Spraying method

Abstract

To provide a spraying method to cover a covering material in a state of having less unevenness.SOLUTION: A covering material is sprayed to an outer periphery of a beam of an H-shaped steel using a spraying nozzle fitted to a tip of a robot arm of a spraying device. In this case, a web is covered by the covering material by processing to spray the covering material from lateral side to a first surface of the web while moving the spraying nozzle from lower side to upper side. The covering material is sprayed obliquely upward from the spraying nozzle to an undersurface and a lateral surface of an upper flange, and the covering material is sprayed obliquely downward from the spraying nozzle to an upper surface on a first surface side of a lower flange. One surface spraying processing on the first surface side is executed by spraying the covering material from the lateral side to the lateral surface on the first surface side of the lower flange while moving the spraying nozzle downward. Subsequently, the one surface spraying processing is executed for a second surface opposite to the first surface.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a spraying method for spraying a covering material, such as an insulating material, onto a building component, such as a beam. [Background technology]

[0002] Conventionally, a robot is used to cover the surfaces of building components such as steel beams with a fireproof coating material such as rock wool to perform a fireproof finish. In this case, a spraying device that uses a robot to efficiently apply the coating material with high precision has been considered (see, for example, Patent Document 1). The spraying device described in Patent Document 1 has a robot arm with a multi-joint structure equipped with a spraying means, and a traveling section that supports the robot arm. Furthermore, the traveling section of the spraying device has a lifting device that raises and lowers the robot arm, and a traversing device that moves the robot arm on the traveling section in a direction along the surface to be treated. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-20206 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, depending on the shape and location of the building component to which the coating material is sprayed, it may be difficult to spray the coating material evenly. For example, when the coating material is sprayed directly onto the underside of a building component, the sprayed coating material may sag due to gravity, resulting in the coating material falling off. [Means for solving the problem]

[0005] A spraying method that solves the above-mentioned problems is a spraying method in which a coating material is sprayed onto the outer periphery of an H-shaped steel beam based on the position of a spray nozzle attached to the tip of a robot arm, and the coating material is sprayed from the spray nozzle from the side onto a first surface of the web of the H-shaped steel, thereby coating the web from below with the coating material, the coating material is sprayed diagonally upward from the spray nozzle onto the underside and side of the upper flange on the first surface side of the H-shaped steel, the coating material is sprayed diagonally downward from the spray nozzle onto the upper surface of the first surface side of the lower flange of the H-shaped steel, and the coating material is sprayed from the side onto the side of the first surface side of the lower flange with the spray nozzle, thereby performing a one-sided spraying process on the first surface side, and then performing the one-sided spraying process on a second surface opposite the first surface. Effect of the Invention

[0006] According to the present invention, the coating material can be applied with minimal unevenness. [Brief description of the drawings]

[0007] [Figure 1] FIG. 2 is a schematic diagram illustrating a configuration of a spray device according to an embodiment. [Diagram 2] FIG. 2 is an explanatory diagram of a hardware configuration of the embodiment. [Diagram 3] 4 is a flow chart for explaining the procedure of a spraying process for forming a covering material for an H-shaped steel beam in an embodiment. [Figure 4] FIG. 10 is an explanatory diagram illustrating a spraying process for forming a covering material on the underside of the bottom flange of an H-shaped steel beam in an embodiment. [Diagram 5] FIG. 11 is an explanatory diagram illustrating the movement trajectory of a spraying part in the extending direction of an H-shaped steel beam in the embodiment. [Figure 6] FIG. 13 is an explanatory view illustrating a spraying process for forming a covering material on a first surface (right surface) of a web of an H-shaped steel beam in an embodiment. [Figure 7] FIG. 13 is an explanatory diagram illustrating a spraying process for forming a covering material on the underside and side (small end) of the upper flange of an H-shaped steel beam in an embodiment. [Figure 8] FIG. 11 is an explanatory diagram illustrating a spraying process for forming a covering material on the upper surface of the bottom flange of an H-shaped steel beam in an embodiment. [Figure 9] FIG. 13 is an explanatory diagram illustrating a spraying process for forming a covering material on the side surface (small end) of the bottom flange of an H-shaped steel beam in an embodiment. [Figure 10] FIG. 11 is an explanatory diagram illustrating a spraying process for forming a covering material on the underside of the bottom flange of an H-shaped steel beam in an embodiment. [Figure 11] FIG. 11 is an explanatory view illustrating a spraying process for forming a covering material on the second surface (left surface) of the web of the H-shaped steel beam in the embodiment. [Figure 12] FIG. 13 is an explanatory diagram illustrating a spraying process for forming a covering material on the underside and side (small end) of the upper flange of an H-shaped steel beam in an embodiment. [Figure 13] FIG. 11 is an explanatory diagram illustrating a spraying process for forming a covering material on the upper surface of the bottom flange of an H-shaped steel beam in an embodiment. [Figure 14] FIG. 13 is an explanatory diagram illustrating a spraying process for forming a covering material on the side surface (small end) of the bottom flange of an H-shaped steel beam in an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, one embodiment of a coating material application method will be described with reference to Figures 1 to 14. In this embodiment, the method will be described as a spraying method in which a coating material such as a fireproof coating material, e.g., rock wool, or a heat insulating material is sprayed onto a steel beam made of H-shaped steel as a building component.

[0009] 1, the spraying device 20 of this embodiment includes a main body 21 and a terminal device 40. The terminal device 40 is built into the main body 21 of the spraying device 20. (Hardware configuration example) FIG. 2 shows an example of the hardware configuration of an information processing device H10 that functions as the terminal device 40 or the like.

[0010] The information processing device H10 includes a communication device H11, an input device H12, a display device H13, a storage device H14, and a processor H 15. Note that this hardware configuration is an example, and the information processing device H10 may include other hardware.

[0011] The communication device H11 is an interface that establishes a communication path with other devices and transmits and receives data, and is, for example, a network interface or a wireless interface.

[0012] The input device H12 is a device that accepts input from the user, such as a mouse or a keyboard. The display device H13 is a display, a touch panel, or the like that displays various information. The storage device H14 stores data and various programs for executing various functions of the terminal device 40. Examples of the storage device H14 include a ROM, a RAM, and a hard disk.

[0013] The processor H15 uses programs and data stored in the storage device H14 to control each process in the terminal device 40. Examples of the processor H15 include a CPU and an MPU. The processor H15 loads a program stored in a ROM or the like into a RAM and executes various processes corresponding to the various processes. For example, when an application program of the terminal device 40 is started, the processor H15 operates a process that executes each process described below.

[0014] The processor H15 is not limited to a processor that performs software processing for all the processes it executes. For example, the processor H15 may include a dedicated hardware circuit (e.g., an application specific integrated circuit (ASIC)) that performs hardware processing for at least a part of the processes it executes. That is, the processor H15 may be configured as follows:

[0015] [1] One or more processors that operate according to a computer program (software). [2] One or more dedicated hardware circuits that perform at least some of the processing [3] Circuits that include combinations of these

[0016] The processor H15 includes a CPU and memory, such as RAM and ROM, that stores program codes or instructions configured to cause the CPU to execute processes. Memory, i.e., computer-readable media, includes any available media that can be accessed by a general-purpose or special-purpose computer.

[0017] (Configuration of spraying device 20) As shown in FIG. 1, the spray device 20 includes a main body 21 and a robot arm 25. A running part is provided at the lower end of the main body 21. This running part has four rotatable, spaced wheels 22. These wheels 22 are provided with stoppers (not shown) that stop the rotation, so that the spraying device 20 can be installed at any desired position, such as a destination.

[0018] The main body 21 has a built-in lifting device and is equipped with a traverse device 23. The lifting device raises and lowers the height of the lower end of the robot arm 25. The traverse device 23 is a device that moves a base portion to which the lower end of the robot arm 25 is attached along the longitudinal direction of the spraying device 20 (a direction perpendicular to the paper surface of FIG. 1). For this reason, the traverse device 23 is equipped with a frame portion that extends in the longitudinal direction and into which the base portion is slidably fitted.

[0019] The robot arm 25 has a multi-joint structure with six degrees of freedom. A spray nozzle 30 is attached to the tip of the robot arm 25 via a mounting member 27. The spray nozzle 30 includes a cylindrical main body 31 and a gun head 32 as a discharge part. The gun head 32 is fixed to the tip of the main body 31. A supply hose for supplying the coating material is connected to the opposite side of the main body 31 from the gun head 32. The gun head 32 of this embodiment sprays the coating material toward the target surface. Here, a fireproof coating material such as glass wool or mortar is used as the coating material. The distance of the vector V1 from the gun head 32 of the spray nozzle 30 to the target surface is the spray separation distance L0, and the angle formed by the gun head 32 with respect to the target surface is the spray angle θs. The spray device 20 is controlled by a terminal device 40 .

[0020] (Configuration of terminal device 40) The terminal device 40 includes a control unit 41 and a job data storage unit 42 . This control unit 41 performs processes (including a control management stage, a placement control stage, and a discharge control stage, etc.) described below. By executing a spray processing program for this purpose, the control unit 41 functions as a management unit 411, a placement control unit 412, a discharge control unit 413, etc.

[0021] The management unit 411 manages the control of the arrangement control unit 412 and the discharge control unit 413 . The arrangement control unit 412 executes processing to control the operation of the position, orientation, etc. of the tip 26 of the robot arm 25 based on the job file in order to realize the position and orientation of the gun head 32 of the spray nozzle 30. In this case, when the movement of the robot arm 25 alone cannot realize the movement in the height direction, the arrangement control unit 412 also controls the lifting device of the spray device 20. Furthermore, the arrangement control unit 412 controls the traversing device 23 for movement in the extension direction of the beam 50.

[0022] The discharge control unit 413 executes the spraying process by discharging the coating material from the spray nozzle 30. In this embodiment, the discharge control unit 413 performs control so as to satisfy predetermined discharge conditions.

[0023] The job data storage unit 42 stores job files. In this embodiment, the job files store information about the position (coordinates) and orientation of the tip 26 of the robot arm 25 and discharge conditions corresponding to each position, in order to realize the spraying process described later.

[0024] (Spray treatment) Next, the spraying process using the spraying device 20 having the above-mentioned configuration will be described with reference to Figs.

[0025] 4, a ceiling slab C1 is formed above the upper flange 51 of the beam 50. In this spraying process, the spraying device 20 is first placed on the first surface side (right side) of the beam 50, and the right surface of the beam 50 is sprayed first, and then the spraying device 20 is placed on the second surface side (left side) on the opposite side and sprayed.

[0026] For this reason, first, the spraying device 20 is placed on the first surface side (right side) of the web 55 of the beam 50. In this case, after placing the traverse device 23 of the spraying device 20 so that its longitudinal direction is parallel to the extending direction of the beam 50, the wheels 22 of the traveling part are fixed with stoppers.

[0027] 3 and 4, the control unit 41 of the spraying device 20 sprays the coating material onto the underside (the connection surface connected to the small end) of the lower flange 52 of the beam 50 so that the coating material is thicker on the front side closer to the spraying device 20 (step S11). This corresponds to a first spraying method from a first direction facing a vertical plane perpendicular to the underside. Specifically, the placement control unit 412 of the control unit 41 places the gun head 32 of the spray nozzle 30 below the first surface side (right side) of the lower flange 52. In this case, the position of the spraying nozzle 30 is controlled so that the discharge direction of the coating material discharged from the gun head 32 is angled θ1 upward from the first surface side (right side) with respect to the extension direction (horizontal direction) of the lower flange 52.

[0028] Then, while the discharge control unit 413 of the control unit 41 discharges the coating material from the gun head 32 under certain conditions, the arrangement control unit 412 of the control unit 41 moves the spray nozzle 30. Here, while the spray nozzle 30 is in a position facing diagonally upward at an angle θ1, it is moved from the back side to the front side while moving along the extension direction of the beam 50. Specifically, the spray nozzle 30 is moved from one end to the opposite end in the extension direction (forward direction) of the beam 50, then moved to the front side, and then moved in the extension direction (reverse direction) from here to the opposite end, and then moved to the front side. In this case, when moving in the extension direction of the beam 50, the arrangement control unit 412 controls the base part of the robot arm 25 to move in the extension direction of the beam 50 by driving the traverse device 23. Also, when moving to the front side, the arrangement control unit 412 changes the posture of the robot arm 25.

[0029] FIG. 5 is a view of the lower surface of the lower flange 52 seen from below. In this figure, a trajectory T1 of the intersection between the vector of the discharge direction of the coating material discharged from the gun head 32 and the lower surface of the lower flange 52 to be sprayed is shown. In this manner, after the gun head 32 is moved to the end of the extension direction of the beam 50, it is repeatedly moved from this end to the front side (here, the first surface side) by the spray interval. In this step S11, the spray intervals L1, L2, L3, and L4 on the front side (first surface side) are set to gradually narrow so that the front side gradually accumulates (L1>L2>L3>L4). As a result, as shown in FIG. 6, a first layer 61 is formed in which the thickness on the first surface side gradually increases.

[0030] Next, the spraying device 20 sprays the coating material from the side onto the first surface (right side) of the web 55 of the beam 50 (step S12). Specifically, first, the arrangement control unit 412 of the control unit 41 controls the attitude of the spray nozzle 30 so that the coating material is sprayed from the side at an angle θ21 of 90 degrees with respect to the vertical direction of the web 55.

[0031] Then, the coating material is sprayed while moving the spray nozzle 30 from below to above. In this case, the arrangement control unit 412 of the control unit 41 controls the traverse device 23 below the web 55 to move the spray nozzle 30 from end to end along the extension direction of the beam 50. Thereafter, the arrangement control unit 412 of the control unit 41 moves it upward by the spray interval. In this case, the discharge control unit 413 of the control unit 41 performs spraying under spraying conditions such that the spray intervals are equal and the coating of the coating material is uniform. By repeating such a process, the coating material is gradually sprayed from below to above onto the first surface (right side surface) of the web 55.

[0032] When spraying the top of the web 55, the spray nozzle 30 is changed to a position at an angle θ22 with respect to the web 55 (a position obliquely directed from below the first surface side), and the coating material is sprayed while moving in the extension direction of the beam 50. This completes the formation of the first web coating layer 62.

[0033] Next, as shown in FIG. 7, the spraying device 20 sprays the coating material from an oblique downward direction against the lower surface (the connection surface connected to the small end) and the side surface (the small end) of the upper flange 51 of the beam 50 (step S13). Here, the spraying is performed at an angle θ3 with respect to the horizontal direction of the upper flange 51. This angle θ3 is an angle at which the spray nozzle 30 faces further upward than the inclination at which the spraying is performed against the upper end of the web 55. Specifically, the arrangement control unit 412 of the control unit 41 controls the attitude of the spray nozzle 30 so that it is inclined from below at an angle θ3 toward the connection between the first web coating layer 62 and the upper flange 51. Then, the arrangement control unit 412 moves the spray nozzle 30 from end to end in the extension direction of the beam 50 while maintaining this attitude, and then moves it to the right side of FIG. 7 (the opposite side to the web 55) by the spraying interval. Then, the process of moving the spray nozzle 30 from end to end in the extension direction of the beam 50 again and then moving it to the right side by the spraying interval is repeated. In this case, the discharge control unit 413 of the control unit 41 performs spraying under spraying conditions such that the spraying intervals are equal and the coating of the coating material is uniform.

[0034] Then, spraying is performed on the side surface (small end) of the upper flange 51 following spraying on the lower surface of the upper flange 51. In this case as well, spraying is performed while moving from one end to the other in the extension direction of the beam 50. As a result of the above, a lower surface covering layer 63 of the upper flange 51, a corner covering layer 64, and a side covering layer 65 as a subsequent covering layer are formed.

[0035] Next, as shown in FIG. 8, the spraying device 20 sprays the coating material from an obliquely upward direction onto the upper surface (the connection surface connecting to the small end) of the lower flange 52 of the beam 50 (step S14). Here, the coating material is sprayed onto the horizontally extending lower flange 52 at an angle θ4. Specifically, the arrangement control unit 412 of the control unit 41 controls the attitude of the spray nozzle 30, which was facing obliquely upward, so that it faces the connection portion between the first web coating layer 62 and the lower flange 52 (so that it faces obliquely downward at an angle θ4). Then, the arrangement control unit 412 moves the spray nozzle 30 in this attitude from one end to the other along the extension direction of the beam 50, and then repeatedly moves it to the right side of FIG. 8 (the opposite side to the web 55) by the spraying interval. Even in this case, the discharge control unit 413 of the control unit 41 performs spraying under spraying conditions such that the spraying intervals are equal and the coating of the coating material is uniform. In this manner, the upper surface coating layer 66 of the lower flange 52 is formed.

[0036] 9, the spraying device 20 sprays the covering material from the side against the side surface (small end) of the lower flange 52 of the beam 50 (step S15). Specifically, first, after spraying the end portion on the first surface side of the upper surface of the lower flange 52, the spraying nozzle 30 is rotated so as to be horizontal.

[0037] Then, while moving the spray nozzle 30 from above to below, the coating material is sprayed from the side of the side (small end) of the lower flange 52 at an angle θ5 of 90 degrees. Specifically, the arrangement control unit 412 of the control unit 41 moves the spray nozzle 30 from end to end along the extension direction of the beam 50, and then repeatedly moves it downward by the spray interval. In this case, the discharge control unit 413 of the control unit 41 performs spraying under spraying conditions such that the coating material sprayed on the web 55 is uniform at equal spray intervals. As a result, a side coating layer 67 is formed as a subsequent coating layer on the side of the lower flange 52. This side coating layer 67 is entangled and integrated with the coating material of the upper surface coating layer 66 formed earlier.

[0038] Thereafter, the spraying device 20 is placed on the second surface side (left side) opposite the first surface of the beam 50. In this case as well, the spraying device 20 is placed so that the longitudinal direction of the traverse device 23 is parallel to the extending direction of the beam 50, and then the wheels 22 of the traveling part are fixed with stoppers.

[0039] Then, the second surface side of the beam 50 is subjected to substantially the same spraying treatment as the first surface side. Specifically, as shown in FIG. 10, the spraying device 20 first sprays the covering material onto the underside (the connection surface connected to the small end) of the lower flange 52 of the beam 50 so that the thickness is greater on the near side (step S16). This corresponds to a second spraying method from a second direction opposite to the first direction with respect to the vertical plane. Here, the covering material is sprayed from the spray nozzle 30 at an angle θ1 from the second surface side (left side) upward so as to be symmetrical with respect to the web 55, in comparison with step S11. In this case, the spraying process is performed similarly to step S11. However, in this case, the covering material is sprayed so that the covering material is integrated with the first layer 61 previously formed on the underside of the lower flange 52 and the underside becomes flat. As a result, a second layer 71 is formed whose thickness on the second surface side gradually increases. This second layer 71 forms a lower surface covering layer 81 integrated with the first layer 61 on the underside of the lower flange 52.

[0040] Next, as shown in Fig. 11, the spraying device 20 sprays the coating material from the side onto the second surface side (left side) of the web 55 of the beam 50 (step S17). Here, similar to step S12, the coating material is sprayed from below at an angle θ21, and then the coating material is sprayed while moving from below to above. Furthermore, in the movement trajectory of the uppermost part of the web 55, the coating material is sprayed obliquely from below the second surface side at an angle θ22. This forms the second web coating layer 72.

[0041] 12, the spraying device 20 sprays the covering material from diagonally below onto the underside (connection surface connecting to the small end) and side (small end) of the upper flange 51 of the beam 50 (step S18). Here, similar to step S13, the material is sprayed at an angle θ3 with respect to the horizontal direction of the upper flange 51. Then, following the spraying onto the underside of the upper flange 51, spraying onto the side of the upper flange 51 is performed. As a result, a lower surface covering layer 73 of the upper flange 51, a corner covering layer 74, and a side surface covering layer 75 as a subsequent covering layer are formed.

[0042] 13, the spraying device 20 sprays the coating material from diagonally above onto the upper surface (the connection surface that connects to the small end) of the lower flange 52 of the beam 50 (step S19). Here, similar to step S14, spraying is performed at an angle θ4 with respect to the horizontal direction of the lower flange 52 while moving to the left (the opposite side to the web 55). As a result, the upper surface coating layer 76 of the lower flange 52 is formed.

[0043] 14, the spraying device 20 sprays the coating material from the side against the side surface (small end) of the bottom flange 52 of the beam 50 (step S20). Here, similar to step S15, after rotating the direction of the spray nozzle 30, spraying is performed while moving in the extension direction and downward of the beam 50. As a result, a side coating layer 77 is formed as a subsequent coating layer for the bottom flange 52.

[0044] (action) The first web covering layer 62 covering the first surface (right side surface) of the web 55 of the beam 50 is formed by spraying from below. Then, the spray nozzle 30 is sprayed obliquely upward against the lower surface, side surface, and their connection portion of the upper flange 51 to form the lower surface covering layer 63, the corner covering layer 64, and the side surface covering layer 65. Then, the attitude of the spray nozzle 30 is changed from above to face downward, so that the upper surface of the lower flange 52 is sprayed, and then the side surface of the lower flange 52 is sprayed from the side. After performing such one-sided spraying processing on the first surface, the spray nozzle 30 passes under the lower flange 52 of the beam 50 and moves to the second surface side, and then performs one-sided spraying processing on the second surface side. In this way, the spraying of the covering material on the first surface or the second surface starts and ends at the lower end of the beam 50, so that the moving distance of the spray nozzle 30 between the first surface side and the second surface side can be shortened.

[0045] According to this embodiment, the following effects can be obtained. (1) In the spraying method of this embodiment, the spray nozzle 30 sprays diagonally upward against the underside of the lower flange 52 of the beam 50 from the first surface side (right side) so that the thickness increases toward the front. This forms a first layer 61. Thereafter, the spray nozzle 30 sprays diagonally upward against the underside of the lower flange 52 from the second surface side (left side) opposite the first surface so that the thickness increases toward the front. This forms a second layer 71 on the underside of the lower flange 52, integrating with the previously formed first layer 61, making it possible to form a covering material that is less likely to fall off.

[0046] (2) In the spraying method of this embodiment, when spraying the covering material onto the underside of the lower flange 52 of the beam 50, the spray nozzle 30 is moved in the extension direction of the beam 50 so that the spray interval on the front side becomes narrower. This makes it possible to efficiently spray the covering material onto the rear side of the lower flange 52 in a thin layer and onto the front side in a thick layer.

[0047] (3) In the spraying method of this embodiment, before the spray nozzle 30 sprays against the lower surface of the lower flange 52 from the second surface side, a side covering layer 67 is formed to be integrated with the end of the first layer 61. Since this side covering layer 67 is integrated with the upper surface covering layer 66, the end of the first layer 61 is fixed before forming the second layer 71, which becomes heavy by being integrated with the first layer 61, so that the second layer 71 to be formed is less likely to fall off.

[0048] (4) In the spraying method of this embodiment, after forming the first layer 61 on the underside of the lower flange 52 of the beam 50 and the upper surface coating layer 66 on the upper surface of the lower flange 52, the coating material discharged from the spray nozzle 30 is sprayed from the side onto the side (small end) of the lower flange 52. As a result, the side surface coating layer 67 on the side of the lower flange 52 is integrated while entangled with the already formed first layer 61 and upper surface coating layer 66, making it less likely to fall off.

[0049] (5) In the spraying method of this embodiment, the spray nozzle 30 sprays the covering material diagonally upward onto the underside of the upper flange 51 of the beam 50, thereby forming a lower covering layer 63. Then, following this lower covering layer 63, the spray nozzle 30 sprays the covering material diagonally upward to form a corner covering layer 64 and a side covering layer 65. As a result, the covering material sprayed onto the side of the upper flange 51 is integrated with the already formed lower covering layer 63 while entangling with it, making it less likely to fall off.

[0050] (6) In the spraying method of this embodiment, the spray nozzle 30 is moved from below to above the first surface side of the web 55 of the beam 50 and then sprayed onto the lower surface and side of the upper flange 51. Then, the upper surface and side of the lower flange 52 are sprayed. In this way, the wide area of ​​the web 55 is sprayed first, and then other areas are sprayed, making it possible to prevent the covering material from falling off.

[0051] (7) In the spraying method of this embodiment, the coating material is sprayed while moving the spray nozzle 30 in the extension direction of the beam 50. This allows the coating material to be sprayed for a long period of time under stable and constant spraying conditions from the spray nozzle 30, resulting in more uniform spraying.

[0052] (8) In the spraying method of this embodiment, on the first surface side, the underside of the lower flange 52 of the beam 50 is sprayed, and then the web 55 is sprayed from below to above. Then, after spraying the underside and side of the upper flange 51, the upper surface and side of the lower flange 52 are sprayed. Then, the spray nozzle 30 passes below the lower flange 52 of the beam 50 and moves to the second surface side, and sprays the second surface side in a similar manner. This allows the second surface side to be sprayed in the same manner as the first surface side.

[0053] (9) In the spraying method of the present embodiment, spraying is performed on the second surface side opposite to the first surface in the same procedure as the first surface side, which simplifies the spraying process for the entire beam 50.

[0054] This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction. In the above embodiment, the spray nozzle 30 disposed below sprays the underside of the lower flange 52 obliquely upward at an angle θ1. Alternatively, the angle θ1 may be gradually changed as one moves from the rear side to the front side. For example, the angle at which the front side is sprayed may be set to be closer to vertical by making the angle at which the front side is sprayed smaller than the angle at which the rear side is sprayed. Here, when spraying from the front side, the coating material can be sprayed widely to the rear side, so that the coating material from the spray nozzle 30 can be sprayed so that the coating material is thinner on the rear side.

[0055] In the above embodiment, the underside of the lower flange 52 is sprayed, and then the web 55 is sprayed. Alternatively, the web 55 may be sprayed first, and the underside of the lower flange 52 may be sprayed last. This allows the side surface of the web 55, which has a large area, to be sprayed first, and then the other portions to be sprayed, making it difficult for the covering material to fall off.

[0056] In the above embodiment, the coating material is sprayed onto the entire beam 50 using the spray nozzle 30 attached to the robot arm 25. Alternatively, some of the work may be done manually. For example, for parts that are prone to falling off, such as the underside of the lower flange 52, or the side (small end) of the lower flange 52 of the beam where the spraying area is narrow, spraying may be done by a skilled worker before or after coating with the coating material by the robot.

[0057] In the above embodiment, a heat insulating material such as rock wool is sprayed as the covering material. However, the covering material to be sprayed is not limited to this, and for example, a heat insulating material such as glass wool, paint, etc. may be sprayed.

[0058] Next, the technical ideas that can be understood from the above embodiment and other examples will be described below. The spraying method according to claim 2, characterized in that (a) before spraying the coating material on the second surface, the coating material is sprayed obliquely upward from the spray nozzle onto the lower surface of the lower flange on the first surface side.

[0059] (b) The spraying method described in claim 2 or (a), characterized in that when the coating material is sprayed obliquely upward from the spray nozzle onto the lower surface of the lower flange, the coating material is sprayed so that the rear side is thin and the front side is thick.

[0060] (c) A spraying method as described in (a) or (b) in claim 1, 2, characterized in that the spray nozzle sprays the coating material from the upper end of the web against the underside of the upper flange on the side of the top of the web at an oblique downward angle, and sprays the side of the upper flange following spraying of the underside of the upper flange. [Explanation of symbols]

[0061] θ1, θ21, θ22, θ3, θ4, θ5...angle, θs...spraying angle, C1...ceiling slab, L0...spraying separation distance, L1, L2, L3, L4...spraying interval, T1...trajectory, V1...vector, 20...spraying device, 21, 31...main body, 22...wheel, 23...traversing device, 25...robot arm, 26...tip, 27...mounting member, 30...spraying nozzle, 32...gun head, 40...terminal device, 41...control unit, 42...job data storage unit, 50...beam, 51...upper frame 41...lower flange, 52...web, 61...first layer as preceding coating layer, 62...first web coating layer, 63,73...lower coating layer as preceding coating layer, 64,74...corner coating layer, 65,75,67,77...side coating layer as subsequent coating layer, 66,76...upper coating layer as preceding coating layer, 71...second layer as preceding coating layer, 72...second web coating layer, 81...lower coating layer as preceding coating layer, 411...management unit, 412...positioning control unit, 413...discharge control unit.

Claims

1. A spraying method for spraying a coating material onto an outer periphery of an H-shaped steel beam based on the position of a spray nozzle attached to the tip of a robot arm, comprising: The coating material is sprayed from the spray nozzle from the side onto the first surface of the web of the H-shaped steel to coat the web with the coating material from below; The coating material is sprayed obliquely upward from the spray nozzle onto the underside and side of the upper flange on the first surface side of the H-shaped steel, The coating material is sprayed obliquely downward from the spray nozzle onto the upper surface of the first surface side of the lower flange of the H-shaped steel, The coating material is sprayed from the side of the first surface side of the lower flange by the spray nozzle, thereby performing a one-sided spraying process on the first surface side, A spraying method, comprising carrying out the single-sided spraying process on a second surface opposite to the first surface.

2. The spraying method according to claim 1, characterized in that before spraying the coating material on the first surface of the web, the coating material is sprayed obliquely upward from the spray nozzle onto the lower surface of the lower flange on the first surface side.

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