JP7032899B2 - Spraying device - Google Patents

Description

The present invention relates to a spraying device that sprays a fireproof coating material on a pillar.

It is common for workers to hold a spray gun (nozzle) or hose and move while spraying a fireproof coating material such as rock wool on a building to be constructed such as beams and columns.
However, since the above work is hard work, for example, as described in Patent Document 1, a spraying device is proposed in which a fireproof coating material is sprayed while the nozzle is moved along a surface such as a beam by a robot arm. ing.

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 with the nozzle facing the beam. In such movement of the nozzle, for example, the corner of the beam or the column The fireproof coating material could not be sufficiently attached to the portion.
Therefore, in the prior art, the thickness of the refractory coating material adhering to the corners of the columns is thinner than the thickness of the refractory coating material adhering to the flat portion. That is, there may be places on the side surface of the pillar where the refractory coating material is insufficiently attached.

The present invention has been made in view of the above problems, and an object thereof is a spraying device capable of suppressing the occurrence of a portion where the refractory coating material is insufficiently adhered from one end to the other end of the side surface of the pillar. Is to provide.

According to the spraying device according to the present invention, the above-mentioned problem is a spraying device for spraying a fireproof coating material on a pillar, a jetting device for injecting the fireproof coating material from an injection port, and a robot for changing the position of the injection port. The arm and the three-dimensional data of the building including the pillar are 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 based on the three-dimensional data of the building. The control device comprises a control device for controlling the spraying start position of the fireproof coating material on the side surface of the pillar, and the specified thickness of the layer of the fireproof coating material with respect to the first end portion of the side surface. The start position setting portion that sets the outer position of the side surface of the pillar by the above distance in the width direction and the spray stop position of the fireproof coating material with respect to the side surface of the pillar are defined as the first end portion of the side surface. The stop position setting portion that sets the outer position in the width direction of the side surface of the pillar by a distance equal to or larger than the specified thickness of the layer of the fireproof coating material with respect to the second end portion on the opposite side, and the spray start position. It has a movement control unit that moves the injection port to a spray stop position, and a spray control unit that injects the fireproof coating material from the injection port toward the pillar while the injection port is moving. In the vicinity of the first end portion and the second end portion of the pillar, the movement control unit has a moving speed of the injection port as compared with a flat portion between the first end portion and the second end portion. It is solved by slowing down .

According to the above-mentioned spraying device, it is possible to automate the work of attaching the refractory coating material to the surface of the pillar using the robot arm. At this time, it is possible to prevent the occurrence of a portion where the refractory coating material is insufficiently adhered from one end to the other end of the side surface of the column.
Further, by doing so, the refractory coating material can be sprayed so as to adhere to the corners of the pillars with a sufficient thickness.

In the above spraying device, the spray control unit sprays the same amount of the fireproof coating material from the injection port toward the pillar per unit time while the injection port is moving, and the movement control unit. In the vicinity of the first end portion and the second end portion of the pillar, the moving speed of the injection port is increased as compared with the flat portion so that the thickness of the layer of the fireproof coating material is equal to or more than the specified thickness. It is preferable to slow down.
Further , in the spraying device, the control device sequentially executes processing by the start position setting unit, the stop position setting unit, the movement control unit, and the spray control unit for each of all the side surfaces of the pillar, and the above-mentioned It is preferable to spray the fireproof coating material on all the side surfaces of the pillar.
By doing so, it is possible to prevent the occurrence of a portion where the refractory coating material is insufficiently adhered over the entire side surface of the column.

In the spraying device, the movement control unit sequentially repeats the vertical movement of the first distance and the left-right movement of the second distance in the vicinity of the first end portion and the second end portion of the pillar, and the injection port. It is preferable to move.
By doing so, the thickness of the refractory coating material is less likely to be biased at the corners of the columns.

In the above-mentioned spraying device, it is preferable that the movement control unit moves the injection port by sequentially repeating the vertical movement of the first distance and the left-right movement of the second distance from the spraying start position to the spraying stop position. Is.
By doing so, the thickness of the refractory coating material is less likely to be biased over the entire side surface of the column.

According to the spraying device according to the present invention, it is possible to suppress the occurrence of a portion where the refractory coating material is insufficiently adhered from one end to the other end of the side surface of the pillar.

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 method of spraying a refractory covering material to the 1st side surface of a pillar. It is a figure explaining the method of spraying a refractory covering material to the 2nd side surface of a pillar. It is a figure explaining the method of spraying a refractory covering material to the 3rd side surface of a pillar. It is a figure explaining the method of spraying a refractory covering material to the 4th side surface of a pillar. It is a figure explaining the 1st example of the movement path of an injection port. It is a figure explaining the 2nd example of the movement path of an injection port. It is a figure explaining the 3rd example of the movement path of an injection port. It is a figure explaining the functional structure of a control device.

Hereinafter, the refractory coating material spraying device 1 and the method of spraying the refractory coating material according to the embodiment of the present invention (hereinafter referred to as the present embodiment) will be described with reference to FIGS. 1 to 10.
The spraying device 1 is a device that sprays a fireproof coating material such as rock wool on the pillars of the building.
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 departing from the spirit thereof, and it goes without saying that the present invention includes an equivalent thereof.

[Structure 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 trolley 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 trolley 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 trolley device 40 via the communication interface 13, so that the injection device 20, the robot arm 30, and the trolley device 10 are transmitted. It controls the operation of each of the 40.

The injection device 20 is a device for injecting 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 the holding portion 32 provided at the tip of the link mechanism 31 can be moved up and down (height), front and back, and left and right in three axial directions. 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 dolly device 40 is a device that carries the robot arm 30 and the injection device 20 installed on the upper surface of the dolly 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 for controlling the direction of the wheel 41, and moves the position according to a control signal from the control device 10.

[Explanation of pillars to be sprayed with the refractory coating material 25]
Here, FIG. 2 shows a pillar 50 to be sprayed by the refractory covering material 25 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 extends upward from the floor 55 having a surface extending in the horizontal direction.

The pillar 50 has a shape of a substantially square pillar, and the pillar 50 has four side surfaces of a first side surface 50A, a second side surface 50B, a third side surface 50C, and a fourth side surface 50D. Since the configurations of the first side surface 50A, the second side surface 50B, the third side surface 50C, and the fourth side surface 50D are the same, the configuration of the first side surface 50A will be described below.
The first side surface 50A has a flat portion 51 (plane) and left and right corner portions 52 of the flat portion 51. Here, when the first side surface 50A is viewed from the front, the left corner portion 52 is referred to as the first corner portion 52A, and the right corner portion 52 is referred to as the second corner portion 52B.
In the present embodiment, the corners 52 are rounded, but the present invention is not limited to this, and the corners 52 may be chamfered, and the corners 52 may be rounded or chamfered. It does not have to be treated.

[Explanation of the method of spraying the refractory covering material 25 on the pillar 50 by the 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 8.
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. do.

[First step]
First, the first step of spraying the refractory covering material 25 on the first side surface 50A of the pillar 50 will be described with reference to FIG.

As shown in FIG. 3, the control device 10 controls the bogie device 40 and the robot arm 30 to set the injection port 23 at a distance D from the first corner portion 52A (first end portion) of the first side surface 50A. Only on the left side (outside), it is arranged at the first spraying start position 60A.
Here, the first spraying start position 60A is a position where the spraying of the refractory covering material 25 to the first side surface 50A is started. Here, the height of the first spraying start position 60A may be set to any position.

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. Then, in the first step, the angle of the injection port 23 may be fixed.

Then, the control device 10 controls the robot arm 30 to spray the fireproof coating material 25 from the injection port 23 onto the first side surface 50A while moving the injection port 23 up and down and in the front-rear direction. The details of the movement of the injection port 23 will be described later.

As shown in FIG. 3, the control device 10 moves the injection port 23 to the first spray stop position 61A on the right side (outside) of the second corner portion 52B (second end portion) of the first side surface 50A by a distance D. By moving the injection port 23, the movement of the injection port 23 and the spraying of the fireproof coating material 25 are temporarily stopped.
By the above treatment, the first coating layer 25A made of the refractory coating material 25 is formed on the first side surface 50A of the pillar 50.

[Second step]
Next, the second step of spraying the refractory coating material 25 on the second side surface 50B of the pillar 50 will be described with reference to FIG.

As shown in FIG. 4, the control device 10 controls the bogie device 40 and the robot arm 30 to set the injection port 23 at a distance D from the second corner portion 52B (first end portion) of the second side surface 50B. It is arranged at the second spray start position 60B on the front side (outside).
Here, the second spraying start position 60B is a position where the spraying of the refractory covering material 25 to the second side surface 50B is started.

As shown in FIG. 4, 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 of the second side surface 50B. do. Then, in the second step, the angle of the injection port 23 may be fixed.

Then, the control device 10 controls the robot arm 30 to spray the refractory coating material 25 from the injection port 23 onto the second side surface 50B while moving the injection port 23 in the vertical and horizontal directions. The movement control of the injection port 23 for the second side surface 50B is the same as that for the first side surface 50A.

As shown in FIG. 4, the control device 10 has a second spray stop position 61B on the back side (outside) of the injection port 23 by a distance D from the third corner portion 52C (second end portion) of the second side surface 50B. The movement of the injection port 23 and the spraying of the fireproof coating material 25 are temporarily stopped.
By the above second step, the second covering layer 25B made of the refractory covering material 25 is formed on the second side surface 50B of the pillar 50.
Here, since the second corner portion 52B is covered with both the first coating layer 25A and the second coating layer 25B, the thickness of the layer of the refractory coating material 25 of the second corner portion 52B is set to the flat portion. It is possible to secure the same thickness as the layer of the refractory coating material 25 of 51.

[Third step]
Next, the third step of spraying the refractory coating material 25 on the third side surface 50C of the pillar 50 will be described with reference to FIG.

As shown in FIG. 5, the control device 10 controls the bogie device 40 and the robot arm 30 to set the injection port 23 at a distance D from the third corner portion 52C (first end portion) of the third side surface 50C. Only on the right side (outside) of the third spray start position 60C.
Here, the third spraying start position 60C is a position where the spraying of the refractory covering material 25 to the third side surface 50C is started.

As shown in FIG. 5, 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 of the third side surface 50C. do. Then, in the third step, the angle of the injection port 23 may be fixed.

Then, the control device 10 controls the robot arm 30 to spray the refractory coating material 25 from the injection port 23 onto the third side surface 50C while moving the injection port 23 in the vertical and horizontal directions. The movement control of the injection port 23 for the third side surface 50C is the same as that for the first side surface 50A.

As shown in FIG. 5, the control device 10 moves the injection port 23 to the third spray stop position 61C on the left side (outside) of the fourth corner portion 52D (second end portion) of the third side surface 50C by a distance D. By moving the injection port 23, the movement of the injection port 23 and the spraying of the fireproof coating material 25 are temporarily stopped.
By the above third step, the third covering layer 25C made of the refractory covering material 25 is formed on the third side surface 50C of the pillar 50.
Here, since the third corner portion 52C is covered with both the second coating layer 25B and the third coating layer 25C, the thickness of the layer of the refractory coating material 25 sprayed on the third corner portion 52C is determined. It is possible to secure the same thickness as the layer of the refractory coating material 25 of the flat portion 51.

[Fourth step]
Next, a fourth step of spraying the refractory coating material 25 on the fourth side surface 50D of the pillar 50 will be described with reference to FIG.

As shown in FIG. 6, the control device 10 controls the bogie device 40 and the robot arm 30 to set the injection port 23 at a distance D from the third corner portion 52C (first end portion) of the fourth side surface 50D. Only the fourth spraying start position 60D on the back side (outside) is arranged.
Here, the fourth spraying start position 60D is a position where the spraying of the refractory covering material 25 to the fourth side surface 50D is started.

As shown in FIG. 6, 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 of the fourth side surface 50D. do. Then, in the fourth step, the angle of the injection port 23 may be fixed.

Then, the control device 10 controls the robot arm 30 to spray the fireproof coating material 25 from the injection port 23 onto the fourth side surface 50D while moving the injection port 23 up and down and in the front-rear direction. The movement control of the injection port 23 for the fourth side surface 50D is the same as that for the first side surface 50A.

As shown in FIG. 6, the control device 10 has the injection port 23 at the fourth spray stop position 61D on the labor side (outside) by a distance D from the first corner portion 52A (second end portion) of the fourth side surface 50D. The movement of the injection port 23 and the spraying of the fireproof coating material 25 are temporarily stopped.
By the above-mentioned fourth step, the fourth covering layer 25D made of the refractory covering material 25 is formed on the fourth side surface 50D of the pillar 50.
Here, since the first corner portion 52A is covered with both the first coating layer 25A and the fourth coating layer 25D, the thickness of the layer of the refractory coating material 25 sprayed on the first corner portion 52A is determined. It is possible to secure the same thickness as the layer of the refractory coating material 25 of the flat portion 51.
Further, since the fourth corner portion 52D is covered with both the first coating layer 25A and the fourth coating layer 25D, the thickness of the layer of the refractory coating material 25 sprayed on the fourth corner portion 52D is flat. It is possible to secure the same thickness as the layer of the fireproof coating material 25 of the portion 51.

That is, according to the spraying treatment of the refractory coating material 25 by the first step to the fourth step, the flat portion 51 and the corner portion 52 with respect to all the side surfaces (first side surface 50A to the fourth side surface 50D) of the pillar 50. A layer of the refractory coating material 25 can be formed on both of the above so that the thickness becomes equal to or larger than the specified value.

[Movement path of injection port 23]
Here, a first example of the movement path of the injection port 23 when the refractory coating material 25 of the first side surface 50A is sprayed by the control device 10 will be described with reference to FIG. 7.

As shown in FIG. 7, the control device 10 controls the robot arm 30 to move the injection port 23 downward from the first spraying start position 60A until the lower end turning position 62 is reached. Then, when the injection port 23 reaches the lower end turn-back position 62, the control device 10 moves the injection port 23 to the right side by a predetermined distance, and then moves the injection port 23 upward. Then, when the injection port 23 reaches the upper end folding position 63, the control device 10 moves the injection port 23 to the right side by a predetermined distance, and then moves the injection port 23 downward again. The position of the first spraying start position 60A and the upper end folding position 63 in the vertical direction are the same.
The above is one cycle of movement of the injection port 23 in the first example.

The control device 10 repeatedly executes the above cycle until the injection port 23 reaches the first spray stop position 61A.
The control device 10 sprays the fireproof coating material 25 on the first side surface 50A by ejecting the fireproof coating material 25 from the injection port 23 while the injection port 23 is moving.

Here, the control device 10 makes the moving speed of the injection port 23 slower in the vicinity of the corner portion 52 (first corner portion 52A or second corner portion 52B) than in the case where the injection port 23 faces the flat portion 51. Good as it is. By doing so, the refractory coating material 25 easily adheres to the corner portion 52.

Further, FIG. 8 shows a second example of the movement path of the injection port 23 when the fireproof coating material 25 of the first side surface 50A is sprayed by the control device 10.

As shown in FIG. 8, the control device 10 controls the robot arm 30 to move the injection port 23 downward from the first spraying start position 60A until the lower end turning position 62 is reached. Then, when the injection port 23 reaches the lower end folding position 62, the control device 10 moves the injection port 23 diagonally upward to the right. Then, when the injection port 23 reaches the upper end folding position 63, the control device 10 moves the injection port 23 downward again. The position of the first spraying start position 60A and the upper end folding position 63 in the vertical direction are the same.
The above is one cycle of movement of the injection port 23 in the second example.

The control device 10 repeatedly executes the above cycle until the injection port 23 reaches the first spray stop position 61A.
The control device 10 sprays the fireproof coating material 25 on the first side surface 50A by ejecting the fireproof coating material 25 from the injection port 23 while the injection port 23 is moving.

Further, FIG. 9 shows a third example of the movement path of the injection port 23 when the fireproof coating material 25 of the first side surface 50A is sprayed by the control device 10.
The third example is a combination of the movement route shown in FIG. 7 and the movement route shown in FIG.
Specifically, the moving method according to the first example is used in the vicinity of the corner portion 52, and the moving method according to the second example is used at the position facing the flat portion 51.

[Explanation of functions provided in the control device 10]
FIG. 10 shows the functions provided in the control device 10 in order to realize the above processing. As shown in FIG. 10, the control device 10 includes a start position setting unit 14, a stop position setting unit 15, a movement control unit 16, and a spray control unit 17 as functions.

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 program 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, the details of each of the above-mentioned functions provided in the control device 10 will be described.

[Start position setting unit 14]
The start position setting unit 14 sets the spray start position of the fireproof coating material 25 with respect to the side surface of the pillar 50 to the outside of the pillar 50 by a predetermined distance with respect to the first end portion of the side surface. The process by the start position setting unit 14 corresponds to the start position setting process.

A "pillar" is a pillar. The pillar 50 constituting the frame of the building corresponds to an example of the above-mentioned "pillar". In this embodiment, the "pillar" is a prism.
The "side surface of the pillar" is a surface other than the upper surface and the lower surface of the pillar 50.

The “spraying start position” is the start position of the process of spraying the refractory coating material 25 on the side surface of the pillar 50. When the side surface of the pillar 50 is divided into a plurality of regions and the refractory coating material 25 is sprayed on each region, the “spraying start position” is set for each region.

The "first end portion" is a corner portion 52 on the side surface of the pillar 50 that is closer to the "spraying start position". For example, the first corner portion 52A corresponds to the above-mentioned "first end portion" with respect to the first side surface 50A.

"Outside the pillar by a predetermined distance with respect to the first end" is predetermined in the width direction (horizontal direction) of the side surface of the pillar 50, outside from the "first end", that is, in the direction without the pillar 50. It is a position that has advanced a distance. The "predetermined distance" is a distance larger than 0 mm. For example, the "predetermined distance" may be greater than or equal to the specified thickness of the layer of the refractory coating material 25 (for example, the first coating layer 25A) formed by spraying on the pillar 50.
Then, a different value may be set for the "predetermined distance" for each of the plurality of sides, or a common value may be set for the plurality of sides. In this embodiment, a common distance D is set for each of the first side surface 50A to the fourth side surface 50D.

The start position setting unit 14 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 executes the alignment of the three-dimensional data of the building and the injection port 23 of the construction site, and starts spraying at the construction site based on the coordinates of the side surface of the pillar 50 to be sprayed. Set the coordinates of the position.

[Stop position setting unit 15]
The stop position setting unit 15 sets the spray stop position of the fireproof coating material 25 with respect to the side surface of the pillar 50 to the outside of the pillar 50 by a predetermined distance with respect to the second end portion on the side opposite to the first end portion of the side surface. .. The process by the stop position setting unit 15 corresponds to the stop position setting process.

The “spraying stop position” is a stop position of the process of spraying the refractory coating material 25 on the side surface of the pillar 50. When the side surface of the pillar 50 is divided into a plurality of regions and the refractory coating material 25 is sprayed on each region, a “spraying stop position” is set for each region.

The "second end portion" is an end portion on the side surface of the pillar 50 opposite to the "first end portion". In other words, the "second end" is the corner 52 on the side surface of the pillar 50 that is closer to the "spray stop position". For example, the second corner portion 52B corresponds to the above-mentioned "second end portion" with respect to the first side surface 50A.

"Outside the pillar by a predetermined distance with respect to the second end" is predetermined in the width direction (horizontal direction) of the side surface of the pillar 50, outside from the "second end", that is, in the direction without the pillar 50. It is a position that has advanced a distance. The "predetermined distance" is a distance larger than 0 mm. For example, the "predetermined distance" may be greater than or equal to the specified thickness of the layer of the refractory coating material 25 (for example, the first coating layer 25A) formed by spraying on the pillar 50.
Then, a different value may be set for the "predetermined distance" for each of the plurality of sides, or a common value may be set for the plurality of sides. In this embodiment, a common distance D is set for each of the first side surface 50A to the fourth side surface 50D.

The stop position setting unit 15 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 executes the alignment of the three-dimensional data of the building and the injection port 23 of the construction site, and stops the spraying at the construction site based on the coordinates of the side surface of the pillar 50 to be sprayed. Set the coordinates of the position.

[Movement control unit 16]
The movement control unit 16 moves the injection port 23 from the spray start position to the spray stop position. The process by the movement control unit 16 corresponds to the movement control process.

The movement control unit 16 moves the injection port 23 from the spray start position set by the start position setting unit 14 and the stop position setting unit 15 to the spray stop position with respect to the side surface of the pillar 50.
The movement pattern of the injection port 23 is as shown in FIGS. 7 to 9. Here, the movement pattern shown in FIG. 7 is referred to as a first pattern, the movement pattern shown in FIG. 8 is referred to as a second pattern, and the movement pattern shown in FIG. 9 is referred to as a third pattern.

The movement control unit 16 slows the movement speed of the injection port 23 in the vicinity of the first end portion and the second end portion of the pillar 50 as compared with the flat portion 51 between the first end portion and the second end portion. May be.
"Near the first end and the second end of the pillar" means that the injection port 23 is within a predetermined range from the first end and the second end of the pillar 50. Further, when the injection port 23 is at a position facing the first end portion and the second end portion of the pillar 50, the injection port 23 is "near the first end portion and the second end portion of the pillar". good.
That is, the movement control unit 16 determines the moving speed of the injection port 23 while the injection port 23 faces the first corner portion 52A or the second corner portion 52B, and the injection port 23 sets the flat portion 51 of the first side surface 50A. It is controlled to be slower than the moving speed of the injection port 23 while facing the.

The movement control unit 16 may move the injection port 23 by sequentially repeating the vertical movement of the first distance and the left-right movement of the second distance in the vicinity of the first end portion and the second end portion of the pillar 50.
That is, as shown in FIGS. 7 and 9, the movement control unit 16 moves the injection port 23 downward until the injection port 23 reaches the lower end folding position 62 from the upper end folding position 63, and the injection port 23 turns the lower end. When the position 62 is reached, the injection port 23 is moved to the right by a predetermined distance. After that, the movement control unit 16 moves the injection port 23 upward from the lower end turn-back position 62 to the upper end turn-back position 63, and when the injection port 23 reaches the upper end turn-back position 63, moves the injection port 23 to the right. The movement control unit 16 moves the injection port 23 by sequentially repeating the above cycle while the injection port 23 faces the first end portion and the second end portion of the pillar 50.
In the above, the moving distance from the upper end turning position 63 to the lower end turning position 62 is the first distance L1, and the moving distance in the right direction at the lower end turning position 62 or the upper end turning position 63 is the second distance L2.

The movement control unit 16 may move the injection port 23 from the spraying start position to the spraying stop position by sequentially repeating the vertical movement of the first distance and the left-right movement of the second distance.
That is, as shown in FIG. 7, the movement control unit 16 sequentially repeats the above cycle from the spraying start position to the spraying stop position to move the injection port 23.

The movement control unit 16 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 determines which of the first pattern to the third pattern is to be executed based on the setting parameters, and the injection port from the spray start position to the spray stop position in the determined pattern. Determine the movement route of 23. Then, the processor 11 of the control device 10 moves the injection port 23 according to the movement path determined above. At this time, in the movement path of the injection port 23, in the range facing the first end and the second end, the movement speed of the injection port 23 is set to A (0 <A <) of the movement speed in the other range. 1) Set to double.

[Spray control unit 17]
The spray control unit 17 injects the refractory coating material 25 from the injection port 23 toward the pillar 50 while the injection port 23 is moving. The process by the spray control unit 17 corresponds to the spray control step.

The spray control unit 17 controls to inject the refractory coating material 25 from the injection port 23 while the injection port 23 is moving according to the control of the movement control unit 16. The injection amount may be the same amount per unit time, or may be variable depending on the speed of the injection port 23, the position and angle of the injection port 23.

The spray control unit 17 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 operates the high-pressure pump 21A while the injection port 23 is in the moving state by the movement control unit 16, and the refractory coating material 25 is sent from the injection port 23 through the hose 22. Inject. As a result, the refractory coating material 25 injected from the injection port 23 is sprayed onto the pillar 50 and adheres to the side surface of the pillar 50.

The control device 10 sequentially executes processing by the start position setting unit 14, the stop position setting unit 15, the movement control unit 16, and the spray control unit 17 for each of all the side surfaces of the pillar 50, and the fireproof coating material is applied to all the side surfaces of the pillar. Spray 25.

"All sides of the pillar" are all sides continuous in the circumferential direction of the pillar 50. For example, the first side surface 50A, the second side surface 50B, the third side surface 50C, and the fourth side surface 50D correspond to the above-mentioned "all side surfaces of the pillar".

Then, as shown in FIGS. 3 to 6, the control device 10 has a start position setting unit 14 and a stop position setting unit for each of the first side surface 50A, the second side surface 50B, the third side surface 50C, and the fourth side surface 50D. 15. The processes by the movement control unit 16 and the spray control unit 17 are executed in order. As a result, the refractory coating material 25 is sprayed on all of the first side surface 50A, the second side surface 50B, the third side surface 50C, and the fourth side surface 50D.

[summary]
The spraying device 1 according to the present embodiment sprays the fireproof coating material 25 on the pillar 50. The spraying device 1 includes an injection device 20 that injects a fireproof coating material 25 from an injection port 23, a robot arm 30 that changes the position of the injection port 23, injection of the fireproof coating material 25 by the injection device 20, and a robot arm 30. A control device 10 for controlling the position of the injection port 23 is provided. The control device 10 sets the spray start position of the refractory covering material 25 on the side surface of the pillar 50 (first side surface 50A, etc.) by a predetermined distance from the first end portion (first corner portion 52A, etc.) of the side surface of the pillar 50. The start position setting portion 14 to be set on the outside and the spray stop position of the fireproof coating material 25 with respect to the side surface of the pillar 50 are set to the second end portion (second corner portion 52B, etc.) on the side opposite to the first end portion of the side surface. On the other hand, while the stop position setting unit 15 that sets the outside of the pillar 50 by a predetermined distance, the movement control unit 16 that moves the injection port 23 from the spray start position to the spray stop position, and the injection port 23 are moving. It has a spray control unit 17 for injecting the refractory coating material 25 from the injection port 23 toward the pillar 50.

According to the spraying device 1, the work of attaching the refractory coating material 25 to the surface of the pillar 50 by using the robot arm 30 can be automated. At this time, it is possible to prevent the occurrence of a portion where the refractory coating material 25 is insufficiently adhered from one end to the other end of the side surface of the pillar 50.

In the spraying device 1, the control device 10 sequentially executes processing by the start position setting unit 14, the stop position setting unit 15, the movement control unit 16, and the spray control unit 17 for each of all the side surfaces of the pillar 50, and sequentially executes the processing of the pillar 50. The fireproof coating material 25 is sprayed on all the side surfaces.
By doing so, it is possible to prevent the occurrence of a portion where the refractory coating material 25 is insufficiently adhered over the entire side surface of the pillar 50.

In the spraying device 1, the movement control unit 16 moves the injection port 23 in the vicinity of the first end portion and the second end portion of the pillar 50 as compared with the flat portion 51 between the first end portion and the second end portion. Slow down.
By doing so, the refractory coating material 25 can be sprayed onto the corners 52 of the pillar 50 so as to adhere to the corners 52 with a sufficient thickness.

In the spraying device 1, the movement control unit 16 moves the injection port 23 by sequentially repeating the vertical movement of the first distance and the left-right movement of the second distance in the vicinity of the first end portion and the second end portion of the pillar 50. ..
By doing so, the thickness of the refractory coating material 25 is less likely to be biased at the corners 52 of the pillar 50.

In the spraying device 1, the movement control unit 16 moves the injection port 23 from the spraying start position to the spraying stop position by sequentially repeating the vertical movement of the first distance and the left-right movement of the second distance.
By doing so, the thickness of the refractory coating material 25 is less likely to be biased over the entire side surface of the pillar 50.

[Other embodiments]
The present invention is not limited to the above embodiment. For example, in the spraying device 1, the control device 10 may be installed in the bogie 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 14 Start position setting unit 15 Stop position setting unit 16 Movement control unit 17 Spray control unit 20 Injection device 21 Tank 21A High-pressure pump 22 Hose 23 Injection port 25 Fireproof coating material 25A 1st coating layer 25B 2nd coating layer 25C 3rd coating layer 25D 4th coating layer 30 Robot arm 31 Link mechanism 32 Holding part 40 Pump device 41 Wheel 50 Pillar 50A 1st side surface 50B 2nd side surface 50C 3rd side surface 50D 1st 4 Sides 51 Flat part 52 Corner part 52A 1st corner part 52B 2nd corner part 52C 3rd corner part 52D 4th corner part 55 Floor 60A 1st spray start position 60B 2nd spray start position 60C 3rd spray start position 60D 4 Spraying start position 61A 1st spraying stop position 61B 2nd spraying stop position 61C 3rd spraying stop position 61D 4th spraying stop position 62 Lower end folding position 63 Upper end folding position L1 1st distance L2 2nd distance

Claims (5)

It is a spraying device that sprays fireproof coating material on pillars.
An injection device that injects the refractory coating material from the injection port,
A robot arm that changes the position of the injection port and
The three-dimensional data of the building including the pillar 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 is controlled based on the three-dimensional data of the building. Equipped with a control device,
The control device is
The spraying start position of the fireproof coating material on the side surface of the pillar is the outer position in the width direction of the side surface of the pillar by a distance equal to or more than the specified thickness of the layer of the fireproof coating material with respect to the first end portion of the side surface. The start position setting unit to be set to
The spray stop position of the fireproof coating material with respect to the side surface of the pillar is at a distance equal to or greater than the specified thickness of the layer of the fireproof coating material with respect to the second end portion of the side surface opposite to the first end portion. A stop position setting unit set at an outer position in the width direction of the side surface of the pillar, and a stop position setting unit.
A movement control unit that moves the injection port from the spray start position to the spray stop position.
It has a spray control unit for injecting the refractory coating material from the injection port toward the pillar while the injection port is moving.
The movement control unit determines the moving speed of the injection port in the vicinity of the first end portion and the second end portion of the pillar as compared with the flat portion between the first end portion and the second end portion. A spraying device characterized by slowing down . The spray control unit sprays the same amount of the refractory coating material per unit time from the injection port toward the pillar while the injection port is moving.
In the vicinity of the first end portion and the second end portion of the pillar, the movement control unit has the injection port so that the thickness of the layer of the refractory coating material is equal to or more than the specified thickness as compared with the flat portion. The spraying device according to claim 1, wherein the moving speed of the is slowed down. The control device sequentially executes processing by the start position setting unit, the stop position setting unit, the movement control unit, and the spray control unit on all the side surfaces of the pillar, and the control device sequentially executes processing on all the side surfaces of the pillar. The spraying device according to claim 1 or 2 , wherein the fireproof coating material is sprayed. The movement control unit is characterized in that, in the vicinity of the first end portion and the second end portion of the pillar, the injection port is moved by sequentially repeating vertical movement of the first distance and horizontal movement of the second distance. The spraying device according to any one of claims 1 to 3. 4. The movement control unit is characterized in that the injection port is moved by sequentially repeating the vertical movement of the first distance and the left-right movement of the second distance from the spraying start position to the spraying stop position. The spraying device described in.

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