JP7115122B2 - Spraying device and spraying method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a spraying device for coating a surface to be applied with a spraying material and a spraying method using the spraying device.

In a building with a steel frame structure, a work robot capable of working in high places is used to coat the surfaces of steel beams with a fireproof coating material to provide a fireproof finish. For example, in Patent Literature 1, a plate-shaped dry fireproof covering material is used for fireproof finishing, and this dry fireproof covering material is attached to ceiling beams using a construction robot.

The construction work robot disclosed in Patent Document 1 is composed of a manipulator with an end effector attached to its tip, and a traveling carriage on which the manipulator is mounted. It employs a holding means. When the dry fireproof covering material is attached to the ceiling beam, the traveling truck is moved to the work area and installed, and then the manipulator is operated to attach the dry fireproof covering material adsorbed and held by the end effector to the steel frame beam. installed at the planned installation position. In addition, when a semi-wet refractory coating material is used for refractory finishing, a mechanism suitable for spraying should be adopted for the end effector.

JP 2017-110466 A

The construction work robot described above is suitable for performing work with an end effector at a defined fixed point. However, when the end effector is used for continuous lateral work, such as spraying, the control of the end effector by the manipulator becomes complicated. If the operable range is exceeded, the traveling carriage must be moved each time to carry out the work. For this reason, the work requires a great deal of time and effort, and not only does the work period tend to be prolonged, but due to the positional movement of the traveling carriage, there is no spray left between the preceding sprayed part and the following sprayed part on the surface to be worked. and uneven spraying are likely to occur.

The present invention has been made in view of such problems, and its main purpose is to provide a spraying apparatus capable of performing spraying work with high accuracy and work efficiency without being affected by the working environment. and to provide a spraying method.

In order to achieve such an object, the spraying apparatus of the present invention is a spraying apparatus for covering a surface to be applied with a spraying material, comprising a multi-joint robot arm having a spraying means, and the robot arm. a moving part for supporting the moving part, a lifting device for lifting and lowering the robot arm in the moving part; a traversing device for moving the robot arm on the moving part at least in a direction along the construction target surface; The traversing device includes a traveling platform for supporting the robot arm, and a frame on which the traveling platform moves, the frame being configured such that the moving direction of the traveling platform is the above-described movement direction. It is characterized in that it is provided on the traveling truck so as to be parallel to the traveling direction of the traveling truck . Further, the lifting device is provided between the traveling means and the frame, and the frame is arranged so as to pass through the center of gravity of the traveling carriage in a plan view .

Further, in the spraying device of the present invention, the traveling portion includes a self-position detection sensor for detecting its own position in plan view and its traveling direction, an attitude detection sensor for detecting its own attitude angle, and the traveling portion. and a height detection sensor for detecting a height position of a base portion that is provided and supports the robot arm.

The spraying method of the present invention is a spraying method for covering a surface to be applied with a spraying material using the spraying device of the present invention, wherein the spraying device is run and the traveling direction is changed in the vicinity of a target position. an installation step of positioning the robot arm within an allowable value range centered on a target position after the robot arm changes its direction in a direction in which it can move along the construction target surface on the traversing device; A spraying preparation step of placing the spraying means in a spraying start position and orientation, and lateral movement of the spraying means being controlled by movement of the robot arm and moving the robot arm on the traversing device. A spraying work step in which the movement of the spraying means in the height direction is controlled by the operation of the robot arm and the elevation of the lifting device, and the spraying material is continuously sprayed onto the surface to be applied. and.

Further, in the spraying method of the present invention, the surface to be applied forms a part of the indoor surface shape of the building, the indoor surface shape is measured to calculate the measured value, and based on the measured value and correcting the architectural information of the building, and based on at least one of the corrected architectural information of the building and the information detected by the self-position detection sensor, in the installation step, the spraying The apparatus is positioned and installed within an allowable value range centered on the target position, and in the spraying preparation step, the arrangement of the spraying start position and direction of the spraying means provided on the robot arm is corrected, The spraying work step is characterized in that the operation of the robot arm is corrected.

According to the spraying device and the spraying method of the present invention, after the spraying device has been moved and installed in the travel section, the lateral movement of the spraying means is controlled by the movement of the robot arm and the movement of the robot arm on the traversing device. It can be controlled by moving with As a result, even if the surface to be sprayed extends over a wide area, the spraying device can be sprayed without having to move it frequently. As a result, the construction period can be greatly shortened.

Further, the movement of the spraying means in the height direction can be controlled by the movement of the robot arm and the elevation of the lifting device installed on the traveling carriage. As a result, even when the surface to be worked is located at a high place, it is possible to uniformly coat the surface to be worked with the spraying material with good working efficiency without introducing an aerial work vehicle.

Furthermore, the architectural information is corrected based on the measured values of the indoor surface shape of the building, and based on at least one of the corrected architectural information of the building and the information detected by the self-position detection sensor In addition to adjusting the installation position of the spraying device, the job file that controls the operation of the robot arm is corrected to correct the arrangement of the spraying start position and direction of the spraying means, and the spraying work is performed. Modify the behavior of the robot arm when working. As a result, the positioning accuracy of the spraying start position and the direction of the spraying means on the surface to be applied is further improved, so that the surface to be applied is less likely to be left unsprayed or unevenly sprayed, and the application accuracy is further improved. becomes possible.

According to the present invention, regardless of the conditions of the surface to be coated with the spraying material, the spraying can be performed with high accuracy and work efficiency without being affected by the working environment. It becomes possible.

It is a figure which shows the outline of the spraying operation|work using the spraying apparatus in this Embodiment. It is a figure which shows the detail of the spraying apparatus in this Embodiment. It is a figure which shows a mode that the spraying apparatus in this Embodiment moves. It is a figure which shows the flow of the spraying method using the spraying apparatus in this Embodiment.

INDUSTRIAL APPLICABILITY The spraying device and spraying method of the present invention are suitable devices and methods when the surface to be applied is located at a high place or covers a wide area. In the present embodiment, a fire-resistant finish is applied by spraying a wet fire-resistant coating material on ceiling beams located indoors of a building as an example, and details thereof will be described below.

The spraying device 1 is, as shown in FIG. and a traveling portion B that supports the robot arm A.

As shown in FIG. 2, the robot arm A includes a manipulator 3 having a multi-joint structure and a spraying means 2 attached as an end effector to the tip of the manipulator 3. The spraying means 2 is a spray material. A gun head 21 for spraying C onto the target surface 101 is provided at the front end of the barrel, and a connection portion 22 to which a supply hose for the spraying material C is connected is provided at the intermediate portion of the barrel.

In this embodiment, the manipulator 3 employs a 6-axis articulated robot, which operates based on a job file stored in a control panel to be described later. control the position and orientation of

A traveling section B that supports the robot arm A includes a base section 4, a traversing device 5, a traveling carriage 6, and an elevating device 7. The base section 4 is installed on the traversing device 5 so as to be movable along the longitudinal direction. In addition, the robot arm A is rotatably supported within the upper surface.

The traversing device 5 includes an elongated frame 51 and a traveling platform 52 that is movable along the longitudinal direction of the frame 51. The traveling platform 52 is provided with the base portion 4 described above. The traveling platform 52 may be configured to move on the frame 51 by any means. It is also possible to adopt a structure in which the traveling platform 52 is moved by

The traveling truck 6 has a structure that can freely travel on the floor surface of the building 100, and includes a rectangular top plate 61 on which the above-described traversing device 5 is placed and a truck main body 62. 63 and an outrigger device 64 are installed. The traveling means 63 employs a mecanum wheel capable of omnidirectional movement, but is not necessarily limited to this. For example, an omnic crawler or the like can be used as long as the traveling carriage 6 can be moved omnidirectionally. , may be adopted.

A lifting device 7 is interposed between the rectangular top plate 61 and the carriage body 62 . Any device may be used as the lifting device 7 as long as it has an expansion mechanism capable of pushing up the rectangular top plate 61, and a pantograph jack is used in the present embodiment.

Furthermore, a terminal device 65 is installed on the carriage body 62 . The terminal device 65 is a so-called notebook computer or tablet terminal that includes an arithmetic processing unit 651, an input unit 652, an output unit 653, a storage unit 654, and the like. The arithmetic processing unit 651 is a computer having a CPU, GPU, ROM, RAM, hardware interface, and the like.

Although the details will be described later, the arithmetic processing unit 651 includes at least functions related to the movement and installation of the spraying device 1, which are performed in the installation step (STEP 1) of the spraying device 1 shown in the flow chart of FIG. A robot arm control unit 6517 is provided that functions as a control panel for controlling the robot arm A used in the work preparation process (STEP 2) and the spray work process (STEP 3). Further, a robot arm position movement control section 6518 having a function of moving the robot arm A on the traverse device 5 and a function of lifting and lowering the lifting device 7 used in the spraying work step (STEP 3) is provided.

The input unit 652 is an input device such as a switch or keyboard. The output unit 653 is a display that displays a screen. The storage unit 654 is a storage device such as a semiconductor memory or a hard disk drive, and stores programs executable by the arithmetic processing unit 651 .

The travel unit B having such a configuration passes through the trolley device 5 in plan view, and the longitudinal direction thereof, that is, the movement direction of the base unit 4 that supports the robot arm A, is the traveling direction of the travel carriage 6. It is arranged on the traveling carriage 6 so as to be parallel to . Then, the center of gravity of the traveling portion B in plan view is set as the home position P of the robot arm A.

The spraying device 1 having the above configuration is arranged at the robot station S installed indoors of the building 100 as shown in FIG. Keep Then, at the start of the spraying work, the spraying device 1 is moved from the robot station S toward the target position G set in the vicinity of the surface 101 to be applied, so that the traveling direction is in the target direction in the vicinity of the target position G. turn around. Thereafter, positioning is performed within the allowable value range centering on the target position G.

The installed spraying device 1 operates the manipulator 3 based on the plan view position of the traveling portion B, the traveling direction when stopped, the attitude angle, and the height position of the base portion 4, thereby causing the spraying means 2 to It controls the spray start position and direction of the gun head 21 .

For this reason, as shown in FIG. 2, the traveling portion B of the spraying device 1 is provided with a self-position detection sensor 8 for grasping the plan view position and traveling direction of the traveling portion B, and the height position of the base portion 4. and a posture detection sensor 10 for sensing the posture angle (roll, pitch) of the traveling portion B. In addition, the arithmetic processing unit 651 of the terminal device 65 is provided with a self-position detection unit 6511 that calculates the planar view position and traveling direction of the traveling unit B, the height position of the base unit 4, and the attitude angle of the traveling unit B. .

The self-position detection sensor 8 is a self-position estimation type optical position measurement sensor unit such as a laser scanner, and is installed on the carriage body 62 of the traveling carriage 6 . The plan view position and traveling direction of the traveling carriage 6 using the self-position detection sensor 8 are calculated based on the BIM data, and the calculation method will be described later. The BIM data is data that stores design information such as blueprints of the building 100 and is used to reproduce a three-dimensional model of the building 100 that is the same as the actual building 100 on a computer.

In the self-position detection unit 6511, the measurement result related to the planar view position of the self-position detection sensor 8 based on the BIM data measured by the self-position detection sensor 8 is converted into a planar view position related to the center of gravity of the traveling part B, This is stored in storage unit 654 . Also, the measurement result related to the orientation of the self-position detection sensor 8 is set as the traveling direction of the traveling section B, and this is stored in the storage section 654 .

The height detection sensor 9 is a stroke sensor installed on the rectangular top plate 61 and the carriage body 62 to measure the amount of expansion and contraction of the lifting device 7. The height of the base portion 4 in the contracted state from the floor surface is added to the measurement result of the height detection sensor 9 , and this is calculated as the height position of the base portion 4 and stored in the storage section 654 .

The attitude detection sensor 10 is an inclinometer used to measure the attitude angle (roll, pitch) of the traveling section B with respect to the floor surface, and is installed on the base section 4 . The posture angle of the base portion 4 measured by the posture detection sensor 10 is set as the posture angle of the traveling portion B by the self-position detection portion 6511 , and stored in the storage portion 654 .

In the step of installing the spraying device 1 (STEP 1), which will be described later, the plan view position and traveling direction of the center of gravity of the traveling portion B, the height of the base portion 4, and the attitude angle of the traveling portion B, which are calculated by the above measurements, are calculated. It is verified whether or not the preset target position G and target orientation of the traveling part B, the target height of the base part 4 and the target attitude angle of the traveling part B are within the allowable value ranges.

Therefore, the arithmetic processing unit 651 stores the differences (ΔX, ΔY, Δφ) between the measured values of the plan view position and traveling direction of the center of gravity of the traveling portion B and the target position G and target orientation, and the height of the base portion 4 . A self-position comparison unit 6512 detects the difference between the measured value and the target value related to the posture angle of the traveling unit B and verifies whether or not these differences are within the allowable value range. .

In addition, in the storage unit 654 of the terminal device 65, the BIM data, the target position G and the target orientation of the traveling unit B based on the BIM data required in the installation process (STEP 1) of the spraying device 1, the target of the base unit 4 The height, the target attitude angle of the traveling part B, and the allowable values for when there is a difference between the measured value and the target value are stored. In addition, for controlling the robot arm A and the position, height, and construction area of the construction target surface 101 obtained from the BIM data, which are necessary in the spray preparation process (STEP 2) of the spraying device 1. store the job file of

≪Spraying method using a spraying device≫
A spraying method using the spraying apparatus 1 configured as described above will be described in detail below according to the flow chart of FIG.

<<Preparation of spraying device 1: STEP0>>
At the start of the work, the spraying device 1 is kept waiting at the robot station S installed indoors of the building 100, and the base part 4 on which the robot arm A is installed is the center of gravity of the traveling part B in plan view. It is installed at the home position P.

<<Installation process of spraying device 1: STEP 1>>
As shown in FIG. 3, the spraying device 1 from the robot station S is caused to travel while measuring the plane view position and traveling direction related to the center of gravity of the traveling portion B using the self-position detection sensor 8, and the preset target When approaching the vicinity of the position G, the spraying device 1 is moved in a preset target direction, and the traveling portion B is temporarily stopped.

The target orientation of the spraying device 1 when it is stopped is the direction in which the robot arm A can move along the surface 101 to be worked on the traversing device 5 , that is, the traversing device 5 is parallel to the surface 101 to be worked. It's going to be.

<Movement and measurement of the spraying device by the traveling part B: STEP11>
In the present embodiment, the position of the center of gravity of the running portion B in the running spraying device 1 and the traveling direction thereof in plan view are measured by the following method.

First, when the traveling section B of the spraying device 1 starts traveling, at the same time, the self-position detection sensor 8 mounted on the traveling carriage 6 scans the indoor surface of the building 100 with a laser beam and receives the reflected laser beam. The distance to the indoor surface and the eccentric angle are measured sequentially. These measured distances and declination angles are sequentially stored in the storage unit 654 of the terminal device 65 .

On the other hand, the arithmetic processing unit 651 is provided with a self-position measuring unit 6513, and the self-position measuring unit 6513 calculates the contour of the surface of the object based on the measured distance and the measured declination stored in the storage unit 654. The measurement position and measurement orientation of the self-position detection sensor 8 are calculated by comparing with the BIM data.

The measured position of the self-position detection sensor 8 thus calculated is represented by the X coordinate and the Y coordinate of the world coordinate system W, and the measurement orientation is represented by the yaw angle α. The self-position measuring unit 6513 monitors the output of the self-position detection sensor 8 and continuously (periodically) estimates the measured position and the measured orientation. Then, each time the measurement position and measurement orientation of the self-position detection sensor 8 are calculated, the self-position detection unit 6511 of the arithmetic processing unit 651 described above converts these to the plan view position and traveling direction related to the center of gravity of the traveling part B. , and stored in the storage unit 654 .

<Verification of the position and traveling direction of the traveling part B: STEP12>
Each time the planar view position and traveling direction related to the center of gravity of the traveling unit B are stored in the storage unit 654, the self-position comparison unit 6512 of the arithmetic processing unit 651 calculates the center of gravity, which is the actual value measured by the self-position detection sensor 8. Differences (.DELTA.X, .DELTA.Y, .DELTA..phi.) between the planar view position and traveling direction and the target position G and target orientation are detected. When at least the difference (ΔX, ΔY) between the plan view position of the center of gravity of the running portion B and the target position G falls within the allowable value range, the running is temporarily stopped, and the traveling direction of the running portion B is directed toward the target. turn to

<Installation of spraying device STEP13-14>
After that, it is verified whether or not the difference (ΔX, ΔY, Δφ) between the plan view position and traveling direction related to the center of gravity of the traveling portion B and the target position G and target orientation falls within the allowable range. positions the traveling portion B at that position, and installs the traveling carriage 6 via the outrigger device 64 . If it does not fit, the position is adjusted until it fits within the allowable value range.

<<Spraying preparation process of spraying device 1: STEP 2>>
After installing the traveling part B, the gun head 21 of the spraying means 2 provided on the robot arm A is positioned at the spraying start position and direction previously stored in the job file.

<Step of adjusting height of base portion 4: STEP 21>
When the construction target surface 101 is located at a high place, the lifting device 7 provided in the travel section B is extended so that the base section 4 supporting the robot arm A reaches the target height. When measuring the height position of the base portion 4 , the basic height of the base portion 4 from the floor surface when the lifting device 7 is contracted to the maximum is measured in advance, and stored in the storage portion 654 of the terminal device 65 . Keep

After that, the height detection sensor 9 measures the extension amount of the lifting device 7, and the self-position detection unit 6511 of the arithmetic processing unit 651 adds this measured value and the above-mentioned basic height, A height position is calculated and stored in the storage unit 654 . Each time the height position of the base portion 4 is calculated, the self-position comparing portion 6512 of the arithmetic processing unit 651 detects the difference between the height position which is the measured value and the target height. When the value falls within the range, the height adjustment work is stopped.

<Confirmation of attitude angle of traveling part B: STEP22>
In addition, the posture angle (roll, pitch) of the traveling unit B after the height adjustment is completed is measured by the posture detection sensor 10, and stored in the storage unit 654 of the terminal device 65 by the self-position measurement unit 6513. The self-position comparison unit 6512 of the processing device 651 detects the difference between the actually measured tilt angle and the target tilt angle, and stores it in the storage unit 654 .

<Correction of job file: STEP23-24>
As described above, the robot arm A is controlled based on the job file, and the job file contains parameters for controlling the operation of the manipulator 3 starting from the home position P of the robot arm A on the spraying device 1. and numerical values are described. The home position P is set based on the target position G and target orientation of the traveling part B, the target height of the base part 4, and the target attitude angle of the traveling part B based on the BIM data.

For this reason, a job file correction unit 6514 is provided in the arithmetic processing unit 651, and the differences (ΔX, ΔY, Δφ ) and the difference between the measured values and the target values for the height of the base portion 4 and the attitude angle of the traveling portion B, the need for correction of the job file is confirmed. If it is determined to be necessary, the job file correction unit 6514 writes the difference stored in the storage unit 654 of the terminal device 65 to the job file to correct the job file.

<Positioning of spraying means: STEP25>
Regarding the robot arm A installed at the home position P of the spraying device 1, the manipulator 3 is controlled by the robot arm control unit 6517 provided in the arithmetic processing unit 651. Operate based on the file to position the gun head 21 in the spraying means 2 at the spraying start position and orientation.

≪Implementation of spraying work process: STEP 3≫
While discharging the spraying material C from the gun head 21 of the positioned spraying means 2, the robot arm control unit 6517 and the robot arm position movement control unit 6518 equipped with the spraying means 2 in the arithmetic processing unit 651 control the object to be applied. It is moved in the horizontal direction and the height direction along the surface 101 to cover the entire construction target surface 101 with the spraying material C.

In carrying out the spraying operation continuously in this way, the lateral movement of the spraying means 2 is controlled by the operation of the manipulator 3 based on the job file and the movement of the base portion 4 on the traversing device 5. . Movement in the height direction is controlled by the operation of the manipulator 3 based on the job file and the elevation of the lifting device 7 provided on the traveling carriage 6 .

After covering the entire construction target surface 101 with the spraying material C, the robot arm A is returned to the home position P, the lifting device 7 is contracted, and the outrigger device 64 is released to make the traveling part B ready to travel. .

<Moving or retracting the spraying device: STEP 31 to 32>
After that, when the spraying work is to be carried out on another target surface 101, the process returns to STEP 1, the spraying device 1 is moved toward the next target position G, and the above procedure is repeated. Further, when the spraying work is completed, the spraying device 1 is moved toward the robot station S and retracted.

According to the spraying device 1 and the spraying method described above, after the spraying device 1 has been moved and installed, the lateral movement of the spraying means 2 is the movement of the manipulator 3 of the robot arm A and the movement of the robot arm A. It can be controlled by moving on the traversing device 5 . As a result, even when the surface to be applied 101 extends over a wide area, the spraying device 1 can be sprayed without having to be moved frequently. .

Further, the movement of the spraying means 2 in the height direction can be controlled by the operation of the manipulator 3 of the robot arm A and the elevation of the lifting device 7 installed on the traveling carriage 6 . As a result, even when the construction target surface 101 is located at a high place, it is possible to uniformly coat the construction target surface 101 with the spray material with good work efficiency without introducing an aerial work vehicle.

<<BIM data correction process: SUBSTEP1>>
By the way, the spraying method by the spraying device 1 described above assumes that there is no error between the indoor surface shape of the building 100 and the BIM data, and the plan view position and traveling direction related to the center of gravity of the traveling part B and the base The height position and attitude angle of the part 4 are measured. If there is a possibility that an error has occurred between the two, before carrying out the spraying method, the BIM data is adjusted according to the following procedure so that the BIM data matches the indoor surface shape of the building 100 after construction. should be corrected.

<Measurement of indoor surface shape: SUBSTEP11>
After setting a plurality of measurement points in advance on the surface of the interior of the building 100 (for example, floor surface, pillar, beam, ceiling surface, etc.), the position of each measurement point is measured by a point cloud model creation device, and these multiple Create a point cloud model related to the indoor surface shape with the point cloud consisting of the measurement points of At this time, the origin is set at a predetermined position, and the position of the measurement point is represented on the world coordinate system having the X and Y axes in the horizontal direction and the Z axis in the vertical direction. Created on a coordinate system.

For a point cloud model creation device and method for grasping the indoor surface shape of the building 100 as a point cloud model made up of point cloud data on the world coordinate system, see, for example, Japanese Unexamined Patent Application Publication No. 2017-150977. sea bream.

In addition, the function of creating a point cloud model installed in the above point cloud model creation device is installed in the spraying device 1, and the spraying device 1 performs a series of operations from BIM data correction to spraying construction. It is good also as a structure which implements an operation|work.

<BIM data correction work: SUBSTEP12-13>
The point cloud model created by the above point cloud model creation device is stored in the storage unit 654 of the terminal device 65 provided in the spraying device 1, and the arithmetic processing unit 651 is provided with an indoor surface comparison unit 6515. . The indoor surface comparison unit 6515 compares the point cloud model, which is the measured value of the indoor surface shape of the building 100 stored in the storage unit 654, with the BIM data stored in the storage unit 654. , the error position and error amount are calculated and stored in the storage unit 654 .

Furthermore, the arithmetic processing unit 651 is provided with a BIM data correction unit 6516, and it is confirmed whether correction of the BIM data is necessary based on the error position and error amount between the point cloud model and the BIM data. If it is determined to be necessary, the BIM data correction unit 6516 writes the error position and amount of error between the point cloud model stored in the storage unit 654 and the BIM data into the BIM data to correct the BIM data. and stored in the storage unit 654 .

By adopting the corrected BIM data in the spraying method, the accuracy of the actual measurement values of the planar view position and traveling direction of the traveling portion B by the self-position detection sensor 8 is enhanced. Along with this, the positioning accuracy of the spraying start position and direction of the spraying means 2 on the construction target surface 101 that forms a part of the indoor surface shape of the building 100 is further increased. Leftovers and uneven spraying are less likely to occur, and construction accuracy can be further improved.

As the BIM data is corrected, the construction target surface information including the position, height and construction range of the construction target surface 101 obtained from the BIM data is also corrected. Therefore, the job file for controlling the robot arm A may be corrected based on the amount of error in the construction target surface information based on the BIM data before and after the correction of the BIM data. This makes it possible to modify the position and direction of the spraying operation of the spraying means 2 and the movement of the robot arm A during the spraying operation, thereby further improving the execution accuracy of the spraying operation. .

The spraying device 1 and the spraying method using the spraying device 1 of the present invention are not limited to the above-described embodiments, and various modifications are possible without departing from the scope of the present invention.

For example, in the present embodiment, the ceiling beam located indoors of the building 100 is used as the construction target surface 101, and a wet fireproof coating material is used as the spray material C, and the spraying is performed. Both the 101 and the spraying material C are not limited to those described above, and any target surface may be sprayed with any material.

In addition, in the present embodiment, BIM data is used as the design information of the building 100 having the construction target surface 101, but it is not necessarily limited to this, and any digital data such as 3D CAD data can be used. good too.

Furthermore, in the present embodiment, only one robot arm A is mounted on the traveling portion B, but the configuration is not necessarily limited to this, and a plurality of robot arms may be mounted. At this time, a plurality of robot arms A may be installed in one traversing device 5 , or a plurality of traversing devices 5 may be prepared for each of the plurality of robot arms A.

Further, the traversing device 5 does not necessarily have to have its longitudinal direction parallel to the traveling direction of the traveling part B, and furthermore, the robot arm A moves on the traveling part B both in the traveling direction and in the direction orthogonal to the traveling direction. The traversing device 5 may be formed in a cross shape so that it can move to the

1 Blowing Device 2 Blowing Means 3 Manipulator 4 Base Part 5 Traversing Device 6 Traveling Cart 61 Rectangular Top Board 62 Cart Main Body 63 Traveling Means 64 Outrigger Device 65 Terminal Device 651 Arithmetic Processing Device 6511 Self Position Detector 6512 Self Position Comparer 6513 Self-position measurement unit 6514 Job file correction unit 6515 Indoor surface comparison unit 6516 BIM data correction unit 6517 Robot arm control unit 6518 Robot arm position movement control unit 652 Input unit 653 Output unit 654 Storage unit 7 Lifting device 8 Self-position detection sensor 9 Height Height detection sensor 10 Attitude detection sensor A Robot arm B Traveling part C Fireproof coating material (spraying material)
G Target position P Home position S Robot station

Claims (5)

A spraying device for coating a surface to be applied with a spraying material,
an articulated robot arm equipped with spraying means;
a running section that supports the robot arm,
In the running part,
a lifting device for lifting and lowering the robot arm;
a traversing device for continuously moving the robot arm on the traveling portion at least in a direction along the surface to be applied during spraying ;
A traveling carriage provided with traveling means,
The traversing device has a traveling platform that supports the robot arm and a frame on which the traveling platform moves,
The spraying device , wherein the frame is provided on the traveling truck so that the moving direction of the traveling platform is parallel to the traveling direction of the traveling truck . The spraying device according to claim 1,
The lifting device is provided between the traveling means and the frame,
The spraying device , wherein the frame is arranged so as to pass through a position of the center of gravity of the traveling carriage in a plan view . The spraying device according to claim 1,
In the running part,
a self-position detection sensor for detecting its own planar view position and traveling direction;
an attitude detection sensor that detects its own attitude angle;
a height detection sensor for detecting a height position of a base portion provided in the traveling portion and supporting the robot arm;
A spraying device comprising: A spraying method for coating a surface to be applied with a spraying material using the spraying device according to any one of claims 1 to 3 ,
an installation step of running the spraying device, changing the traveling direction in the vicinity of a target position to a direction in which the robot arm can move along the construction target surface on the traversing device, and then installing the spraying device;
a spraying preparation step of arranging the spraying means provided on the robot arm at a spraying start position and in a direction;
The lateral movement of the spray means is controlled by the movement of the robot arm and movement of the robot arm on the traversing device, and the vertical movement of the spray means is controlled by the robot arm. a spraying operation step of continuously spraying the spraying material onto the surface to be applied by controlling the operation and the lifting and lowering of the lifting device;
A spraying method comprising: The spraying method according to claim 4 quoting claim 3 ,
The construction target surface forms a part of the indoor surface shape of the building,
actually measuring the indoor surface shape to calculate a measured value, correcting the architectural information of the building based on the measured value;
Based on at least one of the corrected architectural information of the building and the information detected by the self-position detection sensor,
In the installation step, the spraying device is positioned and installed within an allowable value range centered on the target position;
In the spraying preparation step, the arrangement of the spraying start position and direction of the spraying means provided on the robot arm is corrected;
The spraying method, wherein in the spraying operation step, the operation of the robot arm is corrected.

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