JP7745401B2 - Fireproof coating spraying equipment - Google Patents

Description

The present invention relates to a fire-resistant coating material spraying device, and in particular to a fire-resistant coating material spraying device that sprays fire-resistant coating material onto beams made of H-shaped steel.

In order to prevent fire damage to the columns and beams that make up the skeleton of a steel-framed building, so-called fireproof coating work is carried out. Fireproof coating work refers to the work of covering the skeleton by spraying rock wool, a fireproof coating material, onto the surfaces of the columns and beams.
Patent Document 1 discloses a fire-resistant coating material spraying system equipped with a nozzle capable of spraying a mixture of rock wool, which is a fire-resistant coating material, and cement slurry, which is a binder.

In recent years, development has been underway on fire-resistant coating material spraying robots that can automate fire-resistant coating work, with the aim of protecting workers from the large amounts of fire-resistant coating material that fly around at work sites where fire-resistant coating work is being performed.
9 shows a spraying robot 100 that sprays a fire-resistant coating material F onto a beam B made of H-shaped steel. As shown in Fig. 9, the spraying robot 100 has a spray nozzle 101 that sprays the fire-resistant coating material (rock wool), a supply hose 102 that supplies the rock wool and cement slurry to the spray nozzle 101, a robot arm 103 that holds the spray nozzle 101 and controls the position and angle of the spray nozzle 101, and a traversing device 104 that slides the robot arm 103 in the extension direction of the beam. The robot arm 103 and the traversing device 104 are controlled so that the spray nozzle 101 moves relative to the beam B along a predetermined path and angle.

Japanese Patent Application Laid-Open No. 2021-004525

The spraying robot 100 can protect workers from flying rock wool and improve the efficiency of spraying work. However, to ensure fire resistance, it is necessary to reliably coat the entire beam B with fire-resistant coating material F to a thickness equal to or greater than a specified coating thickness, and there is still room for improvement in the quality of the spraying work performed by the spraying robot 100.

The present invention was made in consideration of the above-mentioned problems, and its purpose is to provide a fire-resistant coating spraying device that can automatically spray an appropriate amount of fire-resistant coating material onto beams made of H-shaped steel, thereby improving the efficiency and quality of the spraying work.

The above problem is solved by the fire-resistant coating material spraying device of the present invention, which is a fire-resistant coating material spraying device that sprays the fire-resistant coating material onto a beam made of H-shaped steel, and which comprises: a spraying device having a spray nozzle that sprays the fire-resistant coating material in a spraying direction; a holding device that holds the spray nozzle and is capable of changing the position of the spray nozzle and the spraying direction; and a control device that controls the spraying device and the holding device based on three-dimensional data of the structure including the beam, wherein the control device controls the holding device so that the speed of changing the position of the spray nozzle becomes smaller as the angle between the sprayed surface of the beam and the spraying direction becomes smaller than 90 degrees , and controls the holding device so that the angle between the sprayed surface and the spraying direction becomes the maximum spray angle within the range where the spray nozzle does not abut against the support of the beam, based on the distance between the spray target point and the spray nozzle, the height dimension of the beam, and the outer dimensions of the spray nozzle .

According to the above configuration, the spraying device and the holding device are controlled so as to automatically perform the spraying work based on the three-dimensional data of the building structure, thereby realizing the efficiency of the spraying work.
The control device also controls the holding device so that the smaller the angle between the surface to be sprayed and the spray direction, the slower the speed at which the spray nozzle is changed in position. This makes it possible to apply an appropriate amount of fire-resistant coating material to the surface to be sprayed by reducing the speed at which the spray device is changed in position, even if the small angle between the surface to be sprayed and the spray direction reduces the adhesion of the fire-resistant coating material to the surface to be sprayed, thereby improving the quality of the spraying work.

It is also preferable that the control device controls the holding device so that the spray port is positioned below the upper surface of the upper flange of the beam and the distance between the spray target point on the sprayed surface and the spray port is a constant distance.
This configuration prevents the spray nozzle from coming into contact with and damaging ceilings or other structures supported by beams. Furthermore, the fire-resistant coating material sprayed from the spray nozzle can be properly mixed with the binder and applied to the target surface. That is, if the distance between the target point and the spray nozzle is too small, the fire-resistant coating material and binder will not be mixed properly, resulting in uneven application of the fire-resistant coating material to the target surface. On the other hand, if the distance between the target point and the spray nozzle is too large, the fire-resistant coating material will spread to areas other than the target point, resulting in unnecessary consumption of the fire-resistant coating material. Therefore, by controlling the retention device to maintain an appropriate distance (e.g., 400 mm to 600 mm) between the target point and the spray nozzle, it is possible to stabilize the quality of the spraying work and prevent waste of fire-resistant coating material.

Furthermore, it is preferable that the beam comprises a web having a vertical surface and a lower flange connected to the web at its lower end, and that the control device controls the holding device so that the speed at which the spray port position is changed decreases as the angle between the upper surface of the lower flange and the spray direction becomes smaller than 90 degrees .
According to the above configuration, it is possible to automatically perform spraying work on the upper surface of the lower flange of the beam supporting the ceiling, and it is also possible to improve the quality of the spraying work.

It is also preferable that the control device has a first spray control unit that controls the holding device so that the speed at which the spray nozzle is changed in position relative to the web is a constant standard speed, and a second spray control unit that controls the holding device so that the speed at which the spray nozzle is changed in position relative to the upper surface of the lower flange is a speed obtained by multiplying the standard speed by a predetermined deceleration coefficient.
According to the above configuration, it is possible to improve the quality of spraying work on beams by performing a simple calculation of multiplying a standard position change speed by a predetermined deceleration coefficient.

The fire-resistant coating material spraying device of the present invention can automatically spray the appropriate amount of fire-resistant coating material onto beams made of H-shaped steel, thereby improving the efficiency and quality of the spraying work.

1 is a diagram showing the overall configuration of a spraying device according to an embodiment of the present invention; FIG. 2 is a perspective view showing the appearance of a beam to which the fire-resistant coating material is to be sprayed. FIG. 2 is a diagram illustrating a functional configuration of a control device. FIG. 10 is a side view illustrating the position and direction of the blowing nozzle relative to the web. FIG. 10 is a perspective view for explaining control of changing the position of the blowing nozzle relative to the web. 10 is a side view illustrating the position and direction of the blowing port relative to the upper surface of the lower flange. FIG. 10 is a perspective view for explaining control of changing the position of the spray port relative to the upper surface of the lower flange. FIG. FIG. 10 is a diagram illustrating an example of a deceleration coefficient table. FIG. 10 is a diagram showing the state of adhesion when sprayed at a standard speed onto the upper surface of the lower flange. 10A and 10B are diagrams showing the state of adhesion when spraying at a reduced speed onto the upper surface of the lower flange. 10 is a side view illustrating the position and direction of the blowing port relative to the lower surface of the upper flange. FIG. 10 is a perspective view for explaining control of changing the position of the spray port relative to the lower surface of the upper flange. FIG. FIG. 10 is a diagram showing the flow of a spray control process. FIG. 1 is a diagram illustrating a conventional fire-resistant coating material spraying device.

The following describes a spraying device 1 according to one embodiment of the present invention (hereinafter referred to as this embodiment) with reference to Figures 1 to 8. The spraying device 1 according to this embodiment is used to automate and streamline spraying work by automatically spraying rock wool, a fire-resistant coating material, onto beams at a preset path and angle. The spraying device 1 in this embodiment is also used to improve the quality of spraying work on beams.

The embodiment described below is merely an example intended to facilitate understanding of the present invention and is not intended to limit the present invention. In other words, the present invention may be modified or improved without departing from its spirit, and of course, equivalents are also included within the scope of the present invention.

<<Overall configuration of spraying device 1>>
1 is a diagram showing the overall configuration of a spraying device 1. The spraying device 1 is mainly composed of a spraying device 10, a robot arm 20, a lifting device 30, a traveling device 40, and a control device 50. The spraying device 1 sprays a fire-resistant coating material F from a spray nozzle 11 at the tip of the spraying device 10. At this time, the spray nozzle 11 is held by the robot arm 20 and moved along a predetermined path by the lifting device 30 and the traveling device 40. In this way, the spraying device 1 automatically sprays the fire-resistant coating material F.

Fireproof coating material F is composed of rock wool and cement slurry. Rock wool is a man-made mineral fiber made by melting and fibrous mineral raw materials such as blast furnace slag or basalt. The binder, cement slurry, is a mixture of cement and slurry. By spraying rock wool and cement slurry simultaneously onto the building frame, the frame's fire resistance, insulation, and sound absorption properties can be improved.

The spraying device 10 has a spray nozzle 11, a hose 12, a tank 13, and a pump 14, and the fire-resistant coating material F stored in the tank 13 can be sprayed from the spray nozzle 11 via the hose 12 by the pump 14.
In Figure 1, the tank 13 and pump 14 are shown mounted on a traveling device 40 and movable, but the tank 13 and pump 14 may also be installed at a remote location without being mounted on the traveling device 40, and the fire-resistant coating material F may be supplied to the spray nozzle 11 by extending the hose 12.

A rock wool spray nozzle for spraying rock wool is located in the center of the spray nozzle 11, and multiple cement slurry spray nozzles for spraying cement slurry are located around its periphery. By arranging the rock wool spray nozzle and cement slurry spray nozzle concentrically and spraying the rock wool and cement slurry simultaneously, the adhesion of the fire-resistant coating material F to the structure can be improved. To ensure proper adhesion of the fire-resistant coating material F to the structure, the distance, spray angle, and spray speed of the spray nozzle 11 relative to the surface of the structure to be sprayed must be appropriately controlled, as will be described later.

The robot arm 20 has a nozzle holder 21, an upper arm 22, a lower arm 23, and a movable mechanism 24. The nozzle holder 21 is a holding member for holding the nozzle 11 in an appropriate position and spraying direction. The upper arm 22 and lower arm 23 are arm members connected to the nozzle holder 21 via the movable mechanism 24. The movable mechanism 24 consists of a first movable mechanism 24A and a second movable mechanism 24B, and can change the position and spraying direction of the nozzle 11 held by the nozzle holder 21. In other words, the position and spraying direction of the nozzle 11 can be flexibly changed by the robot arm 20, making it possible to spray the fire-resistant coating material F onto a wide area of the target surface.

In Figure 1, the robot arm 20 is described as having an upper arm 22, a lower arm 23, and a movable mechanism 24, but as long as the position and spray direction of the spray port 11 can be flexibly changed, a movable holding device such as a known multi-joint arm can be used.
The robot arm 20 corresponds to a holding device.

The lifting device 30 has an extendable pantograph structure that can lower the robot arm 20 by contracting it, and raise the robot arm 20 by extending it. The lifting device 30 can raise and lower the spraying device 10 and robot arm 20, making it possible to perform automatic spraying work on structures located in high places.

The traveling device 40 has wheels 41, a power source, a transmission mechanism that transmits the rotational motion generated by the power source to the wheels 41, and a direction control mechanism that can change the direction of travel, allowing it to travel along a predetermined route. The traveling device 40 makes it possible to move the spray nozzle 11 over a wide area within a building to perform spraying work.

The control device 50 is composed of a processor 51, a storage device 52, a communication device 53, etc., and is responsible for controlling the entire spraying device 1. That is, the control device 50 controls the pump 14 of the spraying device 10 so that a predetermined amount of fire-resistant coating material F is sprayed from the spray nozzle 11. The control device 50 also controls the robot arm 20, the lifting device 30, and the traveling device 40 so that the spray nozzle 11 is positioned and sprayed in an appropriate direction relative to the sprayed surface of the beam B (described below). In other words, the control device 50 controls the position (path), spray direction, and spray timing of the spray nozzle 11 based on three-dimensional data of the building structure pre-stored in the storage device 52.

The processor 51 of the control device 50 loads and sequentially executes programs stored in the memory device 52, thereby functioning as a web spraying control unit 54, a lower flange upper surface spraying control unit 55, an upper flange lower surface spraying control unit 56, and a setting input unit 57, which will be described later with reference to Figure 3.
The communication device 53 is a communication interface that allows setting parameters of the spray device 1 to be input from the outside.

<<About beam B to be sprayed>>
Fig. 2 shows a beam B made of H-shaped steel and to which the fire-resistant coating material F is sprayed. As shown in Fig. 2, the beam B has a web B1 with a vertical surface, an upper flange B2 that connects to the web B1 at its upper end, and a lower flange B3 that faces the upper flange B2 and connects to the web B1 at its lower end, and extends horizontally.

The web B1 has a side surface B1a which is a vertical surface, and is connected to the upper flange B2 at the lower surface B2b of the upper flange B2, and is connected to the lower flange B3 at the upper surface B3a of the lower flange B3.
The beam B supports the ceiling C by abutting the ceiling C at the upper surface B2a of the upper flange B2.

The following describes the case where the spraying device 1 sprays the fire-resistant coating material F onto the side surface B1a of the web B1, the upper surface B3a of the lower flange B3, and the lower surface B2b of the upper flange B2; the explanation of the spraying operation onto the lower surface B3b of the lower flange B3 is omitted.

<<Spraying method of the spraying device 1 and functional configuration of the control device 50>>
Next, the spraying method when the spraying device 1 sprays the fire-resistant coating material F onto the beam B will be described together with the functional configuration of the control device 50.
Fig. 3 shows the functional configuration of the control device 50. As shown in Fig. 3, the control device 50 has a web spray control unit 54, a lower flange upper surface spray control unit 55, an upper flange lower surface spray control unit 56, and a setting input unit 57, and executes the spray control process described later with reference to Fig. 8.

First, we will explain the web spray control unit 54. The web spray control unit 54 controls the robot arm 20, the lifting device 30, and the traveling device 40 to control the spray nozzle 11 of the spray device 10 to be in an appropriate position and spray direction relative to the side surface B1a of the web B1, and sprays the fire-resistant coating material F from the spray nozzle 11.

Figure 4A shows the state in which fire-resistant coating material F is being sprayed from the spray nozzle 11 onto the side surface B1a of web B1. As shown in Figure 4A, when fire-resistant coating material F is sprayed onto web B1, it is sprayed so that the distance between the side surface B1a, which is the sprayed surface, and the spray nozzle 11 is a fixed distance (L1). Here, L1 is the distance at which the rock wool and cement slurry sprayed from the spray nozzle 11 adhere to the sprayed surface in an appropriately mixed state, and is, for example, 500 mm.

If the distance between the surface to be sprayed and the spray nozzle 11 is less than L1, the rock wool and cement slurry will reach the surface in an insufficiently mixed state. In this case, the adhesion of the fire-resistant coating material F to the surface to be sprayed will be reduced, and the fire-resistant coating material F may not adhere uniformly to the surface to be sprayed, resulting in unevenness. On the other hand, if the distance between the surface to be sprayed and the spray nozzle 11 is greater than L1, the adhesion density of the fire-resistant coating material F will be lower, resulting in reduced spray quality. Therefore, it is preferable to control the robot arm 20 so that the distance between the surface to be sprayed and the spray nozzle 11 of the injection device 10 is L1.

The web spraying control unit 54 then controls the robot arm 20 so that the angle between the side surface B1a, which is the surface to be sprayed, and the spraying direction is at its largest angle (i.e., 90 degrees). This makes it possible to spray the fire-resistant coating material F with the highest adhesion to the surface to be sprayed, and stabilizes the spraying quality.

4B shows the direction and speed at which the spray nozzle 11 moves relative to the side surface B1a of the web B1. As shown in FIG. 4B, the web spraying control unit 54 controls the robot arm 20 so that the spray nozzle 11 moves at a predetermined speed (standard speed Vs) relative to the horizontal direction in which the beam B extends. The standard speed Vs is a speed determined in advance by experimentation that allows an appropriate amount of fire-resistant coating material F to adhere to the side surface B1a, which is the sprayed surface, when a certain amount of fire-resistant coating material F is sprayed from the spray nozzle 11. In this embodiment, Vs = 0.56 m/sec.
The web spray control unit 54 corresponds to a first spray control unit.

Next, the lower flange upper surface spray control unit 55 will be described. The lower flange upper surface spray control unit 55 controls the robot arm 20, the lifting device 30, and the traveling device 40 to control the spray nozzle 11 to be in the appropriate position and spray direction relative to the upper surface B3a of the lower flange B3, thereby spraying the fire-resistant coating material F.

Figure 5A shows the state in which fire-resistant coating material F is being sprayed from the spray nozzle 11 onto the upper surface B3a of the lower flange B3. As shown in Figure 5A, when fire-resistant coating material F is sprayed onto the upper surface B3a of the lower flange B3, the distance between the spray target point on the upper surface B3a of the lower flange B3, which is the sprayed surface, and the spray nozzle 11 is controlled to be the above-mentioned L1. Here, the spray target point can be, for example, the midpoint between the tip of the lower flange B3 and the connection point with the web B1.

The lower flange upper surface spray control unit 55 then controls the robot arm 20 so that the angle between the upper surface B3a, which is the surface to be sprayed, and the spray direction is the maximum spray angle A1. The maximum spray angle A1 is the angle at which the spray nozzle 11 does not abut the ceiling C (i.e., the angle at which the spray nozzle 11 is positioned below the upper surface B2a of the upper flange B2), and is the maximum angle between the surface to be sprayed and the spray direction. The maximum spray angle A1 can be geometrically calculated based on the beam depth (height dimension H of the beam B), the outer dimensions of the spray nozzle 11, and the distance L1 between the spray target point and the spray nozzle 11. However, the maximum spray angle A1 is not strictly limited to the limit angle at which the spray device 10 does not abut the ceiling C, but rather includes a predetermined angle at which a predetermined clearance can be secured between the spray nozzle 11 and the ceiling C.

If the upper surface B3a of the lower flange B3 were sprayed at an angle smaller than the maximum spray angle A1, the adhesion of the fire-resistant coating material F to the upper surface B3a of the lower flange B3 would decrease, resulting in poor spray quality. In other words, by spraying the fire-resistant coating material F at the maximum spray angle A1, it is possible to prevent a decrease in the adhesion of the fire-resistant coating material F to the upper surface B3a of the lower flange B3, ensuring stable spray quality.

Figure 5B shows the direction and speed at which the spray nozzle 11 moves relative to the upper surface B3a of the lower flange B3. As shown in Figure 5B, the lower flange upper surface spray control unit 55 controls the robot arm 20 so that the spray nozzle 11 moves in the horizontal direction in which the beam B extends at a speed obtained by multiplying the standard speed Vs described above by a deceleration coefficient K obtained in advance through experiments. The deceleration coefficient K is set to decrease as the angle between the upper surface B3a, which is the surface to be sprayed, and the spray direction decreases. In other words, the lower flange upper surface spray control unit 55 controls the robot arm 20 so that the horizontal position change speed of the spray nozzle 11 decreases as the angle between the surface to be sprayed and the spray direction decreases.

Figure 5C shows an example of a deceleration coefficient table that defines the relationship between beam depth H, maximum spray angle A1, and deceleration coefficient K. The deceleration coefficient table in Figure 5C has four settings, from setting A to setting D, and indicates that as the beam depth H decreases, the maximum spray angle A1 decreases and the deceleration coefficient K decreases (the horizontal position change speed of the spray nozzle 11 decreases). Specifically, setting A is when the beam depth is greater than 450 mm and the angle between the sprayed surface and the spray direction is greater than 15 degrees. In this case, the deceleration coefficient K is 1.0, and the lower flange upper surface spray control unit 55 controls the robot arm 20 so that the spray nozzle 11 moves at the standard speed Vs.

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

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

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

6A and 6B show the state in which the fire-resistant covering material F is attached to the upper surface B3a of the lower flange B3.
6A shows the adhesion state of the fire-resistant coating material F when the robot arm 20 is controlled so that the spray nozzle 11 moves at the standard speed Vs. As shown in FIG. 6A, when the robot arm 20 is controlled so that the spray nozzle 11 changes position at the standard speed Vs, the amount of fire-resistant coating material F adhered to the upper surface B3a of the lower flange B3 is less than the amount of fire-resistant coating material F adhered to the side surface B1a of the web B1 and the lower surface B2b of the upper flange B2. In other words, a decrease in the adhesion of the fire-resistant coating material F to the sprayed surface is observed.

On the other hand, Figure 6B shows the state of deposition of fire-resistant coating material F when the robot arm 20 is controlled so that the spray nozzle 11 moves at a speed obtained by multiplying the standard speed Vs by the deceleration coefficient K. As shown in Figure 6B, when the robot arm 20 is controlled so that the spray nozzle 11 changes position at a decelerated speed, a sufficient amount of fire-resistant coating material F can be deposited on the upper surface B3a of the lower flange B3.

In this way, by reducing the speed at which the position of the spray nozzle 11 is changed relative to the surface to be sprayed, even if the adhesion of the fire-resistant coating material F to the surface to be sprayed decreases, a sufficient amount of fire-resistant coating material F can be adhered, thereby improving the quality of the spraying work.
5C shows a case where the deceleration coefficient K is defined in four stages from setting A to setting D, but the present invention is not limited to this. In other words, the deceleration coefficient K may be set in five or more stages.
The lower flange upper surface spray control unit 55 corresponds to a second spray control unit.

Returning to Figure 3, the upper flange underside spray control unit 56 will now be described. The upper flange underside spray control unit 56 controls the robot arm 20, the lifting device 30, and the traveling device 40 to control the spray nozzle 11 to be in an appropriate position and spray direction relative to the underside B2b of the upper flange B2, thereby spraying the fire-resistant coating material F.

Figure 7A shows the state in which fire-resistant coating material F is being sprayed from the spray nozzle 11 onto the underside B2b of the upper flange B2. As shown in Figure 7A, when spraying fire-resistant coating material F onto the underside B2b of the upper flange B2, the robot arm 20 is controlled so that the distance between the spray target point on the underside B2b, which is the sprayed surface, and the spray nozzle 11 is the above-mentioned L1. Here, the spray target point can be, for example, the midpoint between the tip of the upper flange B2 and the connection point with the web B1.

The upper flange underside spray control unit 56 then controls the robot arm 20 so that the spray direction relative to the underside B2b, which is the surface to be sprayed, is at a predetermined inclination angle A2. Here, A2 is an angle that allows the fire-resistant coating material F to be sufficiently adhered to the surface to be sprayed, and is, for example, an angle between 20 and 70 degrees.

If A2 is too small, a sufficient amount of fire-resistant coating material F will not reach the underside B2b of the upper flange B2, resulting in reduced adhesion of the fire-resistant coating material F. On the other hand, if A2 is too large, the fire-resistant coating material F will adhere to the underside B3b of the lower flange B3 before adhering to the underside B2b of the upper flange B2, and the fire-resistant coating material F sprayed from the spray nozzle 11 will not reach the underside B2b of the upper flange B2. As a result, the amount of fire-resistant coating material F that adheres to the underside B2b of the upper flange B2 will decrease.

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

Returning to Figure 3, the setting input unit 57 accepts input of setting parameters for the control device 50. Here, the setting parameters may include the maximum spray angle A1 or deceleration coefficient K described above. They may also include information regarding the start and end positions for spraying the fire-resistant coating material F onto the beam B.

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

<<Spray control process flow>>
Next, the flow of the spray control process will be described.
8 shows the flow of the spray control process executed by the control device 50. Note that the description will be given assuming that, prior to the execution of the spray control process, setting parameters are input via the setting input unit 57 and stored in the storage device 52.
As shown in FIG. 8 , the processor 51 of the control device 50 reads three-dimensional data of the building frame and setting parameters from the storage device 52 (step S10). The three-dimensional data is BIM (Building Information Modeling) data. That is, the three-dimensional data includes data on the dimensions and shapes of the building materials that make up the building frame. Based on the three-dimensional data, the processor 51 determines the path, order, and movement speed of the spray nozzle 11 for spraying the fire-resistant covering material F onto the beam B.

The control device 50 may also determine the spray start position and spray end position based on set parameters. In this way, the control device 50 can control the traveling device 40 to automatically move the spraying device 1 to the spray start position and begin automatic spraying work.

Next, the processor 51 controls the spraying device 10, robot arm 20, lifting device 30, and traveling device 40 to spray the fire-resistant coating material F onto the upper surface B3a of the lower flange B3 (step S20). As described above, the processor 51 controls the robot arm 20 so that the spray nozzle 11 moves horizontally at a speed obtained by multiplying the standard speed Vs by a predetermined deceleration coefficient K, and sprays the fire-resistant coating material F onto the upper surface B3a of the lower flange B3. Note that the fire-resistant coating material F may be sprayed onto the upper surface B3a of the lower flange B3 while reciprocating horizontally multiple times.

The processor 51 then controls the spraying device 10, robot arm 20, lifting device 30, and traveling device 40 to spray the fire-resistant coating material F onto the web B1 (step S30). As described above, the processor 51 controls the robot arm 20 so that the spray nozzle 11 moves horizontally at the standard speed Vs, spraying the fire-resistant coating material F onto the side B1a of the web B1. The fire-resistant coating material F may also be sprayed onto the side B1a of the web B1 while moving back and forth horizontally multiple times.

The processor 51 then controls the spraying device 10, robot arm 20, lifting device 30, and traveling device 40 to spray the fire-resistant coating material F onto the underside B2b of the upper flange B2 (step S40), and ends the spray control process. As described above, the processor 51 controls the robot arm 20 so that the spray nozzle 11 moves horizontally at the standard speed Vs, and sprays the fire-resistant coating material F onto the underside B2b of the upper flange B2. Note that the fire-resistant coating material F may be sprayed onto the underside B2b of the upper flange B2 while moving back and forth horizontally multiple times.

In this way, the control device 50 controls the spraying of the fire-resistant coating material F in the following order: lower flange B3, web B1, and upper flange B2. In other words, at the start of the spraying operation, the control device 50 controls the robot arm 20 and the lifting device 30 so that the spray nozzle 11 is at the highest position within the range where it does not contact the ceiling C (i.e., the range where the spray nozzle 11 is located below the upper surface B2a of the upper flange B2). After spraying control of the upper surface B3a of the lower flange B3 is completed, the control device 50 controls the spray nozzle 11 to be gradually lowered to sequentially spray the web B1 and the lower surface B2b of the upper flange B2. As a result, once the control device 50 confirms that the spray nozzle 11 is not contacting the ceiling C at the start of the spraying operation, there is no need to pay attention to the spray nozzle 11 not contacting the ceiling C during subsequent spraying operations. This reduces the burden on the worker.

As described above, the control device 50 controls the spraying device 10, robot arm 20, lifting device 30, and traveling device 40 to perform automatic spraying work to spray fire-resistant coating material F onto the beam B, thereby achieving both improved efficiency and quality in the spraying work.

The present invention is not limited to the above-described embodiment. For example, the target to which the fire-resistant coating material F is sprayed may be any building frame, and is not limited to the beams B, but may also be a column.
In addition, in the above-described embodiment, the lower flange upper surface spray control unit 55 was described as determining the position change speed of the spray port 11 by referring to the deceleration coefficient table, but it is also possible to determine the position change speed by a predetermined calculation without referring to the deceleration coefficient table.

1. Spraying equipment (fireproof coating material spraying equipment)
10 Injection device 11 Spray nozzle 12 Hose 13 Tank 14 Pump 20 Robot arm (holding device)
21 Spray nozzle holder 22 Upper arm 23 Lower arm 24 Movable mechanism 24A First movable mechanism 24B Second movable mechanism 30 Lifting device 40 Traveling device 41 Wheels 50 Control device 51 Processor 52 Storage device 53 Communication device 54 Web spraying control unit 55 Lower flange upper surface spraying control unit 56 Upper flange lower surface spraying control unit 57 Setting input unit 100 Spraying robot 101 Spray nozzle 102 Supply hose 103 Robot arm 104 Traverse device B Beam B1 Web B1a Side surface B2 Upper flange B2a Upper surface B2b Lower surface B3 Lower flange B3a Upper surface B3b Lower surface C Ceiling F Fire-resistant covering material

Claims (4)

A fire-resistant coating material spraying device that sprays fire-resistant coating material onto beams made of H-shaped steel,
an injection device having a spray nozzle that sprays the fire-resistant coating material in a spraying direction;
A holding device that holds the blowing nozzle and is capable of changing the position and blowing direction of the blowing nozzle;
a control device that controls the injection device and the holding device based on three-dimensional data of a body including the beam,
the control device controls the holding device so that the speed of changing the position of the spray port decreases as the angle between the sprayed surface of the beam and the spray direction becomes smaller than 90 degrees ;
A fire-resistant coating material spraying device characterized by controlling the holding device so that the angle between the sprayed surface and the spray direction is the maximum spray angle within the range where the spray nozzle does not abut against the support of the beam, based on the distance between the spray target point and the spray nozzle, the height dimension of the beam, and the external dimensions of the spray nozzle. The fire-resistant coating material spraying device described in claim 1, characterized in that the control device controls the holding device so that the spray nozzle is positioned below the upper surface of the upper flange of the beam and so that the distance between the spray target point on the sprayed surface and the spray nozzle is constant. The beam includes a web having a vertical surface and a lower flange connected to the web at a lower end of the web,
The fire-resistant coating material spraying device described in claim 1 or claim 2, characterized in that the control device controls the holding device so that the speed of changing the position of the spray nozzle becomes smaller as the angle between the upper surface of the lower flange and the spraying direction becomes smaller than 90 degrees . The control device
a first spray control unit that controls the holding device so that the speed at which the position of the spray nozzle is changed relative to the web is a constant standard speed;
A fire-resistant coating material spraying device as described in claim 3, characterized in that it has a second spraying control unit that controls the holding device so that the position change speed of the spray nozzle relative to the upper surface of the lower flange becomes a speed obtained by multiplying the standard speed by a predetermined deceleration coefficient.