let me.

The horizontal movement control unit 101 is mainly realized by the processor 11, the storage device 12, and the communication interface 13 of the control device 10 as follows.
Specifically, the processor 11 of the control device 10 transmits a control signal for moving the holding portion 32 of the robot arm 30 in the horizontal direction to the robot arm 30 via the communication interface 13, thereby causing the injection port 23. Move horizontally.

The movement stop unit 102 is a function of stopping the movement of the injection port 23 of the injection device 20.
For example, the movement stop unit 102 stops the movement of the injection port 23 in the height direction when the injection port 23 reaches the lower end turn-back position 71A or the upper end turn-back position 71B defined for the pillar 50.
For example, the lower end folding position 71A may be a position where the injection port 23 reaches a predetermined distance from the connecting body (for example, the floor 60) connected to the lower end of the work piece (for example, the pillar 50).
Further, for example, the upper end folding position 71B may be a position where the injection port 23 reaches a predetermined distance from a connecting body (for example, a ceiling, a beam, etc.) connected to the upper end of the work piece (for example, a pillar 50).

The movement stop unit 102 is mainly realized by the processor 11, the storage device 12, and the communication interface 13 of the control device 10 as follows.
Specifically, the processor 11 of the control device 10 acquires the coordinate position of the injection port 23, and when the distance between the injection port 23 and the floor 60 reaches a predetermined value (D), the holding portion of the robot arm 30. A control signal for stopping the movement of the 32 is transmitted to the robot arm 30 via the communication interface 13. As a result, the processor 11 of the control device 10 stops the movement of the injection port 23.
Further, the processor 11 of the control device 10 acquires the coordinate position of the injection port 23, and when the distance between the injection port 23 and the ceiling (or beam) reaches a predetermined value (D), the holding portion of the robot arm 30. A control signal for stopping the movement of the 32 is transmitted to the robot arm 30 via the communication interface 13. As a result, the movement of the injection port 23 is stopped.
Further, the processor 11 of the control device 10 may stop the movement of the holding portion 32 of the robot arm 30 according to the amount of movement of the holding portion 32 of the robot arm 30 in the vertical direction. That is, when the processor 11 of the control device 10 moves the holding portion 32 downward by a predetermined amount from the reference position (for example, the movement start position) of the holding portion 32 of the robot arm 30, the holding portion 32 of the robot arm 30 You may want to stop the movement of.
Further, when the processor 11 of the control device 10 moves the holding portion 32 upward by a predetermined amount from the reference position (for example, the movement start position) of the holding portion 32 of the robot arm 30, the holding portion 32 of the robot arm 30 You may want to stop the movement of.

The rotation control unit 103 is a function of rotating the injection port 23 of the injection device 20 to change the direction of the injection port 23.
For example, the rotation control unit 103 stops the movement of the injection port 23 by the movement stop unit 102, and then sets the injection port 23 at a first angle, a work piece (for example, a pillar 50), and a connecting body (for example, a floor 60, etc.). ) Is rotated within a range of a third angle toward the connection portion (for example, the connection portion 55).
Then, the rotation control unit 103 rotates the injection port 23 from the first angle to the third angle, and then rotates the injection port 23 from the third angle to the first angle again.

The moving speed of the injection port 23 by the rotation control unit 103 is, for example, 1/5 to 1/3 of the moving speed of the injection port 23 by the height movement control unit 100. In particular, the moving speed of the injection port 23 by the rotation control unit 103 is preferably 1/4 of the moving speed of the injection port 23 by the height movement control unit 100. Here, the moving speed of the injection port 23 by the rotation control unit 103 is a speed obtained by multiplying the distance between the injection port 23 and the connection unit 55 by the angular velocity of the injection port 23.

The rotation control unit 103 is mainly realized by the processor 11, the storage device 12, and the communication interface 13 of the control device 10 as follows.
Specifically, the processor 11 of the control device 10 sends a control signal for rotating the holding portion 32 of the robot arm 30 downward when the position of the injection port 23 reaches the lower end turn-back position 71A. Is transmitted to the robot arm 30 via. As a result, the injection port 23 rotates downward.

Then, the processor 11 of the control device 10 reaches the holding portion 32 of the robot arm 30 when the angle of the injection port 23 reaches the third angle from the lower end folding position 71A toward the connecting portion 55 from the first angle. A control signal for stopping the rotation of the robot arm 30 is transmitted to the robot arm 30 via the communication interface 13. As a result, the rotation of the injection port 23 is stopped.
Next, the processor 11 of the control device 10 transmits a control signal for rotating the holding portion 32 of the robot arm 30 upward to the robot arm 30 via the communication interface 13. As a result, the injection port 23 rotates upward.
Then, when the angle of the injection port 23 reaches the first angle facing the front with respect to the flat portion 51 from the third angle, a control signal for stopping the rotation of the holding portion 32 of the robot arm 30 is communicated. It is transmitted to the robot arm 30 via the interface 13. As a result, the rotation of the injection port 23 is stopped.

The rotation control unit 103 can also rotate the injection port 23 toward the upper end side of the pillar 50 by turning it upside down in the above process.

The first movement control unit 104 is a function of controlling the movement of the injection port 23 of the injection device 20 when spraying the flat portion (for example, the flat portion 51) of the work piece (for example, the pillar 50).
For example, the first movement control unit 104 keeps the angle of the injection port 23 at the first angle facing the flat portion 51, and positions the injection port 23 in the height direction and the horizontal direction with respect to the flat portion 51. It is moved from the first start position 70 where the spraying of the fireproof coating material is started to the first stop position 72 where the spraying of the fireproof coating material on the flat portion 51 is stopped.

The first mobile control unit 104 is mainly realized by the processor 11, the storage device 12, and the communication interface 13 of the control device 10 as follows.
Specifically, the processor 11 of the control device 10 controls the carriage device 40 and the robot arm 30 to move the injection port 23 to the first starting position 70.
Here, the first starting position 70 is a position facing the boundary between the flat portion 51 and the corner portion 52 (for example, the right corner portion 52) and at the same height as the upper end folding position 71B. do.
Further, the distance between the first starting position 70 and the flat portion 51 may be a predetermined distance.

Next, the processor 11 of the control device 10 controls the robot arm 30 to move the injection port 23 downward until the injection port 23 reaches the lower end turn-back position 71A, and when the injection port 23 reaches the lower end turn-back position 71A, the injection port 23 is injected. Stop the movement of the mouth 23.
Next, the processor 11 of the control device 10 controls the robot arm 30 to rotate the injection port 23 from the first angle to the third angle, and then rotate it from the third angle to the first angle. ..

Next, the processor 11 of the control device 10 controls the robot arm 30 to change the horizontal position of the injection port 23 and move the height of the injection port 23 to the same height as the first starting position 70.
This is one cycle of processing executed by the first movement control unit 104.

Then, the processor 11 of the control device 10 repeatedly executes the above cycle until the injection port 23 reaches the first stop position 72.
The first stop position 72 is a position facing the boundary between the flat portion 51 and the corner portion 52 (for example, the left corner portion 52), and is at the same height as the lower end folding position 71A.
Further, the distance between the first stop position 72 and the flat portion 51 may be a predetermined distance.

The second movement control unit 105 is a function of controlling the movement of the injection port 23 of the injection device 20 when spraying the corner portion (for example, the corner portion 52) of the work piece (for example, the pillar 50).
For example, the second movement control unit 105 changes the angle of the injection port 23 to a second angle facing the corner portion 52, and changes the injection port 23 from the first stop position 72 to the second corner portion 52. After moving to the starting position 73, the injection port 23 is moved in the height direction.

The second mobile control unit 105 is mainly realized by the processor 11, the storage device 12, and the communication interface 13 of the control device 10 as follows.
Specifically, the processor 11 of the control device 10 controls the robot arm 30 to move the injection port 23 to the second starting position 73.
As shown in FIG. 3, the second starting position 73 is a position on the bisector 54 that substantially bisects the corner portion 52 of the pillar 50 in the horizontal direction in the top view. The distance between the injection port 23 at the second starting position 73 and the corner center position 52A may be equal to the distance between the injection port 23 and the flat portion 51 at the first starting position 70.

Next, the processor 11 of the control device 10 controls the robot arm 30 to move the injection port 23 downward until the injection port 23 reaches the second stop position 74, and when the injection port 23 reaches the second stop position 74. Stops the movement of the injection port 23.
Next, the processor 11 of the control device 10 controls the robot arm 30 to rotate the injection port 23 from the first angle to the third angle, and then rotate it from the third angle to the first angle. ..
As described above, the spraying of the fireproof coating material 25 onto the corner portion 52 is completed.

The spray control unit 106 has a function of injecting the refractory coating material 25 from the injection device 20.
For example, the spray control unit 106 injects the refractory coating material 25 from the injection device 20 while the injection port 23 is being moved by the first movement control unit 104 and the second movement control unit 105.
At this time, the spray control unit 106 injects the refractory coating material 25 from the injection device 20 while the rotation control unit 103 rotates the injection port 23.

The spray control unit 106 is mainly realized by the processor 11, the storage device 12, and the communication interface 13 of the control device 10 as follows.
Specifically, in the processor 11 of the control device 10, the injection port 23 is rotated by the rotation control unit 103 while the injection port 23 is being moved by the first movement control unit 104 and the second movement control unit 105. Meanwhile, the fireproof coating material 25 is injected from the injection device 20 by transmitting a control signal for operating the high-pressure pump 21A to the injection device 20 via the communication interface 13.

[Effects produced by spraying device 1]
According to the spraying device 1 and the method of spraying the refractory coating material 25 by the spraying device 1 described above, the thickness of the refractory coating material 25 sprayed on the corners 52 of the pillar 50 is thinner than that of the flat portion 51. Can be suppressed.
By doing so, the spraying device 1 can execute the work of adhering the refractory coating material 25 to both the flat portion 51 and the corner portion 52 of the pillar 50 with a predetermined thickness.

Further, in the spraying device 1, the fireproof coating material 25 can be attached to the entire circumference of the pillar 50 with a predetermined thickness.

Further, in the spraying device 1, the second starting position 73 is provided on the bisector 54 that substantially bisects the corner portion 52 in the horizontal direction in the top view, so that the corner portion 52 is provided with a fireproof coating material. 25 can be attached efficiently.

Further, in the spraying device 1, the pillar 50 is a square pillar, and the pillar 50 is formed by making the angle of the injection port 23 toward the flat portion 51 different from the angle of the injection port 23 toward the corner portion 52 by approximately 45 degrees. The fireproof coating material can be efficiently adhered to the corner portion 52 of the 50.

Further, in the spraying device 1, the spraying to the flat portion 51 is performed from the boundary with the right (or left) corner portion 52 to the boundary with the left (or right) corner portion 52 to the flat portion 51. The fireproof coating material 25 can be sprayed efficiently.

Further, in the spraying device 1, when the injection port 23 reaches a predetermined distance from the floor 60 connected to the end of the pillar 50, the injection port 23 is directed toward the connection portion 55 between the pillar 50 and the floor 60. By spraying the fireproof coating material 25 while rotating the pillar 50, the fireproof coating material 25 can be sufficiently adhered to the periphery of the connecting portion 55 between the pillar 50 and the floor 60.

[Other Embodiments]
The present invention is not limited to the above embodiments. For example, the object to be constructed to which the fireproof covering material 25 is sprayed is not limited to columns and beams, but may be a plate-like body such as a panel or a complicated three-dimensional shape.
Further, in the spraying device 1, the control device 10 may be installed in the carriage device 40 and may move together with the injection device 20 and the robot arm 30.
Further, the control device 10 may be built in any of the injection device 20, the robot arm 30, and the carriage device 40.
Further, the tank 21 of the injection device 20 does not have to be mounted on the carriage device 40.

1 Spraying device 10 Control device 11 Processor 12 Storage device 13 Communication interface 20 Injection device 21 Tank 21A High-pressure pump 22 Hose 23 Injection port 25 Fireproof coating material 30 Robot arm 31 Link mechanism 32 Holding part 40 Cart device 41 Wheels 50 Pillars ( Work piece)
50A Side 51 Flat part 52 Corner part 52A Corner center position 53 Core part 54 Bisection line 55 Connection part 60 Floor (connector)
70 1st start position 71A Lower end turn back position 71B Upper end turn back position 72 1st stop position 73 2nd start position 74 2nd stop position 100 Height movement control unit 101 Horizontal movement control unit 102 Movement stop unit 103 Rotation control unit 104 1st Movement control unit 105 Second movement control unit 106 Spray control unit

Claims (6)

It is a device for spraying fireproof coating material on the work piece.
An injection device that injects the refractory coating material from the injection port,
A robot arm that changes the position and angle of the injection port,
The three-dimensional data of the building including the object to be constructed is stored, the injection of the fireproof coating material by the injection device is controlled , and the position of the injection port by the robot arm and the position of the injection port by the robot arm based on the three-dimensional data of the building. Equipped with a control device that controls the angle,
The side surface of the work piece has a flat portion and a corner portion, and has a flat portion and a corner portion.
The control device is
The height of the object to be constructed at the injection port while maintaining the angle of the injection port at the first angle facing the flat portion of the injection port arranged at a predetermined first starting position in the building. The first position in the vertical direction and the horizontal direction is such that the spraying of the fireproof coating material on the flat portion is stopped from the first starting position for starting the spraying of the fireproof coating material on the flat portion. The first movement control means for moving to the stop position,
The coordinate position of the injection port in the building is acquired, the angle of the injection port is changed to a second angle facing the corner portion, and the injection port is moved from the first stop position to the corner portion. After moving to the corresponding second starting position, the second movement control means for moving the injection port in the height direction of the work piece, and
A blowing control means for injecting the refractory coating material from the injection device while the injection port is being moved by the first movement control means and the second movement control means. Attaching device. The second movement control means
The coordinate position of the injection port in the building is acquired from the three-dimensional data of the building, the first starting position in the building, and the moving distance of the injection port.
After changing the angle of the injection port to the second angle based on the coordinate position of the injection port in the building and moving the injection port from the first stop position to the second start position, The spraying device according to claim 1, wherein the injection port is moved in the height direction of the work piece. The work piece is a pillar including a plurality of the flat portions and a plurality of the corner portions connecting the plurality of flat portions.
For each of the plurality of flat portions and the plurality of corner portions, the fireproof coating material is moved by the spray control means while the injection port is moved by the first movement control means and the second movement control means. To inject ,
The spraying device according to claim 1 or 2 , wherein the second starting position is on a line that substantially bisects the corner portion in the horizontal direction of the work piece in a top view. The first corner portion and the second corner portion are connected to both sides of the flat portion in the horizontal direction.
The first starting position is a position facing the boundary between the flat portion and the first corner portion.
The spraying device according to any one of claims 1 to 3, wherein the first stop position is a position facing the boundary between the flat portion and the second corner portion. The control device is
When the coordinate position of the injection port in the building is acquired and the injection port reaches a predetermined distance from the connecting body connected to the end portion in the height direction of the work piece, the injection port is said to be said. and movement stopping means for stopping the movement in the height direction of the construction element,
After acquiring the coordinate position of the injection port in the building and stopping the movement of the injection port by the movement stop means, the injection port is set to the first angle and the object to be constructed in the building. Further, it has a rotation control means for rotating in a range of a third angle toward the connection portion with the connection body.
The method according to any one of claims 1 to 4, wherein the spray control means injects the refractory coating material from the injection device while the injection port is rotated by the rotation control means. Spraying device. It is a method of spraying a fireproof coating material on an object to be constructed by a spraying device.
The spraying device is
An injection device that injects the refractory coating material from the injection port,
A robot arm that changes the position and angle of the injection port,
The three-dimensional data of the building including the object to be constructed is stored, the injection of the fireproof coating material by the injection device is controlled , and the position of the injection port by the robot arm and the position of the injection port by the robot arm based on the three-dimensional data of the building. Equipped with a control device that controls the angle,
The side surface of the work piece has a flat portion and a corner portion, and has a flat portion and a corner portion.
The control device
The height of the object to be constructed at the injection port while maintaining the angle of the injection port at the first angle facing the flat portion of the injection port arranged at a predetermined first starting position in the building. The first position in the vertical direction and the horizontal direction is such that the spraying of the fireproof coating material on the flat portion is stopped from the first starting position for starting the spraying of the fireproof coating material on the flat portion. The process of moving to the stop position and
The coordinate position of the injection port in the building is acquired, the angle of the injection port is changed to a second angle facing the corner portion, and the injection port is moved from the first stop position to the corner portion. A step of moving the injection port in the height direction of the work piece after moving it to the corresponding second starting position, and
A spraying method comprising a step of injecting the refractory coating material from the injection device while moving the injection port.

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