JP2018171575A - Spraying device and spraying method - Google Patents

Abstract

A fireproof covering material is sufficiently adhered to an end portion in a height direction of a workpiece to be connected to another member. A spraying device includes a control device that controls an injection device that injects a fireproof coating material from an injection port and a robot arm that changes a position and an angle of the injection port. While the control device 10 moves the injection port 23 in the height direction while maintaining the injection port 23 at the first angle facing the column 50, the fire-proof coating material is applied from the injection device 20. To spray. Further, the control device 10 stops the movement of the injection port 23 when the injection port 23 reaches a predetermined distance from the floor 60. Thereafter, the control device 10 injects the fireproof coating material from the injection device 20 while rotating the injection port 23 within the range of the first angle and the second angle facing the connecting portion 55 between the column 50 and the floor 60. Let [Selection] Figure 6

Description

  The present invention relates to a spraying apparatus for spraying a fireproof coating material onto a work body and a method for spraying a fireproof coating material onto a work body.

The work of spraying a fireproof coating material such as rock wool on a work piece such as a beam or a column of a building is generally performed while an operator holds a spray gun (nozzle) or a hose and moves.
However, since the above work is heavy labor, for example, as described in Patent Document 1, a spraying device is proposed in which a fireproof coating material is sprayed while moving a nozzle along a surface of a beam or the like by a robot arm. Has been.

JP-A-7-323247

In the above prior art, spraying is performed by moving the nozzle parallel to the spraying surface of the beam with the nozzle facing the beam. In such nozzle movement, for example, a column and a floor are used. The fire-resistant coating material cannot be sufficiently adhered to the connection portion and the like.
Thus, in the prior art, it is difficult for the fireproof coating material to sufficiently adhere to the end in the height direction of the workpiece to be connected to other members.

  This invention was made in view of said subject, Comprising: The objective is to make a fireproof coating material fully adhere also to the edge part of the height direction of the to-be-processed body connected with another member. It is in providing the spraying apparatus and spraying method which can be performed.

  According to the spraying apparatus according to the present invention, the above-described problem is a spraying apparatus for a fireproof coating material to a work body, the spraying apparatus for spraying the fireproof coating material from a spraying port, A robot arm that adjusts a position and an angle; an injection of the fireproof coating material by the injection device; and a control device that controls a position and an angle of the injection port by the robot arm, the control device including the injection A height movement control means for moving the injection port in a height direction while maintaining the angle of the injection port at a first angle facing the workpiece, and the injection port includes the workpiece. A movement stopping means for stopping the movement of the injection port in the height direction when a predetermined distance is reached from a connecting body connected to an end of the body in the height direction, and movement of the injection port by the movement stopping means After stopping the injection port, The injection port is moved by the rotation control means for rotating in the range of the first angle and the second angle directed to the connection portion between the workpiece and the connection body, and the height movement control means. It is solved by having spray control means for injecting the fireproof coating material from the injection device during and during rotation of the injection port by the rotation control means.

  Moreover, said subject is the spraying method of the fireproof coating material to to-be-processed body by a spraying apparatus according to the spraying method which concerns on this invention, Comprising: The said spraying apparatus is the said fireproof coating from a jet nozzle. An injection device for injecting a material, a robot arm for adjusting the position and angle of the injection port, an injection of the fireproof covering material by the injection device, and a control device for controlling the position and angle of the injection port by the robot arm And the control device moves the injection port in the height direction while maintaining the injection port at a first angle facing the workpiece. A step of stopping the movement of the injection port in the height direction when the injection port reaches a predetermined distance from a connection body connected to an end in the height direction of the workpiece; After stopping the movement, move the injection port From the first angle, the step of rotating in the range of the second angle facing the connection portion between the workpiece and the connection body, while the injection port is moving, and the injection port is rotated And the step of spraying the fireproof covering material from the spraying device.

According to said spraying apparatus and spraying method, a fireproof coating material can be effectively adhered also to the edge part of the height direction of the to-be-processed body connected with another member. Thereby, it can suppress that the fireproof coating material adhering to the edge of the height direction of a to-be-processed body becomes thinner than the other part.
By carrying out like this, a fireproof coating material can be made to adhere with a regular thickness over the height direction of a to-be-processed body.

In the above spraying device, it is preferable that a movement speed of the injection port by the rotation control unit is 1/5 to 1/3 of a movement speed of the injection port by the height movement control unit.
By carrying out like this, a fireproof coating material can be efficiently adhered with respect to the edge part of the height direction of the to-be-processed body connected with another member.

In the spraying device, the rotation control unit rotates the injection port from the first angle to the second angle, and then returns the second angle to the first angle. It is preferable that the apparatus further includes horizontal movement control means for moving the injection port in the horizontal direction after the rotation control means returns the first angle to the first angle.
By carrying out like this, a fireproof coating material can be made to adhere to the surface of a to-be-processed body.

  According to the spraying apparatus and the spraying method according to the present invention, the fireproof coating material can be sufficiently adhered to the end in the height direction of the workpiece to be connected to other members.

It is a figure showing the whole spraying device composition concerning this embodiment. It is a figure which shows the pillar used as the spraying object of a spraying apparatus. It is a figure explaining the movement of the injection outlet of the injection device in the circumference | surroundings of a pillar. It is a figure explaining the movement of the injection port with respect to the side surface of a pillar. It is a figure explaining the movement range in an injection nozzle up-down direction. It is a figure explaining rotation of a jet nozzle. It is a figure explaining rotation of a jet nozzle. It is a figure which shows the function with which a control apparatus is equipped.

Hereinafter, based on FIG. 1 thru | or FIG. 8, the spraying apparatus 1 of the fireproof coating material which concerns on one Embodiment (henceforth this embodiment) of this invention, and the spraying method of a fireproof coating material are demonstrated.
The spraying device 1 is a device that sprays a fireproof covering material such as rock wool on building materials such as pillars and beams of a building. This embodiment demonstrates the example used for the operation | work which sprays a fireproof coating material with respect to the pillar (an example of a to-be-constructed body).
In addition, embodiment described below is for making an understanding of this invention easy, and does not limit this invention. That is, the present invention can be changed and improved without departing from the gist thereof, and the present invention includes its equivalents.

[Configuration of spraying device 1]
In FIG. 1, the whole structure of the spraying apparatus 1 was shown. As shown in FIG. 1, the spraying device 1 includes a control device 10, an injection device 20, a robot arm 30, and a cart device 40.

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

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

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

The communication interface 13 includes, for example, a network interface card that enables wired or wireless communication, and communicates with the injection device 20, the robot arm 30, and the cart device 40.
And the control apparatus 10 transmits the control signal which the processor 11 produces | generates to the injection apparatus 20, the robot arm 30, and the trolley apparatus 40 via the communication interface 13, and thereby the injection apparatus 20, the robot arm 30, and the trolley apparatus. 40 operations are controlled.

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

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

The cart device 40 is a device that carries the robot arm 30 and the injection device 20 installed on the upper surface of the cart device 40.
The carriage device 40 has a driving mechanism such as a wheel 41, a motor that rotates the wheel 41, and a steering that controls the direction of the wheel 41, and moves its position according to a control signal from the control device 10.

[Description of work to be sprayed with fireproof covering material 25]
Here, FIG. 2 shows a column 50 that is a target for spraying the fireproof coating material by the spraying device 1 according to the present embodiment.
As shown in FIG. 2, the column 50 is a rectangular column extending in the vertical direction (height direction), and the column 50 is connected to the floor 60 having a surface extending in the horizontal direction at the connection portion 55.

The column 50 has a substantially square column shape, and the side surface 50 </ b> A of the column 50 includes four flat portions 51 (surfaces) and four corner portions 52. Here, each flat part 51 is connected via a corner part 52.
And in this embodiment, although the corner | angular part 52 assumes that the corner | angular is rounded, it is not restricted to this, The corner | angular part 52 may be chamfered, and rounding, a chamfering, etc. are carried out at the corner | angular part 52. It does not have to be processed.

[Description of the spraying method of the fireproof covering material 25 by the spraying device 1]
Next, a method for spraying the fireproof covering material 25 onto the pillar 50 by the spraying device 1 will be described with reference to FIGS. 3 to 7.
In the example demonstrated below, the control apparatus 10 of the spraying apparatus 1 memorize | stores the three-dimensional data of the building containing the pillar 50 in the memory | storage device 12, and controls the position of the injection nozzle 23 based on three-dimensional data. As good as

As shown in FIG. 3 and FIG. 4, the control device 10 controls the carriage device 40 and the robot arm 30 to oppose the injection port 23 to the boundary between the flat portion 51 of the column 50 and the right corner portion 52. It arrange | positions in the 1st starting position 70 (P1).
Here, the first starting position 70 is a position where the spraying of the fireproof coating material 25 onto the flat portion 51 is started, and is located on the boundary line with the corner 52 on the right end side of the flat portion 51. Here, the height of the first starting position 70 may be the upper end of the flat portion 51 or may be between the upper end and the lower end.

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

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

Here, as shown in FIG. 5, the lower end folding position 71A is a position where the height from the floor 60 is D (predetermined height).
When the injection port 23 reaches the lower end folding position 71A, the control device 10 controls the robot arm 30 so that the angle of the injection port 23 is directed to the connecting portion 55 between the column 50 and the floor 60 as shown in FIG. Rotate.
Specifically, the control device 10 controls the robot arm 30, and from the front angle (θ 1) facing the front surface with respect to the flat portion 51, the connection portion direction angle (θ 3, first direction) facing the connection portion 55. (Equivalent to an angle of 3)).
Further, as shown in FIG. 7, the control device 10 controls the robot arm 30 so as to face the front with respect to the flat portion 51 from the connection portion direction angle (θ3) in which the injection port 23 faces the connection portion 55. Rotate to the front angle (θ1) to return to the original orientation.
If the position where the injection port 23 faces the front angle is P21 and the position where the injection port direction angle faces P22, the state of the injection port 23 changes in the order of P21, P22 and P21.

The control device 10 sprays the fireproof coating material 25 from the spraying device 20 while rotating the spray port 23 by the robot arm 30, and places the fireproof coating material 25 on the lower portion of the flat portion 51 and the connection portion 55. Spray.
Thereby, as shown in FIG. 7, the fireproof covering material 25 can be sufficiently adhered to the lower portion of the flat portion 51.

Next, as shown in FIG. 4, the control device 10 controls the robot arm 30 to move the position of the ejection port 23 from the lower end folding position 71 </ b> A in the upper left direction.
And the control apparatus 10 stops a movement of the injection nozzle 23, when the injection nozzle 23 reaches the upper end folding position 71B which is the same height as the 1st starting position 70. FIG.
The control device 10 may or may not inject the fireproof covering material 25 from the injection device 20 while moving the injection port 23 in the upper left direction.

And the control apparatus 10 repeatedly performs the process similar to the process performed in the 1st starting position 70, after the injection opening 23 arrives at the upper end folding position 71B.
When the injection port 23 reaches the first stop position 72 that is the lower end of the boundary between the flat portion 51 and the left corner 52 and completes the spraying process at the first stop position 72, Then, spraying on the left corner 52 is performed.

In this example, as shown in FIG. 3, the control device 10 controls the robot arm 30 to bisect a bisector 54 that bisects the corners 52 of the pillar 50 in the horizontal direction in a top view. The injection port 23 is moved to the second starting position 73 located above. In this example, since the cross section of the pillar 50 is substantially square, the bisector 54 is a line connecting the corner center position 52A, which is the center position in the horizontal direction of the corner 52, and the core 53, The angle formed by the bisector 54 and the side of the column 50 (flat portion 51) is approximately 45 degrees.
Here, as shown in FIG. 4, the height of the second starting position 73 is the same as that of the first starting position 70.
As shown in FIG. 3, the control device 10 controls the robot arm 30 and adjusts the direction of the ejection port 23 so that the angle of the ejection port 23 is parallel to the bisector 54.
For example, as shown in FIG. 3, the angle of the injection port 23 at the first stop position 72 (first angle) and the angle of the injection port 23 at the second start position 73 (second angle) are 45 To be different.

Next, as shown in FIG. 4, the control device 10 keeps the injection port 23 at the second angle until the injection port 23 reaches the second stop position 74 from the second start position 73. Move. The control device 10 sprays the fireproof coating material 25 from the spraying device 20 and sprays the fireproof coating material 25 onto the corners 52 while the spray port 23 moves downward.
Then, when the injection port 23 reaches the second stop position 74, the control device 10 rotates the angle of the injection port 23 toward the connecting portion 55 between the column 50 and the floor 60, as shown in FIGS. Return to the original after. At this time, the control device 10 sprays the fireproof covering material 25 from the injection port 23 onto the lower end of the corner portion 52.
Thereby, the fireproof covering material 25 can be sprayed on the flat portion 51 and the corner portion 52 on the near side of the column 50.

Furthermore, the spraying device 1 sprays the fireproof covering material 25 on the left flat portion 51 and the corner portion 52 while moving the injection port 23 to the positions P4 to P6 shown in FIG.
Moreover, the spraying apparatus 1 sprays the fireproof coating material 25, moving the injection port 23 to the position of P7-P9 shown by FIG. 3 also with respect to the flat part 51 and corner | angular part 52 of the back side.
And the spraying apparatus 1 sprays the fireproof coating | covering material 25, moving the injection port 23 to the position of P10-P12 shown by FIG. 3 also with respect to the flat part 51 and corner | angular part 52 on the right side.
With the above processing, the spraying device 1 can spray the fireproof covering material 25 on each of all the flat portions 51 and the corner portions 52 of the column 50.
In addition, according to the spraying apparatus 1, it can suppress that the thickness to which the fireproof coating material 25 adheres also becomes thin with respect to the corner | angular part 52 and the connection part 55 of the pillar 50 compared with the flat part 51. FIG.

[Description of Functions Provided in Control Device 10]
FIG. 8 shows functions provided in the control device 10 for realizing the above processing. As shown in FIG. 8, the control device 10 functions as a height movement control unit 100 (height movement control unit), a horizontal movement control unit 101 (horizontal movement control unit), and a movement stop unit 102 (movement stop unit). ), Rotation control unit 103 (rotation control unit), first movement control unit 104 (first movement control unit), second movement control unit 105 (second movement control unit) and spray control unit 106 (spray control unit). ).

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

The height movement control unit 100 has a function of moving the ejection port 23 of the ejection device 20 in the height direction. Here, the height direction is a vertical direction.
For example, the height movement control unit 100 maintains the injection port 23 in the height direction while maintaining the angle of the injection port 23 at the first angle facing the flat portion of the workpiece (for example, the flat portion 51 of the column 50). Move to.

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

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

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

The movement stop unit 102 has a function of stopping the movement of the injection port 23 of the injection device 20.
For example, the movement stopping unit 102 stops the movement of the ejection port 23 in the height direction when the ejection port 23 reaches the lower end folding position 71A or the upper end folding position 71B determined for the column 50.
For example, the lower end folding position 71A may be a position where the injection port 23 reaches a predetermined distance from a connection body (for example, the floor 60) connected to the lower end of the work body (for example, the column 50).
For example, the upper end folding position 71B may be a position where the injection port 23 reaches a predetermined distance from a connection body (for example, a ceiling or a beam) connected to the upper end of the work body (for example, the column 50).

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

The rotation control unit 103 has a function of changing the direction of the injection port 23 by rotating the injection port 23 of the injection device 20.
For example, the rotation control unit 103 stops the movement of the injection port 23 by the movement stop unit 102, and then moves the injection port 23 to the first angle, the work piece (for example, the column 50), and the connection body (for example, the floor 60). ) With a third angle range facing the connecting portion (for example, the connecting portion 55).
Then, the rotation control unit 103 rotates the injection port 23 from the first angle to the third angle, and then rotates the injection port 23 from the third angle to the first angle again.

  In addition, the moving speed of the injection port 23 by the rotation control unit 103 is set to, for example, 1/5 to 1/3 of the moving speed of the injection port 23 by the height movement control unit 100. In particular, it is preferable that the movement speed of the injection port 23 by the rotation control unit 103 is ¼ of the movement speed of the injection port 23 by the height movement control unit 100. Here, the moving speed of the ejection port 23 by the rotation control unit 103 is a speed obtained by multiplying the distance between the ejection port 23 and the connection unit 55 by the angular velocity of the ejection port 23.

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

The processor 11 of the control device 10 then holds the holding unit 32 of the robot arm 30 when the angle of the injection port 23 reaches the third angle from the lower end folding position 71A toward the connection unit 55 from the first angle. Is transmitted to the robot arm 30 via the communication interface 13. Thereby, the rotation of the injection port 23 is stopped.
Next, the processor 11 of the control device 10 transmits a control signal for rotating the holding unit 32 of the robot arm 30 upward to the robot arm 30 via the communication interface 13. Thereby, the injection port 23 rotates upward.
When the angle of the injection port 23 reaches the first angle from the third angle toward the front with respect to the flat part 51, a control signal for stopping the rotation of the holding part 32 of the robot arm 30 is transmitted. Is transmitted to the robot arm 30 through the interface 13. Thereby, the rotation of the injection port 23 is stopped.

  The rotation control unit 103 can also rotate the injection port 23 toward the upper end side of the column 50 by reversing the upper and lower sides in the above processing.

The 1st movement control part 104 is a function which controls the movement of the injection nozzle 23 of the injection apparatus 20 at the time of spraying with respect to the flat part (for example, flat part 51) of a to-be-constructed body (for example, column 50).
For example, the first movement control unit 104 maintains the height direction and horizontal position of the injection port 23 with respect to the flat unit 51 while maintaining the angle of the injection port 23 at the first angle facing the flat unit 51. It moves from the first start position 70 where the spraying of the fireproof coating material is started to the first stop position 72 where the spraying of the fireproof coating material onto the flat portion 51 is stopped.

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

Next, the processor 11 of the control device 10 controls the robot arm 30 to move the ejection port 23 downward until the ejection port 23 reaches the lower end folding position 71A, and when the lower end folding position 71A is reached, the ejection is performed. The movement of the mouth 23 is stopped.
Next, the processor 11 of the control device 10 controls the robot arm 30 to rotate the ejection port 23 from the first angle to the third angle, and then from the third angle to the first angle. .

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

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

The 2nd movement control part 105 is a function which controls the movement of the injection outlet 23 of the injection apparatus 20 at the time of spraying with respect to the corner | angular part (for example, corner | angular part 52) of a to-be-constructed body (for example, pillar 50).
For example, the second movement control unit 105 changes the angle of the ejection port 23 to a second angle facing the corner portion 52, and moves the ejection port 23 from the first stop position 72 to the second corner portion 52. After moving to the starting position 73, the injection port 23 is moved in the height direction.

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

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

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

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

[Effects produced by the spraying device 1]
According to the spraying device 1 and the spraying method of the fireproof coating material 25 by the spraying device 1 described above, the thickness of the fireproof coating material 25 sprayed on the corner portion 52 of the column 50 is thinner than that of the flat portion 51. Can be suppressed.
By doing so, the spraying device 1 can execute an operation of attaching the fireproof coating material 25 to both the flat portion 51 and the corner portion 52 of the column 50 with a specified thickness.

  Further, in the spraying device 1, the fireproof covering material 25 can be attached with a prescribed thickness over the entire circumference of the column 50.

  Further, in the spraying device 1, the second starting position 73 is provided on the bisector 54 that bisects the corner 52 in the horizontal direction when viewed from above, so that the corner 52 has a fireproof coating material. 25 can be attached efficiently.

  In the spraying device 1, the column 50 is a square column, and the angle of the injection port 23 directed toward the flat portion 51 is different from the angle of the injection port 23 directed toward the corner portion 52 by approximately 45 degrees. The fireproof coating material can be efficiently attached to the 50 corner portions 52.

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

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

[Other Embodiments]
The present invention is not limited to the above embodiment. For example, the work object to be sprayed with the fireproof covering material 25 is not limited to a column or a beam, and may be a plate-like body such as a panel or a complicated three-dimensional shape.
Further, in the spraying device 1, the control device 10 may be installed in the cart device 40 and moved together with the spray device 20 and the robot arm 30.
Further, the control device 10 may be incorporated in any of the injection device 20, the robot arm 30, or the cart device 40.
Further, the tank 21 of the injection device 20 may not be mounted on the carriage device 40.

DESCRIPTION OF SYMBOLS 1 Spraying device 10 Control device 11 Processor 12 Storage device 13 Communication interface 20 Injection device 21 Tank 21A High pressure pump 22 Hose 23 Injection port 25 Fireproof covering material 30 Robot arm 31 Link mechanism 32 Holding part 40 Carriage device 41 Wheel 50 Column ( Construction object)
50A Side 51 Flat part 52 Corner 52A Corner center position 53 Core part 54 Divided line 55 Connection part 60 Floor (connection body)
70 First start position 71A Lower end folding position 71B Upper end folding position 72 First stop position 73 Second start position 74 Second stop position 100 Height movement control section 101 Horizontal movement control section 102 Movement stop section 103 Rotation control section 104 First Movement control unit 105 Second movement control unit 106 Spray control unit

Claims (4)

A device for spraying a fireproof coating material to a work body,
An injection device for injecting the fireproof coating material from an injection port;
A robot arm that adjusts the position and angle of the ejection port;
A spraying of the fireproof coating material by the spraying device, and a control device for controlling the position and angle of the spraying port by the robot arm,
The control device includes:
A height movement control means for moving the injection port in the height direction while maintaining the injection port at a first angle facing the work piece,
When the injection port reaches a predetermined distance from a connection body connected to the end in the height direction of the workpiece, a movement stopping means for stopping the movement of the injection port in the height direction;
After stopping the movement of the injection port by the movement stop means, the injection port is rotated within a range of the first angle and a second angle facing the connection portion between the workpiece and the connection body. Rotation control means;
Spray control means for injecting the fireproof coating material from the injection device while the injection port is moved by the height movement control means and while the injection port is rotated by the rotation control means; The spraying device characterized by having.   2. The spraying device according to claim 1, wherein a movement speed of the injection port by the rotation control unit is 1/5 to 1/3 of a movement speed of the injection port by the height movement control unit. . The rotation control means rotates the injection port from the first angle to the second angle, and then returns the second angle to the first angle.
3. The apparatus according to claim 1, further comprising a horizontal movement control unit configured to move the ejection port in a horizontal direction after the rotation control unit returns the first angle from the second angle to the first angle. Spraying device. A method of spraying a fireproof coating material to a work body by a spraying device,
The spraying device
An injection device for injecting the fireproof coating material from an injection port;
A robot arm that adjusts the position and angle of the ejection port;
A spraying of the fireproof coating material by the spraying device, and a control device for controlling the position and angle of the spraying port by the robot arm,
The control device is
The step of moving the injection port in the height direction while maintaining the injection port at a first angle opposite to the workpiece,
When the injection port reaches a predetermined distance from a connection body connected to the end in the height direction of the workpiece, the step of stopping the movement of the injection port in the height direction;
After stopping the movement of the injection port, the step of rotating the injection port from the first angle in a range of a second angle facing the connection portion between the workpiece and the connection body;
Spraying the refractory coating material from the spray device while the spray port is moving and while the spray port is rotating.

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