JP7141909B2 - Fireproof coating method - Google Patents

Description

The present invention relates to a fire resistant coating method.

Patent Literature 1 describes a method of spraying a fire-resistant coating material onto the surface of a structure using a fire-resistant coating material spraying device. This refractory coating material spraying device comprises an X-axis slider 3 supported by an X-axis guide bar 2 and a Y-axis slider 5 supported by a Y-axis guide bar 4 provided orthogonal to the X-axis guide bar 2. , a support rod 6 whose lower end is attached to the Y-axis slider 5, and a spray nozzle 8 attached to the upper end of the support rod 6 via a swing motor 7. direction to spray the fireproof coating onto the surface of the structure.

JP-A-6-121961

In recent years, attempts have been made to rationalize site work at construction sites. In the fire-resistant coating method as well, as in the method described in Patent Document 1, a fire-resistant coating material spraying device is used to perform the spraying, thereby improving the construction efficiency. On the other hand, for example, when spraying a fireproof coating material on H-shaped steel, the lower flange is more difficult to construct than the upper flange and the web, and the fireproof coating material spraying device described in Patent Document 1 has a problem with the construction quality of the lower flange. difficult to secure.

SUMMARY OF THE INVENTION An object of the present invention is to provide a fireproof coating method capable of achieving both securing of stable construction quality and improvement of construction efficiency.

A fireproof coating method according to the present invention is a fireproof coating method for fireproof coating a structure having an upper flange, a lower flange, and a web connected to the upper flange and the lower flange, wherein the lower flange is a sheet-like A first coating step of coating with a first fireproof coating material, and a second coating step of spraying a second fireproof coating material on each of the surfaces to be applied of the upper flange and the web using a spraying apparatus. The apparatus includes a dispensing means including a nozzle for dispensing the second refractory coating, a lifting mechanism for raising and lowering the nozzle along the web, a traversing mechanism for traversing the nozzle along the web, and the second refractory coating from the nozzle. and an angle adjustment mechanism for adjusting the ejection direction of the liquid.

In this fireproof coating method, since the lower flange, which is difficult to install with respect to the upper flange and the web, is coated with the first fireproof coating material in the first coating step, it is easy to ensure construction quality. In addition, in the second coating process, by mechanically performing simple operations such as lifting and traversing using a spraying apparatus, the second fireproof coating material is sprayed on the upper flange and web, which are relatively difficult to install, so it is rational. speed-up can be achieved. As a result, in the so-called hybrid fireproof coating method in which the first fireproof coating material and the second fireproof coating material are used as the coating materials, it is possible to ensure stable construction quality and improve construction efficiency.

In the fire-resistant coating method according to the present invention, the spraying apparatus includes a lifting mechanism for elevating the nozzle, a traversing mechanism for traversing the nozzle, and an angle adjusting mechanism so that the second refractory coating material is sprayed on the surface to be coated by the nozzle. A control unit for controlling the adjustment of the ejection direction by is further provided. In this case, the spraying construction of the second fireproof covering material can be automated.

In the fireproof coating method according to the present invention, the spraying apparatus further includes opening detection means for detecting openings formed in the web, and in the second coating step, the control unit causes the nozzle to traverse along the web. In addition to controlling the traversing mechanism, based on the detection result of the opening detection means, the second fireproof coating material is discharged when the nozzle faces the surface to be applied, and the second fireproof coating material is discharged when the nozzle faces the opening The discharge means may be controlled so as to stop the discharge of the coating material. In this case, when the nozzle faces the opening, the discharge means stops discharging the second fireproof coating material from the nozzle. will be Therefore, material waste can be reduced.

In the second coating step, the control unit acquires data indicating the spray thickness of the second fireproof coating material sprayed on the surface to be applied, and based on the data indicating the spray thickness, The dispensing means or traversing mechanism may be controlled to adjust the amount of second refractory coating sprayed from the nozzle per unit area. In this case, by adjusting the amount of the second fireproof coating material sprayed from the nozzle, the spray thickness of the second fireproof coating material to be sprayed can be adjusted, so that it is easier to ensure the quality of construction.

In the fireproof coating method according to the present invention, the spraying apparatus further includes a first distance sensor and a second distance sensor arranged across the nozzle, and in the second coating step, the control unit controls the first When moving the nozzle in the direction in which the distance sensor and the second distance sensor are aligned, the distance to the surface to be processed measured by the first distance sensor and the surface to be processed measured by the second distance sensor. Data indicative of spray thickness may be obtained based on the distance between and the difference between . In this case, the first distance sensor and the second distance sensor acquire data indicating the spraying thickness based on the distances to the surface to be applied in the unapplied area and the applied area. As a result, it is possible to acquire data indicating the spray thickness with a simple configuration.

In the second covering step, the control unit acquires data indicating the three-dimensional shape of the structure, and based on the data indicating the three-dimensional shape, the elevation of the nozzle by the lifting mechanism, the traversing of the nozzle by the traversing mechanism, and the angle An execution plan for adjustment of the discharge direction by the adjustment mechanism may be set. In this case, it is possible to simplify instructions to the lifting mechanism, the traversing mechanism, and the angle adjusting mechanism when performing spraying.

In the fireproof coating method according to the present invention, the spraying apparatus further comprises a laser pointer that is provided at the tip of the nozzle and emits a laser beam in the discharge direction of the second fireproof coating material from the nozzle, and the second coating step In , at least one of elevation of the nozzle by the elevation mechanism, traverse of the nozzle by the traverse mechanism, and adjustment of the ejection direction by the angle adjustment mechanism may be performed based on the irradiation position of the laser beam. In this case, spraying can be performed by adjusting the position of the nozzle while confirming the spraying position by the irradiation position of the laser beam.

According to the fireproof coating method of the present invention, it is possible to achieve both securing of stable construction quality and improvement of construction efficiency.

FIG. 1 is a perspective view showing a schematic configuration of a spraying apparatus used in a fireproof coating method according to one embodiment of the present invention. FIG. 2 is a cross-sectional view taken along line II-II of FIG. 3 is a cross-sectional view taken along line III-III in FIG. 2. FIG. FIG. 4 is a block diagram showing the functional configuration of the controller. FIG. 5 is a perspective view for explaining the movement of the nozzle along the work surface. FIG. 6 is a schematic diagram showing each step of the fireproof coating method. FIG. 7 is a flow chart showing a processing procedure in the second covering step. FIG. 8 is a flow chart showing an opening avoidance procedure. FIG. 9 is a schematic diagram for explaining the opening avoidance procedure. FIG. 10 is a flow chart showing the spray thickness FB procedure. FIG. 11 is a flowchart showing an opening avoidance procedure according to the modification. FIG. 12 is a schematic diagram for explaining an opening avoidance procedure according to a modification.

An embodiment will be described below with reference to the drawings. In the following description, the same reference numerals are given to the same elements or elements having the same function, and redundant description may be omitted. In addition, the drawing shows an orthogonal coordinate system S defined by the X-axis, Y-axis, and Z-axis. be.

[Structure of spraying equipment]
The configuration of the spraying apparatus will be described with reference to FIGS. 1 to 3. FIG. FIG. 1 is a perspective view showing a schematic configuration of a spraying apparatus used in a fireproof coating method according to one embodiment of the present invention. FIG. 2 is a cross-sectional view taken along line II-II of FIG. The spraying apparatus 1 shown in FIGS. 1 and 2 is for spraying a fireproof coating material W (second fireproof coating material) onto a beam 2 (structure) extending in a predetermined direction (for example, the X-axis direction). It is a device.

As shown in FIGS. 1 and 2, the beam 2 is made of, for example, H-beam steel and has an upper flange 3, a lower flange 4 and a web 5 connected to the upper and lower flanges 3 and 4. . The web 5 is provided with a plurality of stiffeners 6 as stiffening members. The beam 2 has the upper surface of the upper flange 3 fixed to the ceiling 7, for example. The beam 2 (here, the web 5) is formed with a plurality of circular openings 2h penetrating in the thickness direction (here, the Y-axis direction). The spraying apparatus 1 sprays the refractory coating material W with the surfaces of the upper flange 3, the web 5, and the stiffener 6 as the surfaces to be applied 2s.

In the following description, the surface to be constructed 2s refers to the surface of each part of the beam 2 before construction to which the fireproof covering material W has not yet adhered, and the surface of each part of the beam 2 during construction as an intermediate layer. It shall include the surface of the layer of refractory coating W and the surface of the layer of refractory coating W adhered to the surface of each part of the beam 2 after the completion of the spraying.

The spraying apparatus 1 includes a device main body 10 and a controller 100 (controller) that controls the device main body 10 in an integrated manner. The device main body 10 includes a discharge means 20 , a head 30 , a support 40 and a support frame 50 .

As shown in FIGS. 1 and 2, the discharge means 20 has a nozzle 21 for discharging the refractory coating material W, a raw material supply mechanism 22, and a slurry supply mechanism 23. As shown in FIGS. The refractory coating material W includes rock wool granular cotton as a raw material and a slurry. The raw material supply mechanism 22 supplies rock wool granular cotton to the nozzle 21 , and the slurry supply mechanism 23 supplies slurry to the nozzle 21 . The refractory coating material W may be discharged from the nozzle 21 in a state in which the raw material and the slurry are mixed, or the raw material and the slurry may be discharged from the nozzle 21 at the same time.

The raw material supply mechanism 22 has a supply source 22a, a recovery section 22b, hoses 22c, 22d and 22e, and a valve 22f. The supply 22a contains rockwool granulated cotton. The recovery part 22b recovers the rock wool granular cotton that has not been supplied to the nozzle 21 . The hose 22c constitutes part of a flow path for pressure-feeding rock wool granular cotton from the supply source 22a to the nozzle 21 and the collecting portion 22b. Hoses 22d and 22e are respectively connected to the hose 22c. Hose 22d constitutes the remainder of the flow path for pumping rockwool granules from source 22a to nozzle 21 . The hose 22e constitutes the remainder of the flow path for pumping the rock wool granules from the supply source 22a to the collecting portion 22b.

The valve 22f is, for example, a three-way valve, and is provided at the connecting portion of the hoses 22c, 22d, and 22e. The valve 22f mutually adjusts the supply amount (the amount pumped to the nozzle 21 by the hose 22d) and the recovery amount (the amount pumped to the recovery section 22b by the hose 22e) of rock wool granular cotton.

The slurry supply mechanism 23 has a supply source 23a, a recovery section 23b, hoses 23c, 23d and 23e, and a valve 23f. The supply source 23a contains slurry. The slurry contains cement and water. The recovery unit 23b recovers slurry that has not been supplied to the nozzle 21. FIG. The hose 23c constitutes part of a channel for pressure-feeding the slurry from the supply source 23a to the nozzle 21 and the recovery section 23b. Hoses 23d and 23e are respectively connected to the hose 23c. Hose 23 d constitutes the remainder of the flow path for pumping slurry from source 23 a to nozzle 21 . The hose 23e constitutes the rest of the flow path for pumping the slurry from the supply source 23a to the recovery section 23b.

The valve 23f is, for example, a three-way valve and is provided at the connecting portion of the hoses 23c, 23d, and 23e. The valve 23f mutually adjusts the slurry supply amount (the amount pumped to the nozzle 21 by the hose 23d) and the recovery amount (the amount pumped to the recovery section 23b by the hose 23e).

The raw material supply mechanism 22 and the slurry supply mechanism 23 may not have the recovery units 22b and 23b, respectively. For example, the raw material supply mechanism 22 may be configured to return rock wool granular cotton that has not been supplied to the nozzle 21 to the supply source 22a via a hose 22e. Moreover, the slurry supply mechanism 23 may be configured to return the slurry that has not been supplied to the nozzle 21 to the supply source 23a through a hose 23e. Alternatively, the slurry supply mechanism 23 may not have the recovery section 23b and the hose 23e. In this case, the valve 23f is an opening/closing valve, which is provided at the connecting portion of the hoses 23c and 23d, and adjusts the opening degree of the passage for pumping the slurry from the supply source 23a to the nozzle 21. FIG.

The head 30 has a function of holding the nozzle 21 . The head 30 has a mounting portion 31 and a holding frame 32 . The mounting portion 31 has a box shape including a mounting surface 31a on which the nozzle 21 is mounted. The holding frame 32 has an arch shape projecting from the mounting surface 31a and holds the nozzle 21 on the mounting surface 31a so as to surround it. The head 30 may have a plurality of (for example, two) holding frames 32 . The plurality of holding frames 32 may include holding frames 32 that directly hold the nozzles 21 and holding frames 32 that indirectly hold the nozzles 21 by holding the hoses 22d and 23d.

The support 40 has the function of adjusting the discharge direction of the refractory coating material W from the nozzle 21 and the function of raising and lowering the nozzle 21 along the web 5 . The support 40 has an angle adjusting mechanism 41 and an elevating mechanism 42 . The angle adjustment mechanism 41 has an undulating portion 41a and a turning portion 41b. The undulating portion 41 a undulates the nozzle 21 . Specifically, the undulating portion 41a is connected to the head 30 and undulates the nozzle 21 by rotating the head 30 around the X axis. The swivel part 41b swings the nozzle 21 . Specifically, the turning portion 41b is connected to the head 30 via the undulating portion 41a, and rotates the head 30 around the Z-axis to cause the nozzle 21 to swing. The undulating portion 41a and the swivel portion 41b are each configured by, for example, an electric rotary actuator or the like, and rotate the nozzle 21 around the X-axis or the Z-axis by power of an electric motor (not shown) or the like.

The elevating mechanism 42 elevates the nozzle 21 . The lifting mechanism 42 is configured by, for example, an electric actuator (for example, an electric cylinder) or the like, and is arranged below the head 30 . The lifting mechanism 42 has a support rod 42a connected to the head 30 via an undulating portion 41a and a swivel portion 41b. , and the nozzle 21 is moved up and down.

The support frame 50 has a function of further raising and lowering the nozzle 21 and a function of transversely moving the nozzle 21 . The support frame 50 is arranged below the head 30 and has a traversing mechanism 51 , a lifting mechanism 52 and a traveling mechanism 53 . The traversing mechanism 51 traverses the nozzles 21 along the web 5 . The traversing mechanism 51 is configured by, for example, an electric actuator (for example, an electric slider) or the like. The traversing mechanism 51 includes a plurality of (for example, two) rails 51a and a plurality of (the same number as the rails 51a, two here) traversing blocks 51b slidably attached to each rail 51a. have.

A plurality of rails 51 a constitute lateral frames in the support frame 50 and are arranged so as to face the web 5 . Each rail 51 a may have a length comparable to the spacing between adjacent stiffeners 6 on the web 5 . A plurality of transverse blocks 51 b are fixed to the support 40 . In the traversing mechanism 51 , the nozzles 21 traverse via the support 40 and the head 30 by simultaneously moving the plurality of traversing blocks 51 b on the rails 51 a along the X-axis direction.

The elevating mechanism 52 elevates the nozzles 21 along the web 5 . For example, the support frame 50 has a pair of lifting mechanisms 52 arranged along the web 5 . The pair of lifting mechanisms 52 constitute vertical frames in the support frame 50 . Each elevating mechanism 52 is configured by, for example, an electric actuator, and includes an elevating slider 52a and a guide frame 52b.

Both ends of a plurality of rails 51a are connected to the pair of elevating sliders 52a. The elevating slider 52a is attached to the guide frame 52b so as to be vertically slidable. The elevating mechanism 52 causes the elevating slider 52a to protrude upward from the guide frame 52b or retract the elevating slider 52a into the guide frame 52b by power of an electric motor (not shown) or the like. In the elevating mechanism 52, each elevating slider 52a projects or retracts simultaneously with respect to each guide frame 52b, thereby vertically moving the traversing mechanism 51, the support 40 and the head 30, thereby elevating the nozzle 21. As shown in FIG.

In the following description, raising and lowering the nozzle 21 by the lifting mechanisms 42 and 52 means that the nozzle 21 is raised and lowered by only one of the lifting mechanisms 42 and 52, and that the nozzle 21 is raised and lowered by both the lifting mechanisms 42 and 52. It shall include the case of raising and lowering the

The traveling mechanism 53 has a function of allowing the support frame 50 to move on the floor surface. The traveling mechanism 53 has a plurality (the same number as the lifting mechanism 52, two here) of mounting frames 53a, a connecting frame 53b, and a plurality of (for example, four) wheels 53c. Each mounting frame 53a is arranged along the floor surface, and the lifting mechanism 52 is mounted thereon. The connection frame 53b is arranged along the floor surface and connects the plurality of mounting frames 53a. A plurality of wheels 53c are provided under the mounting frame 53a.

In this embodiment, the device main body 10 further includes a sensor device 60 and a laser pointer 70 (see FIG. 2) for confirming detailed working positions. 3 is a cross-sectional view taken along line III-III in FIG. 2. FIG. 2, illustration of the sensor device 60 is omitted. As shown in FIG. 3, the sensor device 60 acquires data for confirming the state of the surface to be constructed 2s by being arranged at a position facing the surface to be constructed 2s.

The sensor device 60 is provided on the nozzle 21 . The sensor device 60 has a sensor 61 (first distance sensor), a sensor 62 (second distance sensor), and a holding portion 63 . Sensors 61 and 62 are arranged on both sides of nozzle 21, and counter 2 s of surfaces to be processed with nozzle 21, respectively. Sensors 61 and 62 measure each distance to 2 s of surfaces to be constructed, and output a measurement result at any time. The sensors 61 and 62 are held by the holding portion 63 so as to be aligned along the extending direction (X-axis direction) of the beam 2 with the nozzle 21 interposed therebetween. The holding part 63 is attached to the nozzle 21 while holding the sensors 61 and 62 .

With the above configuration, when the fireproof coating material W is sprayed, the nozzle 21 is moved along the extending direction of the beam 2 (that is, the direction in which the sensors 61 and 62 are arranged). A distance L1 to the surface to be constructed 2s of the location is measured, and a distance L2 to the surface to be constructed 2s of the location that has been constructed is measured by the sensor 62 . The difference between the distances L1 and L2 indicates the spray thickness D of the sprayed refractory coating W. FIG. Therefore, the sensor device 60 has a function of measuring data for obtaining the spray thickness D. FIG.

Moreover, it is possible to grasp the state in which at least one of the sensors 61 and 62 is not facing the construction surface 2s from the measured values of the sensors 61 and 62 (see FIG. 9). Here, the state in which one of the sensors 61 and 62 does not face the work surface 2s includes the state in which the one of the sensors 61 and 62 faces the opening 2h, and both the sensors 61 and 62 face the work surface 2s. The state in which the nozzle 21 is not in contact with the opening 2h includes the state in which the nozzle 21 faces the opening 2h. Therefore, the sensor device 60 also functions as opening detection means for detecting the opening 2h.

The laser pointer 70 is provided at the tip of the nozzle 21, as shown in FIG. The laser pointer 70 emits a laser beam L directed in the discharge direction of the refractory coating material W from the nozzle 21 . The laser pointer 70 irradiates the discharge position of the refractory coating material W from the nozzle 21 with the laser beam L. As shown in FIG. The device main body 10 may further include a sensor (not shown) for grasping its own position with respect to the surrounding environment (for example, the beam 2).

[Controller configuration]
Next, the controller 100 will be described with reference to FIGS. 1, 4 and 5. FIG. The controller 100 operates the discharge means 20, adjusts the discharge direction of the nozzle 21 by the angle adjustment mechanism 41, and traverses the nozzle 21 by the traversing mechanism 51 so that the fireproof coating material W is sprayed onto the surface 2s to be coated by the nozzle 21. , and the elevation of the nozzle 21 by the elevation mechanisms 42 and 52 are controlled. The controller 100 has a control device body 110 and a remote controller 120 . The remote controller 120 is used by the operator to input information to the control device body 110 .

As shown in FIG. 4, the control device main body 110 has a functional configuration (hereinafter referred to as "function modules") that includes a data acquisition unit 111, an operation setting unit 112, an angle adjustment unit 113, and a traverse control unit. It has a unit 114 , an elevation control unit 115 , and a discharge amount adjustment unit 116 . These functional modules are simply divisions of the functions of the control device body 110 into a plurality of modules for convenience, and do not necessarily mean that the hardware constituting the control device body 110 is divided into such modules. do not have. Each functional module may be realized by executing a program, and is realized by a dedicated electric circuit (e.g. logic circuit) or an integrated circuit (ASIC: Application Specific Integrated Circuit) that integrates this. may be

The data acquisition unit 111 acquires output data of each of the sensors 61 and 62 . The data acquisition unit 111 also acquires data indicating the three-dimensional shape of the beam 2 by direct input from a worker or the like. Data representing the three-dimensional shape of the beam 2 includes, for example, a three-dimensional model based on BIM (Building Information Modeling). The data acquisition unit 111 may acquire output data from a sensor or the like that outputs scanning results of the beam 2, and acquire data representing the three-dimensional shape of the beam 2 based on the output data. Based on these data, the data acquisition unit 111 acquires the data indicating the sprayed thickness D of the fireproof covering material W and the detection result of the opening 2h by the sensor device 60 . The data acquisition unit 111 transmits each acquired data to the operation setting unit 112 .

Specifically, based on the difference between the measurement result obtained from the sensor 61 (that is, data indicating the distance L1) and the measurement result obtained from the sensor 62 (that is, data indicating the distance L2), the data acquisition unit 111 Data indicating the spray thickness D are derived. In addition, the data acquisition unit 111 grasps a state in which at least one of the sensors 61 and 62 does not face the construction surface 2s (that is, the opening 2h is detected) based on the data acquired from the sensors 61 and 62. .

Based on each data acquired from the data acquisition unit 111, the operation setting unit 112 operates the ejection means 20, adjusts the ejection direction of the nozzles 21 by the angle adjustment mechanism 41, traverses the nozzles 21 by the traverse mechanism 51, and raises and lowers the mechanism. The elevation of the nozzle 21 by 42, 52 is set. Specifically, based on data indicating the three-dimensional shape of the beam 2, the operation setting unit 112 controls the operation of the ejection means 20, the adjustment of the ejection direction of the nozzles 21 by the angle adjustment mechanism 41, and the lateral movement of the nozzles 21 by the traversing mechanism 51. , and an initial value of an execution plan for raising and lowering the nozzle 21 by the raising and lowering mechanisms 42 and 52 are set. Further, the operation setting unit 112 updates the set execution plan at any time based on the data indicating the spray thickness D and the detection result of the opening 2h.

Here, the execution plan includes a plurality of regions (for example, the regions R1 and R2 of the web 5 shown in FIG. ) in sequence, and spraying from top to bottom in each region. As a more specific execution plan for each region, first, the nozzle 21 is moved along the width direction of the region (here, the X-axis direction) to perform the uppermost spraying, and the nozzle 21 is moved at a predetermined pitch. After moving downward, the nozzle 21 is moved so as to be folded back along the width direction to carry out the next step of spraying. Thereafter, similarly, the nozzle 21 is repeatedly moved downward and moved in the width direction, and spraying is performed up to the bottom stage. When the spraying construction of the lowest stage is completed, the spraying construction of one region is completed.

Alternatively, the execution plan may include spraying each area from the bottom up instead of spraying each area from top to bottom. As a more specific execution plan for each region, first, the nozzle 21 is moved along the width direction of the region (here, the X-axis direction) to perform the lowest stage spraying, and the nozzle 21 is moved at a predetermined pitch. After moving upward, the nozzle 21 is moved so as to be folded back along the width direction, and the next step of spraying is performed. After that, similarly, the nozzle 21 is repeatedly moved upward and moved in the width direction, and spraying is performed up to the uppermost stage. When the spraying of the uppermost layer is finished, the spraying of one area is completed.

The angle adjustment unit 113 controls the angle adjustment mechanism 41 so as to adjust the ejection direction of the nozzles 21 based on the execution plan set by the operation setting unit 112 . Specifically, the angle adjuster 113 controls the undulating portion 41a to undulate the nozzle 21 along the beam 2 and the turning portion 41b to swing the nozzle 21 along the beam 2. including doing. For example, the angle adjusting section 113 controls the undulating section 41a so that the nozzle 21 is directed upward when the upper flange 3 is sprayed, and the nozzle 21 is directed horizontally or downward when the web 5 is sprayed. . Further, the angle adjustment unit 113 controls the swivel unit 41b so that the nozzle 21 swings along the stiffener 6 in the region R2 where the stiffener 6 is provided among the plurality of regions R1 and R2 of the web 5. (see Figure 5).

The traverse control unit 114 controls the traverse mechanism 51 so as to traverse the nozzles 21 along the web 5 based on the execution plan set by the operation setting unit 112, and the number of nozzles per unit area of the work surface 2s. and controlling the traversing mechanism 51 so as to adjust the amount of fireproof coating material W sprayed from 21 (hereinafter referred to as "unit spray amount"). Controlling the traversing mechanism 51 to adjust the unit spraying amount includes controlling the traversing mechanism 51 to decrease the moving speed of the nozzle 21 and increase the unit spraying amount, and increasing the moving speed of the nozzle 21. and controlling the traversing mechanism 51 to decrease the unit spray amount.

The elevation control section 115 controls the elevation mechanisms 42 and 52 so as to raise and lower the nozzles 21 along the web 5 based on the execution plan set by the operation setting section 112 . In addition, the elevation control unit 115 may further control the elevation mechanisms 42 and 52 so as to adjust the unit spray amount. Adjusting the unit spray amount involves controlling the lifting mechanisms 42 and 52 so as to narrow the movement pitch of the nozzle 21 to the next stage and increase the unit spray amount, and moving the nozzle 21 to the next stage. and controlling the lifting mechanisms 42, 52 to widen the movement pitch and reduce the unit spray amount.

Based on the execution plan set by the operation setting unit 112, the discharge amount adjusting unit 116 controls the discharging means 20 so that the nozzle 21 sprays the refractory coating material W onto the surface 2s to be coated. Specifically, the discharge amount adjusting unit 116 discharges the fire-resistant coating material W when the nozzle 21 faces the surface 2s to be applied, and discharges the fire-resistant coating material W when the nozzle 21 faces the opening 2h. Controlling the ejection means 20 so as to be in a stopped state and controlling the ejection means 20 so as to adjust the unit spray amount are executed.

Controlling the dispensing means 20 to dispense the refractory coating W includes opening valves 22f and 23f to dispense the refractory coating W (i.e., rockwool granules and slurry, respectively). adjusting the temperature (ie, opening the feed-side channel). Stopping the discharge of the refractory coating material W is achieved by adjusting the opening degrees of the valves 22f and 23f so that the collected amount of the refractory coating material W is maximized (that is, closing the flow path on the supply side). to). Controlling the discharge means 20 so as to adjust the unit spray amount includes adjusting the opening degrees of the valves 22f and 23f so as to increase the supply amount of the refractory coating material W to increase the unit spray amount, and increasing the unit spray amount. and adjusting the opening degrees of the valves 22f and 23f so as to reduce the supply amount of the coating material W to reduce the unit spray amount.

In addition, the angle adjustment unit 113, the traverse control unit 114, the elevation control unit 115, and the discharge amount adjustment unit 116 are not based on the execution plan set by the operation setting unit 112, but based on the details of the operation of the remote controller 120 by the operator. The operation of the means 20, the adjustment of the ejection direction of the nozzle 21 by the angle adjustment mechanism 41, the lateral movement of the nozzle 21 by the transverse mechanism 51, and the elevation of the nozzle 21 by the elevation mechanisms 42, 52 may be controlled.

For example, the angle adjustment unit 113, the traversing control unit 114, the elevation control unit 115, and the discharge amount adjustment unit 116 operate according to the operation details of the remote controller 120 only when the remote controller 120 is operated by the operator. 20, the adjustment of the ejection direction of the nozzle 21 by the angle adjustment mechanism 41, the traverse of the nozzle 21 by the traversing mechanism 51, and the elevation of the nozzle 21 by the elevating mechanisms 42, 52 may be controlled. In this case, when the remote controller 120 is not operated by the operator, the angle adjustment unit 113, the traverse control unit 114, the elevation control unit 115, and the discharge amount adjustment unit 116 operate the discharge means 20 based on the execution plan. , adjustment of the ejection direction of the nozzle 21 by the angle adjusting mechanism 41, lateral movement of the nozzle 21 by the transverse mechanism 51, and elevation of the nozzle 21 by the elevation mechanisms 42, 52 may be controlled.

The hardware of the control device body 110 is composed of, for example, one or more control computers. Although the spraying apparatus 1 includes one controller 100 in this embodiment, it may include a controller group including a plurality of controllers 100 . When the spraying apparatus 1 includes a controller group, each of the above functional modules may be realized by one controller 100, or may be realized by a combination of two or more controllers 100. . When the control device main body 110 is composed of a plurality of computers, each of the above functional modules may be realized by one computer, or may be realized by a combination of two or more computers. .

[Fireproof coating method]
Next, with reference to FIG. 6, a fireproof coating method will be described. FIG. 6 is a schematic diagram showing each step of the fireproof coating method. The refractory coating method includes a first refractory coating step and a second refractory coating step. First, as shown in FIG. 6(a), as a first fireproof covering step, the lower flange 4 is covered with a fireproof covering material F (first fireproof covering material). The refractory covering material F is sheet-like and includes, for example, rock wool felt. Here, a worker manually winds the fireproof covering material F around the lower flange 4 and fixes the wound fireproof covering material F to the lower flange 4 .

Next, as shown in FIG. 6B, as a second fireproof coating step, a fireproof coating material W is applied to each of the surfaces 2s of the upper flange 3 and the web 5 to be coated using the above-described spraying apparatus 1. spray. In addition, the specific content of a 2nd fireproof coating process is mentioned later. As described above, as shown in FIG. 6(c), all the surfaces of the upper flange 3, the lower flange 4, and the web 5 of the beam 2 are covered with one of the fireproof covering materials F and W, The method of refractory coating to the beam 2 is completed.

[Second coating treatment procedure]
Next, the procedure of the second covering process executed by the controller 100 will be described as an example of the second covering process with reference to FIGS. 7 to 10. FIG. FIG. 7 is a flow chart showing a processing procedure in the second covering step. As shown in FIG. 7, the controller 100 first sequentially executes steps S01 and S02. In step S<b>01 , the data acquisition unit 111 acquires data representing the three-dimensional shape of the beam 2 and transmits the acquired data to the operation setting unit 112 . In step S02, the operation setting unit 112 operates the ejection means 20, adjusts the ejection direction of the nozzles 21 by the angle adjustment mechanism 41, and traverses the nozzles 21 by the traversing mechanism 51, based on the data indicating the three-dimensional shape of the beam 2. , and an initial value of an execution plan for raising and lowering the nozzle 21 by the raising and lowering mechanisms 42 and 52 are set. After that, the operation setting unit 112 updates the set execution plan as needed based on various data acquired from the data acquisition unit 111 .

Next, the controller 100 sequentially executes steps S03, S04 and S05. In step S03, the angle adjustment unit 113, the traverse control unit 114, and the elevation control unit 115 respectively control the angle adjustment mechanism 41, the traverse mechanism 51, and the elevation mechanisms 42, 52 so as to place the nozzle 21 at the working position. At this time, the operator may move the device body 10 on the floor surface. In step S<b>04 , the discharge amount adjusting unit 116 controls the discharge means 20 so as to start discharging the fireproof coating material W from the nozzle 21 . In step S<b>05 , the angle adjustment unit 113 and the traversing control unit 114 respectively control the angle adjusting mechanism 41 and the traversing mechanism 51 to start moving the nozzle 21 along the beam 2 . Note that the controller 100 may change the order of steps S03, S04, and S05 and execute them, or may execute steps S03, S04, and S05 in parallel.

Next, the controller 100 controls the discharge means 20, the angle adjusting mechanism 41, the traversing mechanism 51, and the elevating mechanisms 42, 52 so that the nozzle 21 sprays the refractory covering material W onto the surface 2s to be applied. For example, the controller 100 sequentially executes steps S06 and S07. In step S06, the controller 100 executes a process of avoiding the opening 2h and spraying (hereinafter referred to as "opening avoidance process"). In step S07, the controller 100 executes a process of adjusting the spray thickness D according to the feedback value of the spray thickness (hereinafter referred to as "spray thickness FB process"). More specific processing contents of steps S06 and S07 will be described later.

Note that the controller 100 may change the order of steps S06 and S07 and execute them, or may execute steps S06 and S07 in parallel. In addition, along with steps S06 and S07, the controller 100 causes the discharge means 20 and the angle adjustment mechanism to spray the fireproof coating material W onto the surface 2s to be coated by the nozzle 21 based on the operator's operation of the remote controller 120. 41 , the traversing mechanism 51 and the lifting mechanisms 42 , 52 may be controlled. At this time, the operator may operate the remote controller 120 while confirming the discharge position of the fireproof coating material W by the irradiation position of the laser beam L.

Next, controller 100 executes step S08. In step S08, the operation setting unit 112 confirms whether or not the spraying within the operation range of the head 30 has been completed. If the spraying application within the operating range of the head 30 has not ended, the controller 100 returns the process to step S06. Thereafter, the controller 100 repeatedly executes steps S06 and S07 until the spraying within the operating range of the head 30 is completed.

When the spraying work within the operating range of the head 30 is completed, the controller 100 sequentially executes steps S09 and S10. In step S<b>09 , the angle adjustment unit 113 , the traversing control unit 114 and the elevation control unit 115 control the angle adjustment mechanism 41 , the traversing mechanism 51 and the elevation mechanisms 42 and 52 to stop the movement of the nozzle 21 . In step S<b>10 , the discharge amount adjusting section 116 controls the discharge means 20 so as to stop discharge of the fireproof covering material W from the nozzle 21 . Note that the controller 100 may execute steps S09 and S10 in a different order, or may execute steps S09 and S10 in parallel.

Next, the controller 100 executes step S11. In step S11, the operation setting unit 112 confirms whether or not the spraying of the entire range to be sprayed (for example, the upper flange 3 and the entire area of the front and back sides of the web 5) has been completed. When the spraying construction of the entire range of the construction target has not been completed, the controller 100 returns the process to step S03. After that, the controller 100 repeats steps S03 to S10 so as to carry out the spraying according to the execution plan until the entire range of the object to be sprayed is completed. When the spraying construction for the entire range of the construction target is completed, the controller 100 completes the process.

[Opening Avoidance Processing Procedure]
Next, specific processing contents of step S06 will be described. FIG. 8 is a flow chart showing an opening avoidance procedure. FIG. 9 is a schematic diagram for explaining the opening avoidance procedure. As shown in FIG. 8, the controller 100 first executes step S21. In step S21, the operation setting unit 112 waits until the sensor device 60 detects the opening 2h. At this time, as shown in FIG. 9(a), the refractory coating material W is discharged from the nozzle 21. As shown in FIG.

As shown in FIG. 9B, when the sensor device 60 detects the opening 2h, the controller 100 executes step S22. In step S22, the operation setting unit 112 updates the execution plan of the operation of the discharge means 20 so as to stop the discharge of the fireproof covering material W. FIG. As a result, the discharge amount adjusting unit 116 controls the discharging means 20 to stop discharging the fireproof covering material W from the nozzle 21 based on the execution plan set by the operation setting unit 112 .

Next, the controller 100 executes step S23. In step S23, the operation setting unit 112 waits until the sensor device 60 stops detecting the opening 2h. At this time, as shown in FIG. 9(c), the discharge of the refractory coating material W from the nozzle 21 is stopped.

When the sensor device 60 no longer detects the opening 2h, the controller 100 executes step S24. In step S24, the operation setting section 112 updates the execution plan of the operation of the discharge means 20 so as to restart the discharge of the fireproof covering material W. FIG. As a result, the discharge amount adjustment unit 116 controls the discharge means 20 so as to restart the discharge of the fireproof coating material W by the nozzle 21 based on the execution plan set by the operation setting unit 112 (FIG. 9C). ). As a result, the fireproof coating material W is sprayed while avoiding the opening 2h. With the above, the controller 100 completes the control for the opening avoidance process. The controller 100 repeatedly executes the control for the opening avoidance process described above during the spraying process.

[Blowing thickness FB processing procedure]
Next, specific processing contents of step S07 will be described. FIG. 10 is a flow chart showing the spray thickness FB procedure. As shown in FIG. 10, the controller 100 first executes step S31. In step S<b>31 , the data acquisition unit 111 acquires data indicating the spray thickness D of the fireproof covering material W, and transmits the acquired data to the operation setting unit 112 .

Next, the controller 100 executes step S32. In step S32, the operation setting unit 112 determines whether or not the spray thickness D is outside the allowable range. A permissible range for the spray thickness D may be preset. If it is determined in step S32 that the spray thickness D is outside the allowable range, the controller 100 next executes step S33. In step S33, the operation setting unit 112 determines whether or not the spray thickness D is thinner than the allowable range.

When it is determined in step S33 that the spray thickness D is thinner than the allowable range, the controller 100 executes step S34. In step S34, the operation setting unit 112 causes the traversing mechanism 51 to traverse the nozzle 21, the elevating mechanisms 42 and 52 to move the nozzle 21 up and down, or the discharge means 20 to operate so as to increase the unit spray amount of the fireproof coating material W. update the execution plan of For example, the operation setting unit 112 updates the execution plan for traversing the nozzles 21 by the traversing mechanism 51 so as to reduce the moving speed of the nozzles 21 . Thereby, the traverse control unit 114 controls the traverse mechanism 51 to reduce the moving speed of the nozzle 21 based on the execution plan set by the operation setting unit 112 .

In addition, in step S34, the operation setting unit 112 may update the execution plan of the operation of the discharging means 20 so as to increase the supply amount of the fireproof covering material W. FIG. As a result, the discharge amount adjusting unit 116 adjusts the opening degrees of the valves 22f and 23f so as to increase the supply amount of the fireproof covering material W. FIG. Alternatively, the operation setting unit 112 may update the execution plan for raising and lowering the nozzles 21 by the raising and lowering mechanisms 42 and 52 so as to narrow the movement pitch of the nozzles 21 to the next stage. Thereby, the elevation control unit 115 controls the elevation mechanisms 42 and 52 so as to narrow the movement pitch of the nozzle 21 to the next stage.

On the other hand, when it is determined in step S33 that the spray thickness D is thicker than the allowable range, the controller 100 executes step S35. In step S35, the operation setting unit 112 causes the traversing mechanism 51 to traverse the nozzle 21, the elevating mechanisms 42 and 52 to move the nozzle 21 up and down, or the discharge means 20 to operate so as to decrease the unit spraying amount of the fireproof coating material W. update the execution plan of For example, the operation setting unit 112 updates the execution plan for traversing the nozzles 21 by the traversing mechanism 51 so as to increase the moving speed of the nozzles 21 . Thereby, the traverse control unit 114 controls the traverse mechanism 51 to increase the moving speed of the nozzle 21 based on the execution plan set by the operation setting unit 112 .

In addition, in step S35, the operation setting unit 112 may update the execution plan of the operation of the discharging means 20 so as to reduce the supply amount of the fireproof covering material W. FIG. As a result, the discharge amount adjusting unit 116 adjusts the opening degrees of the valves 22f and 23f so as to reduce the supply amount of the fireproof covering material W. As shown in FIG. Alternatively, the operation setting unit 112 may update the execution plan for raising and lowering the nozzles 21 by the raising and lowering mechanisms 42 and 52 so as to widen the movement pitch of the nozzles 21 to the next stage. Thereby, the elevation control unit 115 controls the elevation mechanisms 42 and 52 so as to widen the movement pitch of the nozzle 21 to the next stage.

With the above, the controller 100 completes the control for the spray thickness FB process. If it is determined in step S32 that the spray thickness D is within the allowable range, the controller 100 omits steps S33 to S35 and completes the control for the spray thickness FB process. The controller 100 repeatedly executes the control for the spraying thickness FB process described above during the spraying process.

[Action]
As described above, the fireproof coating method according to the present embodiment coats the lower flange 4, which is difficult to construct with respect to the upper flange 3 and the web 5, with the fireproof coating material F in the first coating step, so that the construction quality is improved. easy to secure. Further, in the second coating process, by mechanically performing simple operations such as lifting and traversing using the spraying apparatus 1, the fireproof coating material W is sprayed onto the upper flange 3 and the web 5, which are relatively difficult to install. , the speed can be reasonably increased. As a result, in a so-called hybrid-type fireproof coating method using the fireproof coating materials F and W as coating materials, it is possible to ensure stable construction quality and improve construction efficiency.

In the fireproof coating method according to the present embodiment, the spraying apparatus 1 lifts and lowers the nozzle 21 by the elevating mechanisms 42 and 52, and It further includes a controller 100 that controls the lateral movement of the nozzles 21 and the adjustment of the ejection direction by the angle adjustment mechanism 41 . Thereby, the spraying construction of the fireproof covering material W can be automated.

In the fireproof coating method according to the present embodiment, the spraying apparatus 1 further includes opening detection means for detecting openings 2h formed in the web 5, and in the second coating step, the controller 100 controls along the web 5 The traversing mechanism 51 is controlled to traverse the nozzle 21, and based on the detection result of the opening detection means, the refractory coating material W is discharged when the nozzle 21 faces the surface 2s to be applied, and the nozzle is opened. The discharge means 20 is controlled so that the discharge of the fireproof covering material W is stopped when facing 2h. As a result, when the nozzle 21 faces the opening 2h, the discharging means 20 stops discharging the refractory coating material W from the nozzle 21. Therefore, the refractory coating material W is sprayed while avoiding the opening 2h where spraying is unnecessary. construction takes place. Therefore, material waste can be reduced.

In the second coating step, the controller 100 acquires data indicating the spray thickness D of the fireproof coating material W sprayed on the surface 2s to be applied, and based on the data indicating the spray thickness D, the applied The discharge means 20 or the traversing mechanism 51 is controlled so as to adjust the amount of the fireproof coating material W sprayed from the nozzle 21 per unit area of the surface 2s (that is, the unit spray amount). Accordingly, by adjusting the amount of the fireproof covering material W sprayed from the nozzle 21, the spraying thickness D of the fireproof covering material W to be sprayed is adjusted, so that the construction quality can be more easily secured.

In the fireproof coating method according to the present embodiment, the spraying apparatus 1 further includes a sensor 61 (first distance sensor) and a sensor 62 (second distance sensor) arranged across the nozzle 21, and the second coating In the process, when the controller 100 moves the nozzle 21 in the direction in which the sensors 61 and 62 are arranged (that is, the X-axis direction), the distance L1 between the surface to be applied 2s measured by the sensor 61 and the distance L1 measured by the sensor 62 Data indicating the spraying thickness D is obtained based on the difference between the measured distance L2 from the surface to be applied 2s. As a result, the sensors 61 and 62 acquire data indicating the spraying thickness D based on the distances L1 and L2 to the surface to be applied 2s of the non-applied area and the applied area, respectively. This makes it possible to acquire data indicating the spray thickness D with a simple configuration.

In the second covering step, the controller 100 acquires data indicating the three-dimensional shape of the beam 2, and based on the data indicating the three-dimensional shape, the lifting mechanisms 42 and 52 raise and lower the nozzle 21, and the traversing mechanism 51 raises and lowers the nozzle 21. 21 and an execution plan for adjustment of the discharge direction by the angle adjustment mechanism 41 is set. This makes it possible to simplify instructions to the lifting mechanisms 42, 52, the traversing mechanism 51, and the angle adjusting mechanism 41 when performing spraying.

In the fire-resistant coating method according to the present embodiment, the spraying apparatus 1 further includes a laser pointer 70 that is provided at the tip of the nozzle 21 and emits a laser beam L directed in the discharge direction of the fire-resistant coating material W from the nozzle 21. , In the second coating step, based on the irradiation position of the laser beam L, at least the elevation of the nozzle 21 by the elevation mechanisms 42 and 52, the traverse of the nozzle 21 by the traverse mechanism 51, and the adjustment of the ejection direction by the angle adjustment mechanism 41 are performed. do one As a result, it is possible to adjust the position of the nozzle 21 and perform spraying while confirming the spraying position based on the irradiation position of the laser beam L. FIG.

[Modification]
The invention is not limited to the embodiments described above. FIG. 11 is a flowchart showing an opening avoidance procedure according to the modification. FIG. 12 is a schematic diagram for explaining an opening avoidance procedure according to a modification. As shown in FIG. 11, the controller 100 first executes step S41 as a modification of the specific processing content of step S06. In step S41, the operation setting unit 112 waits for the detection of the opening 2h by the sensor device 60, as in step S21.

As shown in FIG. 12(a), when the sensor device 60 detects the opening 2h, the controller 100 executes step S42. In step S<b>42 , the operation setting unit 112 updates the execution plan for traversing the nozzle 21 by the traversing mechanism 51 and lifting/lowering the nozzle 21 by the lifting mechanisms 42 and 52 so as to change the traveling direction of the nozzle 21 . Accordingly, based on the execution plan set by the operation setting unit 112, the traverse control unit 114 and the elevation control unit 115 control the traverse mechanism 51 and the elevation mechanisms 42 and 52, respectively, so as to change the traveling direction of the nozzle 21. (see FIG. 12(b)).

As a result, the nozzle 21 discharging the refractory coating material W moves to a position facing the construction surface 2s avoiding the opening 2h. Therefore, as indicated by the two-dot chain line in FIG. 12(c), the fireproof coating material W is sprayed while avoiding the opening 2h. With the above, the controller 100 completes the control for the opening avoidance process. The controller 100 may repeatedly execute the control for the opening avoidance process according to this modified example during the spraying process instead of steps S21 to S24 described above.

Further, in the above-described embodiment, the sensor device 60 includes the sensors 61 and 62 (sensors for measuring the respective distances to the work surface 2s). It may have a three-dimensional laser scanner installed at any position on the top. In this case, the three-dimensional laser scanner scans the beam 2 and outputs the scanning result at any time, and the controller 100 (particularly, the data acquisition unit 111) outputs the scanning result over time (for example, spraying on a certain surface 2s The spray thickness D of the sprayed refractory coating material W may be obtained based on the position information before and after spraying. In addition, the controller 100 (particularly, the data acquisition unit 111) acquires the detection result of the opening 2h based on the scanning result (for example, the position information of the surface 2s to be applied before spraying) by the three-dimensional laser scanner. good too.

Further, the controller 100 may omit the above steps S01 and S02, grasp each construction target location based on the information acquired by the sensor device 60, and execute the above steps S03 to S11. Alternatively, the spraying apparatus 1 may not include the sensor device 60 . In this case, the controller 100 may execute steps S03 to S11 based only on the execution plan set in step S02.

The present invention can be embodied in various forms with various modifications and improvements based on the knowledge of those skilled in the art, including the embodiment described above. Moreover, it is also possible to configure a modified example using the technical matters described in the above-described embodiments and the like. You may use it, combining the structure of each embodiment etc. suitably.

DESCRIPTION OF SYMBOLS 1... Spraying apparatus, 2... Beam (structure), 2s... Surface to be applied, 2h... Opening, 3... Upper flange, 4... Lower flange, 5... Web, 41... Angle adjusting mechanism, 42... Elevating mechanism, 51 Traversing mechanism 52 Lifting mechanism 60 Sensor device (opening detection means) 61 Sensor (first distance sensor) 62 Sensor (second distance sensor) 70 Laser pointer 100 Controller ( control unit), D... spraying thickness, L1, L2... distance, F... fireproof covering material (first fireproof covering material), W... fireproof covering material (second fireproof covering material).

Claims (1)

A fireproof coating method for fireproof coating a beam made of H-section steel having an upper flange, a lower flange, and a web connected to the upper flange and the lower flange, comprising:
a first covering step of covering the lower flange with a sheet-like first fireproof covering;
a second coating step of spraying a second refractory coating material onto each of the surfaces to be applied of the upper flange and the web using a spraying apparatus;
The spraying construction device is
dispensing means including a nozzle for dispensing the second refractory coating;
an elevating mechanism for elevating the nozzle along the web;
a traversing mechanism for traversing the nozzles along the web;
an angle adjustment mechanism for adjusting the discharge direction of the second refractory coating material from the nozzle;
Elevation of the nozzle by the elevating mechanism, traversing of the nozzle by the traversing mechanism, and adjustment of the discharge direction by the angle adjusting mechanism so that the second refractory coating material is sprayed onto the surface to be coated by the nozzle. a control unit that controls
opening detection means for detecting openings formed to penetrate the web in the thickness direction;
In the second coating step,
The control unit controls the traversing mechanism to traverse the nozzles along the web, and while continuing the traversing of the nozzles without stopping, based on the detection result of the opening detection means, the So that the second refractory coating material is discharged when the nozzle faces the surface to be applied, and the discharge of the second refractory coating material is stopped when the nozzle faces the opening, A fireproof coating method for controlling said discharge means.

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