Spraying method and spraying machine used therein

Abstract

To provide a spray method which can perform spray work mechanically, and can easily and correctly adjust a distance between a nozzle jetting port and a spray surface, and to provide a spray machine used for the same.SOLUTION: An attachment (1) is mounted on a vehicle. The attachment (1) includes: a tabular member (2) movable in a longer direction and extending in an orthogonal direction; and a spray nozzle (3) movable along the tabular member (2). The spray nozzle (3) is made to follow and move to a surface shape of a slope. In the movement of the nozzle, the attachment (1) is expanded / contracted, the attachment (1) is oscillated, the tabular member (2) is moved in the longer direction of the attachment (1), the spray nozzle (3) is moved along the tabular member (2), the tabular member (2) is rotated with respect to a rotation center in the longer direction of the attachment (1), the spray nozzle (3) is rotated, and a spray distance (L) from a jetting port of the spray nozzle (3) to a spray surface is adjusted.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a spraying method for spraying a spraying material (for example, mortar) onto a surface to be sprayed, such as a slope or the inner wall surface of a tunnel, and a spraying machine used therefor. [Background technology]

[0002] The surface spraying method, in which a spray material is sprayed onto an uneven surface, was often performed manually by a worker holding a spray nozzle and spraying the spray material at designated locations. Here, since a quick-setting agent is added to the spraying material such as mortar, it is advantageous to have a shorter distance to the spraying surface, as the spraying material will reach the surface before the quick-setting agent acts, and the spraying material will collide with the surface without forming lumps (so-called "lumps"). However, if the distance from the spray material outlet (spray nozzle outlet) to the sprayed surface is too short, in the case of mortar, the high-pressure air, mortar and quick-setting agent will be unevenly distributed within the spray material jet and collide with the sprayed surface, making it difficult to uniformly cover the sprayed surface with the spray material. For this reason, it is desirable to properly adjust the distance from the nozzle of the spray material (the nozzle of the spray nozzle) to the surface to be sprayed; however, when the spray nozzle is held by an operator as in the past (nozzle holding by hand), it is difficult to adjust the distance between the nozzle nozzle and the surface to be sprayed. In addition, manual spraying by workers involves the risk of falling and other hazards, and because the spray nozzle must be held by hand, workers are exposed to danger when the hose becomes blocked.Furthermore, there is the problem of low work efficiency (for example, the working area per worker is 100 m2 / day). On the other hand, spraying using a machine can improve work efficiency by a lot compared to manual work, and reduce the danger to workers. For this reason, a self-propelled spraying surface device (for example, Patent Document 1) has been proposed.

[0003] However, such a slope spraying device (Patent Document 1) may be manufactured as a so-called "one-off product," and when manufactured as a one-off product, the price is high, resulting in a problem of high introduction costs. Furthermore, in order to secure the device during spraying work, the vehicle's outriggers must be extended, and this requires time-consuming work to secure the device using the outriggers. In addition, because there is little freedom in the position and spray direction of the spray nozzle, it is difficult to spray the spray material at a uniform thickness on a surface with large unevenness, and it is difficult to adjust the distance between the nozzle outlet and the surface to be sprayed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6454123 Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention has been proposed in consideration of the problems of the prior art described above, and aims to provide a spraying method and a spraying machine used therein that can perform spraying work mechanically and easily and accurately adjust the distance between the nozzle outlet and the sprayed surface. [Means for solving the problem]

[0006] The spraying method of the present invention is as follows: The method includes a step of attaching an attachment (1) to a vehicle (30: including a machine that travels by caterpillar tracks), The above The attachment (1) is equipped with a spray nozzle (3), A nozzle position adjustment step of adjusting the position of the spray nozzle (3), The above Nose R The position adjustment step includes a step of adjusting the spray distance (L) from the nozzle of the spray nozzle (3) to the spray surface (F). fruit, The attachment (1) includes a plate-like member (2) that is movable in its longitudinal direction and extends in a direction perpendicular to the longitudinal direction (lateral direction), and a spray nozzle (3) that is movable along the plate-like member (2); The nozzle position adjustment step includes: A nozzle moving step of moving the spray nozzle (3) in accordance with the surface shape of the spray surface (F), In the nozzle moving step, A step of extending and contracting the attachment (1) in a longitudinal direction (axial direction); A step of swinging the attachment (1); moving the plate-like member (2) in the longitudinal direction of the attachment (1); a step of moving a spray nozzle (3) along the plate-like member (2); A step of rotating (including swinging and / or rotating) the plate-like member (2) about a rotation center extending in the longitudinal direction of the attachment (1); The method includes a step of rotating (including swinging and / or rotating) the spray nozzle (3) (including a step of rotating the spray nozzle 3 relative to the plate-like member 2). It is characterized by the fact that In the present invention, the spraying distance (L) is preferably adjusted to a spraying distance (distance in region β: for example, distance β1) determined by a test using a specimen conducted before construction. However, as the number of construction cases increases and data is accumulated, it will be possible to set the spraying distance (L) based on that data, and the test using a specimen conducted before construction may become unnecessary.

[0007] In the present invention, prior to the above-mentioned step (step of claim 1), it is preferable to determine the quick-setting admixture (type, amount added), the mortar (W / C and other composition), and the distance (L) between the spray nozzle and the spray surface (F) by testing using a test specimen.

[0009] In the spraying method of the present invention, When the location where the spraying material is to be sprayed is lower than the highest point of a boom (31) attached to a vehicle (30: including a machine that travels on caterpillar tracks, such as a backhoe), the attachment (1) is not attached, but a spray nozzle (3) is attached to the tip of the boom (31) attached to the vehicle (30) on the side opposite the vehicle (30), and the spraying material is sprayed from the spray nozzle (3) while moving the boom (31). When the location to which the spraying material is to be sprayed is located higher than the highest point of a boom (31) mounted on a vehicle (30: including a machine that travels on caterpillar tracks), it is preferable to attach an attachment (1) to the tip of the boom (31) mounted on the vehicle (30) on the side opposite the vehicle (30).

[0010] In addition, in the spraying method of the present invention, A spraying material supply system (20) that supplies the spraying material to the spraying nozzle side includes a spraying solidification material pump (21: for example, a concrete pump), and the spraying solidification material pump (21) is mounted on a movable dolly (22), It is preferable to have a step of moving the cart (22) to a position close to the spray nozzle (3) when spraying the spray material from the spray nozzle (3) (to avoid the construction range being limited by the pump pumping distance as much as possible).

[0011] The spraying machine (100) used in the spraying method of the present invention (the spraying method of claim 1) is The attachment (1) has an attachment side connection means (4) for mounting to and / or removing from a boom (31) provided on a vehicle (30: including a machine that travels on a caterpillar track), The attachment (1) is equipped with a spray nozzle (3) and is characterized by having a function of adjusting the spray distance (L) from the outlet of the spray nozzle (3) to the spray surface (F). Here, the spraying distance (L) is preferably adjusted to a spraying distance (distance in region β: for example, distance β1) determined by a test using a specimen conducted prior to construction.

[0012] In the spraying machine (100) of the present invention, the attachment (1) comprises: The device has a first member (1-1: vehicle side member) and a second member (1-2: spray nozzle side member) having the longest shape, and is configured to be extendable and contractable in the longitudinal direction by sliding the second member (1-2) over the first member (1-1), a plate-like member (2) that is movable in the longitudinal direction of the second member (1-2: spray nozzle side member) and extends in a direction perpendicular to the longitudinal direction (lateral direction), and a lateral movement member (5) that moves the spray nozzle (3) along the plate-like member (2); a first rotation member (6) that rotates the plate-like member (2) about a rotation center extending in the longitudinal direction of a second member (1-2: spray nozzle side member); a second rotating member (7) for rotating the spray nozzle (3) (including rotating the spray nozzle 3 relative to the plate-like member 2); The vehicle (30) is preferably provided with a vehicle-side rocking member (8) for rocking a first member (1-1: vehicle-side member).

[0013] In the spraying machine (100) of the present invention, When the location to which the spray material is to be sprayed is located lower than the highest reach of a boom (31) attached to a vehicle (30: including a machine that travels on caterpillar tracks, such as a backhoe), it is preferable that a boom side connecting member (32) to which the spray nozzle (3) can be attached / detached is provided at the end of the boom (31) opposite the vehicle (30) in order to attach the spray nozzle (3) directly to the end of the boom (31) opposite the vehicle (30) without attaching the attachment (1) to the boom (31).

[0014] In addition, in the spraying machine (100) of the present invention, A spray material supply system (20) is provided for supplying a spray material to the spray nozzle side, The spraying material supply system (20) is provided with a spraying solidification material pump (21: for example, a concrete pump), In order to shorten the distance between the spray nozzle (3) and the spray solidification material pump (21) when spraying material from the spray nozzle (3), it is preferable that the spray solidification material pump (21) be mounted on a movable cart (22).

[0015] In the present invention, the spray surface (F) preferably includes a slope and / or an inner wall surface of a tunnel. Effect of the Invention

[0016] For example, since a quick-setting agent is added to a spraying material such as mortar, it is advantageous for the distance to the spraying surface (F) to be short, since the spraying material reaches the spraying surface (F) before the quick-setting agent acts, and the spraying material collides with the spraying surface (F) without forming lumps (so-called "lumps"). However, if the distance from the spray material outlet (spray nozzle outlet) to the spray surface (F) is too short, in the case of mortar, the high-pressure air, mortar and quick-setting agent will be unevenly distributed within the spray material jet and collide with the spray surface (F), making it difficult to uniformly cover the spray surface (F) with the spray material. In order to spray the spray material onto the spray surface (F), the sprayed spray material needs to reach the spray surface (F) while still in a liquid state. Therefore, it is inconvenient if the spray distance (spray distance L) from the spray nozzle outlet to the spray surface (F) is too long or too short. According to the present invention described above, the position of the spray nozzle (3) and the spray direction of the spray material have a large degree of freedom and can be controlled with high precision. Furthermore, since the spray distance (L) from the nozzle of the spray nozzle (3) to the spray surface (F) is adjusted, the spray distance (L) from the nozzle of the spray nozzle to the spray surface (F) can be accurately and easily adjusted, and the distance between the nozzle of the spray nozzle (3) and the spray material can be appropriately maintained. In other words, the distance between the nozzle of the spray nozzle (3) and the spray material can be adjusted and maintained at the appropriate spray distance (distance of region β, for example distance β1) determined by testing using a test specimen prior to construction.

[0017] Since the spraying distance (L) from the outlet of the spray nozzle (3) to the spraying surface (F) can be accurately and easily adjusted to an appropriate spraying distance, according to the present invention, the spraying material can be sprayed uniformly onto the spraying surface (F) while maintaining its liquid properties. Since the spraying material can be sprayed uniformly onto the spraying surface (F), the spraying work can be performed with high quality. As a result of the high quality spraying, a high strength and high durability spraying work can be achieved even if the spraying material is composed of generally priced materials, without using expensive materials. As a result, even when using general sprayed materials, it is possible to construct high-quality (high strength, high durability) sprayed mortar and concrete structures (sprayed concrete framework works, mortar sprayed works, etc.).

[0018] Furthermore, according to the present invention having the above-mentioned configuration, the spraying work can be carried out by machine rather than by hand, so that the danger to the worker is reduced compared to conventional manual work. In addition, by attaching the attachment (1) to the boom (31) of an existing vehicle (30) having the boom (31), the spraying device (100) can be prepared without manufacturing a single item, thereby reducing construction costs. Furthermore, by appropriately selecting the vehicle (30) to which the attachment (1) is to be attached and selecting the vehicle (30) that corresponds to the working height of the spraying work, the working range is not limited. Similarly, by selecting an appropriate operation, it is possible to omit the fixing operation by extending the vehicle's outriggers. Then, a large volume of spray material can be sprayed onto the surface (F) to be treated.

[0019] In addition, according to the present invention, the degree of freedom of the position of the spray nozzle (3) and the spray direction of the spray material is increased, and the control is performed with high precision. Therefore, the spray nozzle (3) can be moved to follow the surface shape of the spray surface (F) with high precision, and the spray material ejected from the spray nozzle (3) can be accurately sprayed onto the surface of the spray surface (F) with a uniform thickness, even if the spray surface (F) has a complex shape with many irregularities (convex and concave parts). As a result, a spray layer of uniform thickness can be accurately formed on the surface of the spray surface (F), and the distance between the spray nozzle (3) outlet and the spray material can be appropriately maintained.

[0020] Here, in the present invention, the first member (1-1) and the second member (1-2) of the attachment (1) slide against each other to expand and contract, so that a highly flexible rubber hose (11) is used as the piping for transporting the solidification material, and the difference in the longitudinal length of the attachment (1) when it is contracted and when it is extended must be absorbed by the slackening of the rubber hose (11). However, it is known that the highly flexible rubber hose (11) has a high piping resistance compared to rigid piping. And, since the difference in the longitudinal length of the attachment (1) when it is contracted and when it is extended is absorbed by slackening the rubber hose (11), the total length of the rubber hose (11) must be longer than that of a fixed piping by the amount of slackening the rubber hose (11). Therefore, the piping resistance is high in the spraying material supply system (20) formed by the rubber hose (11), and there is a high possibility that the piping will be clogged compared to conventional air pressure feeding. In contrast, in the present invention, if a pump (21) for the spray solidification material is installed in the spray solidification material supply system (20) and the pump (21) for the spray solidification material is placed on a movable dolly (22), the distance from the discharge port of the pump (21) for the spray solidification material to the spray nozzle (3) can be shortened by moving the dolly (22) (the length of the rubber hose 11 from the discharge port of the pump 21 for the spray solidification material to the spray nozzle 3), and the piping resistance in the spray solidification material supply system (20) can be reduced. As a result, clogging of the rubber hose (11) can be suppressed. In addition, since the pump (21) for the spray solidification material is placed on the movable dolly (22), it is possible to avoid the construction range being limited to the pump pumping distance as much as possible. [Brief description of the drawings]

[0021] [Figure 1] FIG. 2 is a diagram showing a schematic diagram of the properties of a jet of spray material ejected from a spray nozzle. [Diagram 2] FIG. 1 is a characteristic diagram showing the relationship between the spraying distance of the spray material and the unconfined compressive strength. [Diagram 3] FIG. 1 is an explanatory diagram showing an overview of an embodiment of the present invention. [Figure 4] 10A to 10C are explanatory diagrams showing a process of extending and contracting the attachment in the longitudinal direction in the embodiment. [Diagram 5] FIG. 11 is an explanatory diagram showing a process of swinging the attachment. [Figure 6] 11 is an explanatory diagram showing a process of moving the spray nozzle laterally along the plate-like member. FIG. [Figure 7] 11 is an explanatory diagram showing an example of a mechanism for moving a spray nozzle laterally along a plate-like member. FIG. [Figure 8] 10A to 10C are explanatory views showing a step of rotating the plate-shaped member. [Figure 9] 10 is an explanatory diagram showing an example of a mechanism for rotating a plate-shaped member; FIG. [Figure 10] 10 is an explanatory diagram showing an example of a mechanism for rotating a plate-like member that is different from that shown in FIG. 9 . [Figure 11] FIG. 11 is an explanatory diagram showing a process of rotating the nozzle. [Figure 12] FIG. 4 is an explanatory diagram showing an example of a mechanism for swinging a nozzle. [Figure 13] 13 is an explanatory diagram showing a swing movement in the mechanism of FIG. 12. FIG. [Figure 14] FIG. 14 is an explanatory diagram showing an example of a mechanism for swinging a nozzle, which is different from the example shown in FIGS. 12 and 13. [Figure 15] FIG. 11 is an explanatory diagram showing an example of a mechanism for rotating a nozzle tip. [Figure 16] FIG. 2 is a functional block diagram of a control device having a function of controlling the spraying work in the illustrated embodiment. [Figure 17] FIG. 2 is an explanatory diagram showing the structure of a spray material supply system. [Figure 18] FIG. 2 is an explanatory diagram showing a main part of a spray material supply system in an embodiment. [Figure 19] FIG. 13 is an explanatory diagram showing a modified example of the spray material supply system in the embodiment. [Figure 20] FIG. 11 is an explanatory diagram showing a mode in which spraying is performed without using an attachment in the embodiment. [Figure 21] This is a modified example of the embodiment shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. As will be described later with reference to FIG. 17, the illustrated embodiment employs a tip air addition method in which high-pressure air is added to the transported solidification material such as mortar in the vicinity of the spray nozzle 3. In this tip air addition method, the distance from the spray nozzle 3 to the spray surface F is the distance the solidification material is pumped by air, and this distance is very short, making it possible to spray the material in liquid form from the spray nozzle 3. Furthermore, by maintaining the amount of quick-setting agent in the spray material in liquid form for the time it takes for the sprayed material to reach the spray surface F (setting the amount so as not to exceed the liquid limit until it reaches the spray surface F), the spray material can be sprayed uniformly onto the spray surface F.

[0023] From the experimental results of the inventors, the jet of spray material sprayed from the outlet 3N of the spray nozzle 3 toward the spray surface F has properties as shown diagrammatically in FIG. Figure 1 is an analysis result showing the state of the spray material jet from the nozzle 3N of the spray nozzle 3 to the spray surface F. As shown in Figure 1, the spray material jet is composed of regions A1 to A5, with region A1 being the "region where theoretical instability analysis was performed", region A2 being the "region where numerical simulation was performed using the interface tracking method", and region A3 being the "region where numerical simulation was performed using the particle tracking method". Region A4 is the "region where spray characteristics and spray behavior were analyzed through optical observation", and region A5 is the "region where the atomization mechanism was analyzed through instantaneous photography and high-speed video observation". In Figure 1, the straight line AL is a line that indicates the limit of the range in which the distance between the nozzle 3N of the spray nozzle 3 and the spray surface F can be manually controlled, and the distance between the nozzle 3N of the spray nozzle 3 and the spray surface F cannot be manually adjusted by an operator to be shorter than the distance between the nozzle 3N of the spray nozzle 3 and the straight line AL.

[0024] According to experiments by the inventors, there exists a characteristic CL as shown in Fig. 2 between the spraying distance L from the nozzle of the spraying material (the nozzle 3N of the spraying nozzle 3) to the spraying surface F and the uniaxial compressive strength σ of the spraying material covering the spraying surface F. In Fig. 2, the symbol BE indicates the spraying energy characteristic. In Figure 2, the horizontal axis is the spraying distance L from the nozzle 3N of the spraying nozzle 3 to the spraying surface F, and the vertical axis on the left is the uniaxial compressive strength σ of the sprayed material covering the spraying surface F, with the characteristics CL (spraying distance-uniaxial compressive strength characteristics) and characteristics BE (spraying energy characteristics) being divided into regions α, β, and γ. Region α is the "region where the spraying energy decreases and the uniaxial compressive strength σ decreases." In other words, this is the region where the spraying distance L from the outlet 3N of the spray nozzle 3 to the spraying surface F is too long, causing the spraying energy to decrease. Here, the spraying energy is the force that compacts the mortar on the spraying surface F, and depends on the air pressure. In region α, because the spraying distance L is long, the mortar is prone to clumping due to the action of the quick-setting agent. Region β is the region where the unconfined compressive strength σ increases due to atomization and a decrease in W / C. The spraying distance L = β1, which is the boundary between region β and region α, is the optimal distance for the characteristic (at spraying distance L = β1, characteristic CL shows the maximum value of unconfined compressive strength σ). The optimal spraying distance L = β1 can be determined by testing using specimens prior to spraying. Region γ is a region where the spray distance L is too short, causing the mortar, air, and quick-setting agent in the sprayed material jet to be unevenly distributed and not uniform. In region γ, the quick-setting agent does not come into contact with the mortar sufficiently, and does not function as a quick-setting agent. As a result, the unconfined compressive strength remains low. In FIG. 2 as well, the straight line AL indicates the limit at which the spray distance L can be manually adjusted.

[0025] As described above, the spray surface spraying method, in which the spray material is sprayed onto the surface of an uneven surface F, is often performed by a worker holding the spray nozzle 3 and spraying the spray material at a predetermined location (manual work). However, if the spray distance L is long, the action of the quick-setting agent causes the spray material to form lumps (clumps) and collide with the spray surface F. Also, if the spray distance L is too short, the high-pressure air, mortar, and quick-setting agent are unevenly distributed within the spray material jet and collide with the spray surface F, making it difficult to uniformly cover the spray surface F with the spray material. For this reason, it is necessary to perform the spraying work with the spray distance L being appropriate. With the spraying machine 100 described later with reference to Figs. 3 to 19, the spraying distance L from the outlet 3N of the nozzle 3 to the spray surface F can be adjusted to and maintained at an optimal distance L = β1.

[0026] Here, the appropriate value of the spraying distance L from the nozzle outlet 3N to the spray surface F (for example, L=β1) varies from case to case depending on the quick-setting agent (type, amount added), the W / C and other compositions of the mortar, etc. Therefore, in the illustrated embodiment, a test is performed using a test piece before construction, and the quick-setting agent (type, amount added), the mortar (W / C and other compositions), and the distance L between the outlet 3N of the spray nozzle 3 and the spray surface F are determined by the test. Then, during the spraying construction, the nozzle position is controlled to appropriately maintain the distance L between the outlet 3N of the nozzle 3 and the spray surface F, as will be described later with reference to FIG. 16.

[0027] A spraying machine 100 capable of adjusting the spraying distance L from the nozzle outlet 3N to the spraying surface F to an optimal distance and spraying the spray material onto the spraying surface F will be described below with reference to Figures 3 to 21. In Fig. 3, the spraying machine 100 has a vehicle 30 (including a machine that travels on a track belt) and an attachment 1 that can be attached to / detached from a boom 31 of the vehicle 30. The attachment 1 is connected to the boom 31 by an attachment side connecting means 4. As described below, the attachment 1 has a first member 1-1 (vehicle side member) and a second member 1-2 (spray nozzle side member), and the first member 1-1 and the second member 1-2 slide against each other, allowing the attachment 1 to extend and retract in the longitudinal direction. In other words, the second member 1-2 can move (slide) relative to the first member 1-1. The attachment 1 is provided with a plate-like member 2 extending in a direction (lateral direction) perpendicular to the longitudinal direction, and a spray nozzle 3 movable along the plate-like member 2. The spray nozzle 3 is configured to move (perform a nozzle movement process) following the surface shape of the spray surface F (construction slope) on which the spraying work is to be performed. Note that a rubber hose (supply hose) that supplies the spray material (solidification material) to the spray nozzle 3 is indicated by the reference numeral 11. The spray surface F may be the inner wall surface of a tunnel.

[0028] As will be described in more detail below, the spray machine 100 of FIG. A step of extending and contracting the attachment 1 in the longitudinal direction (axial direction) (see FIG. 4 ); A step of swinging the attachment 1 (see FIG. 5 ); A step of moving the plate-like member 2 in the longitudinal direction of the attachment 1 (see FIG. 4 ); A step of moving a spray nozzle 3 along the plate-like member 2 (see FIG. 6 ); A step of rotating (including swinging and / or rotating) the plate-like member 2 about a rotation center extending in the longitudinal direction of the attachment 1 (see FIG. 9 ); A step of rotating (including swinging and / or rotating) the spray nozzle 3 (in the attachment mechanism that attaches the spray nozzle to the plate-like member) (see FIG. 11). The above steps constitute a nozzle moving step of moving the spray nozzle 3 in accordance with the surface shape of the slope F. The vehicle 30 is provided with a control device CU having the function of controlling the various processes described above. In Fig. 3, a vehicle 30 and a dolly 22 are connected via a connecting rod 33, and a concrete pump 21 is placed on the dolly 22. As will be described later with reference to Fig. 18, this is to shorten the distance over which the spraying material (solidification material) discharged from the concrete pump 21 is pressure-transported through the rubber hose 11 to the spraying nozzle 3 (not shown), thereby reducing the risk of clogging in the rubber hose 11.

[0029] The process of longitudinally extending and contracting the attachment 1 is shown in FIG. In FIG. 4, the attachment 1 has a first member 1-1 (vehicle side member) and a second member 1-2 (spray nozzle side member) having a shape extending in the longitudinal direction, and by sliding the second member 1-2 over the first member 1-1, the attachment 1 (first member 1-1, second member 1-2) can be extended and contracted in the longitudinal direction. The attachment 1 has an attachment side connecting means 4 near the vehicle side end of the first member 1-1, and is configured so as to be freely attached to and / or detached from a boom 31 of a vehicle 30 via the attachment side connecting means 4. Fig. 4 shows the attachment 1 in its most extended state, with the lower end of the second member 1-2 located near the upper end of the first member 1-1. On the other hand, although not shown, when the attachment 1 is in its shortest contracted state, the upper end of the second member 1-2 is located near the upper end of the first member 1-1. In Fig. 4, the arrow S indicates the range of movement of the upper end of the second member 1-2. As a mechanism for sliding the second member 1-2 of the attachment 1 relative to the first member 1-1, for example, a known mechanism used in a forklift can be adopted.

[0030] In Fig. 4, a plate-like member 2 is attached to the second member 1-2 of the attachment 1, which is movable in the longitudinal direction of the second member 1-2 and extends in a direction perpendicular to the longitudinal direction (lateral direction) (see Fig. 6). Fig. 4 shows a state in which a single plate-like member 2 is moved to the topmost position of the second member 1-2, a state in which it is moved to the bottommost position, and a state in which it is moved to an intermediate position between the topmost and bottommost positions. Three plate-like members 2 are not provided. If the attachment 1 is in a contracted state (not shown) at its shortest length, the range in which the plate-like member 2 can move in the longitudinal direction of the attachment 1 is approximately twice the range of the three positions shown in Fig. 4. A conventionally known mechanism can be used as a mechanism for moving the plate-like member 2 in the longitudinal direction of the second member 1-2. A spray nozzle 3 is attached to the plate-like member 2, and the spray nozzle 3 is movable laterally (perpendicular to the plane of the paper in FIG. 4) along the plate-like member 2. In FIG. 4, a supply hose that supplies the solidification material (spray material) to the spray nozzle 3 is indicated by the reference numeral 11.

[0031] The process of rocking the attachment 1 is shown in FIG. In Fig. 5, a vehicle-side swinging member 8 that swings the attachment 1 (first member 1-1) is provided on a boom 31 of a vehicle 30. In Fig. 5, the vehicle-side swinging member 8 is set to swing the attachment 1 within a range of up to 15°, but "up to 15°" is an example and can be set to other angles. As the vehicle-side swing member 8 that swings the attachment 1, a conventionally known mechanism can be used.

[0032] The process of the spray nozzle 3 sliding (moving) along the plate-like member 2 is shown in FIG. In Fig. 6, the spray nozzle 3 slides (moves) along the plate-shaped member 2 in a direction (arrow A6 direction) perpendicular to the longitudinal direction of the attachment 1. Fig. 6 shows a state in which a single spray nozzle 3 is positioned at both ends and at the center in the longitudinal direction (arrow A6 direction) of the plate-shaped member 2. Three spray nozzles 3 are not provided. A supply hose 11 is connected to the spray nozzle 3 . The spray nozzle 3 is moved along the plate-like member 2 by a lateral movement member 5. The lateral movement member 5 will be described with reference to FIG.

[0033] 7, the lateral movement member 5 arranged on the plate-like member 2 has a pair of sprockets 5A, 5A, a chain 5B driven by the sprocket 5A, and a nozzle attachment member 5C fixed to the chain 5B. The nozzle attachment member 5C is fixed to the chain 5B, and is attached via a rotating roller (not shown) to a square pipe (not shown) attached to the plate-like member 2. The spray nozzle 3 is attached to the nozzle attachment member 5C. When the spray nozzle 3 is moved along the plate-like member 2, one of the pair of sprockets 5A is rotated forward or backward by a drive source (e.g., a hydraulic motor, not shown), causing the chain 5B to travel left and right. The spray nozzle 3 moves left and right (arrow A7) in FIG. 7 together with the nozzle attachment member 5C fixed to the chain 5B. By stopping the hydraulic motor (not shown) through the operation of the sprayer, the spray nozzle 3 attached to the nozzle attachment member 5C can be stopped and fixed at a desired position. In Figure 7, the spray nozzle 3 is arranged facing perpendicular to the longitudinal direction of the plate-like member 2 (perpendicular to the paper surface in Figure 7), but as will be described later with reference to Figures 11 to 15, the spray nozzle 3 can be rotated (including oscillating and / or rotating).

[0034] Fig. 8 shows the rotation (arrow R1) of the plate-shaped member 2 about the central axis of rotation C8. The central axis of rotation C8 extends in the longitudinal direction of the second member 1-2 of the attachment 1. To avoid complication of the illustration, the nozzle 3 is omitted from Fig. 8. The plate-like member 2 is rotated by first rotation members 6, 6-1, which will be described later with reference to FIGS.

[0035] The first pivot member 6 shown diagrammatically in FIG. 9 comprises an expandable first cylinder 6A and a second cylinder 6B, the first cylinder 6A connecting a cylinder mounting portion 6C to a pivot point 2a on the plate-shaped member 2, and the second cylinder 6B connecting the cylinder mounting portion 6C to a pivot point 2b on the plate-shaped member 2. When the first and second cylinders 6A, 6B are equal in amount of expansion and contraction, the plate-shaped member 2 is in a rotation position P1 shown by a solid line, and when the first cylinder 6A is expanded and the second cylinder 6B is contracted, the plate-shaped member 2 rotates (arrow R2) to, for example, a rotation position P2 shown by a dashed line. By adjusting the amount of expansion and contraction of the first cylinder 6A, the plate-shaped member 2 can be fixed in various positions.

[0036] 10 showing a modified example 6-1 of the first rotating member, the first rotating member 6-1 attached to the second member 1-2 (not shown in FIG. 10) rotatably supports the plate-shaped member 2 by a plate-shaped member support part 6-1A and an attachment part 2c. The plate-shaped member support part 6-1A is provided near the tip of the main body part of the first rotating member 6-1, and the attachment part 2c is provided on the attachment bracket 2A on the plate-shaped member 2 side. The first rotation member 6-1 is provided with a retractable cylinder 6-1B. The cylinder 6-1B connects a cylinder attachment portion 6-1C of the main body of the first rotation member 6-1 to a cylinder attachment portion 2d. The cylinder attachment portion 2d is provided on the mounting bracket 2A on the plate-shaped member 2 side.

[0037] 10, the cylinder mounting portion 2d of the plate-like member 2 is offset from the mounting portion 2c (plate-like member support portion 6-1A of the main body) provided on the mounting bracket 2A in the cylinder extension / retraction direction of the cylinder mounting portion 6-1C. Therefore, when the cylinder 6-1B is extended or retracted, the plate-like member 2 can be rotated (arrow R3). For example, when the cylinder 6-1B is compressed as shown by the solid line, the plate-shaped member 2 can be placed in a rotation position P3 as shown by the solid line in Fig. 10. Alternatively, when the cylinder 6-1B is expanded as shown by the dotted line, the plate-shaped member 2 can be placed in a rotation position P4 as shown by the dashed line in Fig. 10. By adjusting the amount of expansion and contraction of the cylinder 6-1B, the plate-shaped member 2 can be fixed at various rotation positions.

[0038] FIG. 11 shows the rotation (swing) of the spray nozzle 3. In Fig. 11, the spray nozzle 3 is movably mounted on a plate-like member 2 (not shown) by an attachment mechanism 9, and rotates (including swinging and / or rotating) as shown by arrow R4. In Fig. 11, reference numeral 11 denotes a supply hose that supplies the solidifying material to the spray nozzle 3. The spray nozzle 3 is rotated by a second rotating member 7, which will be described with reference to Figs. 12 to 15.

[0039] The second rotating member 7 shown in FIG. 12, the second rotating member 7 has a disk portion 7C that rotates on a rotating shaft 7B provided on a main body portion 7A, and one end 7DA of a rod 7D is rotatably supported on the disk portion 7C. The other end 7DB of the rod 7D is connected to a connecting member 3D via a connecting member 7E near the base of the spray nozzle 3. The connecting member 3D connects the spray nozzle 3 and a supply hose 11. Although not clearly shown, the other end 7DB of the rod 7D is pivotally supported relative to the connecting member 7E so that it can move up and down, for example, in Fig. 13, but cannot move left and right. When the other end 7DB is pivotally supported in this manner, when the disk portion 7C of the second rotating member 7 is rotated (arrow R5 in Fig. 13), the rotation of the disk portion 7C is transmitted to the spray nozzle 3 via the rod 7D, the connecting member 7E, and the connecting member 3D, and the spray nozzle 3 swings, for example, as shown by the arrow R6 in Fig. 12. The swing angle is, for example, 45° on one side. Furthermore, by adjusting the position of one end 7DA of rod 7D on the disk portion 7C (positional relationship with respect to the rotation center 7C1) and by fixing (axially supporting) the other end 7DB of rod 7D so as to be freely rotatable relative to the connecting member 7E, the tip of the spray nozzle 3 can be rotated as shown by arrow R7 in Figure 12.

[0040] The mechanism for rotating the spray nozzle 3 is not limited to the mechanism shown in Figures 12 and 13, and may be, for example, a mechanism as shown in Figure 14. Figure 14 shows a modified example 7-1 of the second rotating member which is the mechanism for rotating the spray nozzle 3. In Figure 14, the second pivot member 7-1 comprises a first cylinder 7-1A and a second cylinder 7-1B which are freely expandable and contractible, the first cylinder 7-1A connects the first cylinder mounting portion 7-1C to the mounting portion 3a on the bracket 3A on the spray nozzle 3 side, and the second cylinder 7-1B connects the second cylinder mounting portion 7-1D to the mounting portion 3b on the bracket 3A on the spray nozzle 3 side.

[0041] Depending on the amount of expansion and contraction of the first and second cylinders 7-1A, 7-1B, the spray nozzle 3 rotates (swings) about the center of rotation 3B (arrow R8) and is held at a predetermined swing angle. When the amounts of expansion and contraction of the first and second cylinders 7-1A, 7-1B are made equal, the spray nozzle 3 is held at the position shown by the solid line in Figure 14 (position P5). When the first cylinder 7-1A is contracted and the second cylinder 7-1B is extended, the spray nozzle 3 moves to the left (in FIG. 14) of the swing center 3A and is located at the swing position (position P6) shown by the dashed line. On the other hand, when the first cylinder 7-1A is extended and the second cylinder 7-1B is contracted, the spray nozzle 3 moves to the right (in FIG. 14) of the swing center 3A and is located at the swing position (position P7) shown by the dashed line. By adjusting the amount of extension and contraction of the first cylinder 7-1A and the second cylinder 7-1B, the spray nozzle 3 can be placed at various swing positions. In FIG. 14, the swing angle of the spray nozzle 3 is, for example, 15° on one side.

[0042] Rotation of the spray nozzle 3 includes not only the swinging motion shown in Figures 12 to 14, but also the rotation so that the tip of the spray nozzle 3 traces a small circle. Figure 15 shows a second modified example 7-2 of the second rotation member that rotates the tip of the spray nozzle 3 so that it traces a small circle. 15, the second rotating member 7-2 has a first disk portion 7-2C rotatably supported on a rotation shaft 7-2B provided on a main body portion 7-2A, and a second disk portion 7-2D rotatably supported on the first disk portion 7-2C by a shaft portion 7-2DA. A rotation center 7-2CA of the first disk portion 7-2C is offset from the center (center point of the circle) of the first disk portion 7-2C. An end 7-2DB (upper end in FIG. 15) of the second disk portion 7-2D is connected to a connection member 7-2E, and a support member 3E of the spray nozzle 3 is fixed to the connection member 7-2E.

[0043] In FIG. 15, when the first disk portion 7-2C rotates around the rotation axis 7-2CA (arrow R9), the second disk portion 7-2D rotates eccentrically, and this eccentric rotation is transmitted to the spray nozzle 3 via the connecting member 7-2E and the support member 3E, and the tip of the spray nozzle 3 rotates in a manner that traces a small circle (arrow R12). By adjusting the offset amount of the rotation center 7-2CA of the first disk portion 7-2C and the pivot support position 7-2DA of the second disk portion 7-2D, the rotation radius of the rotation R12 of the tip of the spray nozzle 3, etc. can be adjusted. In order to simplify the illustration and facilitate explanation, FIG. 15 is shown upside down with respect to the actual device.

[0044] Next, the control device CU of the spraying machine 100 will be described with reference to FIG. 16, which is a functional block diagram. As mentioned above, the control unit CU of the spraying machine 100 is provided on the vehicle 30. The control unit CU can also be provided at a location remote from the vehicle 30. The control unit CU has a function of adjusting the distance (spraying distance L) between the nozzle 3N (FIG. 2) of the spray nozzle 3 and the spray surface F. The control unit CU has a function of expanding and contracting the longitudinal dimension of the attachment 1, moving the plate-like member 2 to a longitudinal target location on the second member 1-2, moving the spray nozzle 3 in the longitudinal direction of the plate-like member 2, rotating the plate-like member 2, rotating the spray nozzle 3, and swinging the first member 1-1, and has a function of transmitting control signals to members such as the attachment 1 and a supply means for the spray material, etc.

[0045] In FIG. 16, the control device CU of the spraying machine 100 has a spray area identification block B1, a nozzle position adjustment block B2, a spray amount check block B3, a spray amount determination block B4, an air increase / decrease determination block B5, and a control signal generation block B6. An input device CU1 is provided outside the control device CU, which inputs (from outside the control device CU to the control device CU) data relating to the appropriate spraying distance obtained from experiments carried out in advance. Data input from the input device CU1 to the control device CU includes data on quick-setting agents (type, amount added), data on consolidating materials such as mortar (W / C and other compositions), data on the optimum spraying distance (L=β1) between the nozzle 3N of the spraying nozzle 3 and the spraying surface F, and spraying work execution specification data (including position data) relating to each area of ​​the slope (spraying surface F) to which the spraying material should be sprayed. The input device CU1 (not shown in FIG. 3) can be configured by an information processing device such as a PC.

[0046] The spraying area specification block B1 has a function of acquiring data on the position of the slope F (spraying surface) to which the spray material is to be sprayed or its individual regions (areas) from the input device CU1 via a signal line SL1. The spray area specification block B1 has a function of specifying a spray position based on the acquired position data. When specifying the spray position, a conventionally known technique can be adopted. It is also possible to provide a separate measuring device that creates image data of the slope to be sprayed, and have the spraying area specification block B1 obtain position data from the measuring device. Information on the spray position identified by the spray area identification block B1 is transmitted to the nozzle position adjustment block B2 via a signal line SL2.

[0047] Before the spraying method is carried out, tests are conducted using test specimens to determine the quick-setting agent (type, amount added), the mortar (W / C and other composition), and the distance L between the spray nozzle 3 (nozzle 3N) and the spraying surface F (optimum spraying distance L = β1). The spraying distance L (optimum spraying distance L=β1) obtained from the results of tests carried out before construction is sent from the input device CU1 to the nozzle position adjustment block B2 via a signal transmission line SL13. Although not clearly shown in the figure, data on the quick-setting agent (type, amount added) determined by the pre-construction tests, data on the mortar (W / C and other compositions), and execution specification data for the spraying work relating to individual areas of the slope to which the spraying material is to be sprayed are also transmitted from the input device CU1 to the spray amount check block B3, the spray amount determination block B4, the air increase / decrease determination block B5, etc. During application, the nozzle position is controlled to properly maintain the distance L between the nozzle 3N of the nozzle 3 and the spray surface F. In other words, the distance L between the nozzle 3N of the nozzle 3 and the spray surface F is maintained at an optimal distance (L=β1).

[0048] The nozzle position adjustment block B2 has the function of adjusting (controlling) the spraying distance L from the outlet 3N of the spray nozzle 3 to the spraying surface F to the optimal spraying distance L = β1 determined in advance by the test, based on the information of the spraying position identified by the spraying area identification block B1 and the spraying distance L (optimum distance β1 between the spray nozzle 3 and the spraying surface F) obtained from the input device CU1. In order to perform this adjustment, the system has a function of adjusting (controlling) the nozzle position to an optimal position. Specifically, in order to adjust to an optimal nozzle position, the system has a function of determining the operation and position of each member (members shown in Figs. 3 to 15) such as the attachment 1, and transmitting a control signal to each member such as the attachment 1 via a signal line SL3. In the control by the nozzle position adjustment block B2 (and / or the spray amount check block B3), the spray position information obtained from the spray area identification block B1 is used, for example, to check whether the spray thickness at the spray position has reached a predetermined thickness (spraying status at that spray position) and to check whether further spraying is required at that spray position.

[0049] The nozzle position adjustment block B2 has a function of transmitting a signal relating to the nozzle position for performing spraying in the spray area to the control signal generation block B6 via a signal line SL4. In FIG. 16, the spraying amount check block B3 has a function of acquiring execution specification data for the spraying work related to each area of ​​the slope to which the spraying material is to be sprayed from the input device CU1 via a signal line SL5. The spray amount check block B3 has a function of checking whether or not further spraying is required in the sprayed area based on the acquired spraying work specification data. For example, if the mark (black plastic mark) installed on the slope F where the spraying method is to be applied according to the predetermined (target) spraying thickness cannot be seen from the image data acquired from a measuring device (not shown), it is determined that the spraying thickness is the predetermined one, and further spraying is not necessary. Alternatively, when checking whether further spraying is necessary, it is also possible to use conventional technology to make the determination based on the image data acquired from a measuring device (not shown). The check result by the spray amount check block B3 (the determination result as to whether or not further spraying is necessary) is sent to the spray amount decision block B4 via a signal line SL6.

[0050] The spray amount determination block B4 has the function of obtaining information from the spray amount check block B3 regarding the result of whether or not further spraying is necessary at the spray position, and also obtaining data (construction specification data, etc.) on the area of ​​the slope to which the spray material should be sprayed, and determining the spray amount. When determining the spray amount, for example, an image taken by a measuring device (not shown) immediately before spraying and an image taken immediately after spraying can be compared, and the amount can be calculated by a method according to the prior art. Furthermore, the amount of spraying can also be determined by visually identifying a landmark using image data. As a result of the spray amount determination, it is determined whether the amount of spraying is to be maintained, increased or decreased, or the amount of spraying is set to zero (spraying is stopped) (spray amount determination). Information on the amount of spraying determined by the spray amount determination block B4 (spray amount determination) is transmitted to the control signal generation block B6 via a signal line SL7.

[0051] In Figure 16, the air increase / decrease decision block B5 has the function of acquiring execution specification data for the spraying work at the spraying position (area) from the input device CU1 via the signal line SL8, and based on the data, deciding whether or not air and quick-setting agent need to be mixed into the spraying material, and if air and quick-setting agent need to be mixed in, deciding whether to increase / decrease the amount of air and quick-setting agent to be mixed in and the amount to be mixed in. When determining whether or not air and a quick-setting agent need to be mixed into the spray material, and / or when determining whether to increase or decrease the amount of air and a quick-setting agent to be mixed in if air and a quick-setting agent need to be mixed in, the adhesion status of the spray material at the spray position is confirmed, for example, by visual inspection or using image data (e.g., a 3D map) from a measuring device not shown, and the necessary decision is made based on the adhesion status. The results of the decision made by the air increase / decrease decision block B5 (the result of the decision on whether to mix in air and quick-setting admixture, and the result of the decision on whether to increase or decrease the amount of air and quick-setting admixture to be mixed in if it is necessary) are transmitted to the control signal generation block B6 via a signal line SL9.

[0052] As described above, the control signal generating block B6 receives information signals (e.g., signals related to the nozzle position and movement speed) related to the nozzle for performing spraying of the spray area from the nozzle position adjusting block B2. At that time, a control signal is sent to move the position of the spray nozzle 3 to an appropriate position so that the spray distance L from the outlet 3N of the spray nozzle 3 to the spray surface F becomes the appropriate spray distance L=β1. In addition, control signals to various members shown in Figures 3 to 15 are transmitted from the nozzle position adjusting block B2 via the signal line SL3. The control signals are transmitted to various members shown in Figures 1 to 13, and the position of the spray nozzle 3 is adjusted by the operation of the various members, so that the spray distance becomes the appropriate spray distance obtained from the results of an experiment performed before construction.

[0053] The control signal generating block B6 receives information on the spray amount determined from the spray amount determination block B4 (including information on stopping spraying), and further receives the decision results from the air increase / decrease determination block B5 (the decision result on whether to mix air and quick-setting admixture, and the decision result on whether to increase / decrease the amount of mixing and the amount of mixing when air and quick-setting admixture need to be mixed). The control signal generating block B6 has a function of transmitting a control signal to the concrete pump 21 of the spraying material supply system 20 via the signal line SL10, when receiving a signal related to the nozzle (e.g., a signal related to the nozzle position and movement speed for spraying the spraying area) from the nozzle position adjusting block B2, taking into consideration the spraying amount determination result from the spraying amount determination block B4. The concrete pump 21 that receives the control signal supplies a predetermined amount (amount determined by the spraying amount determination block B4) of spraying material (solidification material) to the spray nozzle 3 via the solidification material piping 11 (rubber hose). In addition, when the control signal generating block B6 receives a "signal regarding the nozzle position and movement speed for spraying the spraying area" from the nozzle position adjustment block B2, it has the function of sending a control signal to the concrete pump 21, as well as sending a control signal to the air supply device 24 via signal line SL11, and further sending a control signal to operate the quick-setting agent supply device 25 via signal line SL12. Although not clearly shown, the air supply device 24 is composed of, for example, a compressor.

[0054] In FIG. 16, based on the control signal from the control signal generating block B6, the air supplying device 24 supplies a predetermined amount of air determined in the air increase / decrease decision block B5 through the air piping 13 (rubber hose: see FIG. 17), and the quick-setting agent supplying device 25 supplies a predetermined amount of quick-setting agent determined in the air increase / decrease decision block B5 through the quick-setting agent piping 14 (rubber hose: see FIG. 17). As described below with reference to Figure 17, the air supplied from the air supply device 24 and the quick-setting agent supplied from the quick-setting agent supply device 25 are mixed into the spray material via the quick-setting agent ring 12 just before (immediately upstream of) the spray nozzle 3 in the spray material supply system 20.

[0055] As shown in Figure 16, the control device CU (nozzle position adjustment block B2) controls each component such as the attachment 1 (components shown in Figures 3 to 15), so that the spray nozzle 3 moves in accordance with the surface shape of the spray surface F, increasing the degree of freedom in the position of the spray nozzle 3 and the spray direction of the spray material, and the control can be performed with high precision. Therefore, the spray nozzle 3 can move while following the surface shape of the surface F with high precision, and even if the surface (F) has a complex shape with many irregularities (convex and concave portions), the spray material ejected from the spray nozzle 3 can be accurately sprayed with a uniform thickness onto the surface F. Furthermore, the spray distance L from the nozzle 3N of the spray nozzle 3 to the surface F can be adjusted and maintained at an appropriate spray distance L = β1.

[0056] Next, mainly with reference to Figs. 17 to 19, a spraying material supply system 20 that can be suitably used in the spraying machine 100 will be described. In the spraying machine 100, the solidifying material (concrete, etc.) that is pumped from the concrete pump 21 by the supply hose 11 and sprayed from the spraying nozzle 3 has a large slump value to prevent clogging of the spraying material supply system due to hardening, and in its current state does not adhere to the slope. For this reason, a quick-setting agent ring 12 is provided in the spray material supply system 20 at a position immediately prior to the ejection of the spray nozzle 3, and air, quick-setting agent, and solidifying agent are mixed and sprayed by the quick-setting agent ring 12. By mixing in the quick-setting agent, the material sprayed from the spray nozzle 3 solidifies on the slope even if the solidifying agent has a high slump value.

[0057] In Figure 17, the spraying material supply system 20 includes a solidification material piping 11 (rubber hose) that supplies solidification material from a concrete pump 21 to the spraying nozzle 3, a quick-setting agent ring 12 arranged to connect (merge) with the solidification material piping 11 at a position adjacent to the upstream side of the spraying nozzle 3, an air piping 13 (e.g., a rubber hose) that supplies air from an air supply device 24 to the upstream side of the quick-setting agent ring 12, and a quick-setting agent piping 14 (e.g., a rubber hose) that supplies quick-setting agent from a quick-setting agent supply device 25 to the upstream side of the quick-setting agent ring 12. The quick-setting agent ring 12 includes a junction 12A that joins with the solidifying material pipe 11, a connection portion 12B with an air pipe 13, and a junction 12C with a quick-setting agent pipe . During construction, when air, quick-setting agent, and mortar are mixed, first, the air flowing through the air piping 13 and the quick-setting agent flowing through the quick-setting agent piping 14 are mixed at the junction 12C to become a gas-liquid mixture. The gas-liquid mixture is mixed with the hardening material (e.g., mortar) flowing through the hardening agent piping 11 at the junction 12A of the quick-setting agent ring 12.

[0058] In the illustrated embodiment of the spraying machine 100, the attachment 1 (first member 1-1, second member 1-2) contracts as shown in Fig. 4. To absorb the difference in longitudinal dimension between when the attachment is extended and when it is contracted, a highly flexible rubber hose 11 (solidification material piping) is used, and the rubber hose 11 is slackened when the attachment is contracted. However, if the overall length of the rubber hose 11, which has a large piping resistance, is increased to accommodate when the attachment is extended, the possibility of blockage within the rubber hose 11 increases. For this reason, in the spraying machine 100, as shown in Fig. 18, a concrete pump 21 (pump for spraying solidification material) for pumping the spraying material (solidification material) produced in a mixer truck 23 to a spraying nozzle 3 (not shown) through a rubber hose 11 is mounted on a cart 22. By moving the cart 22 to the vicinity of the construction site of the spraying method and moving the cart 22 to a position close to the spraying nozzle 3, the distance from the concrete pump 21 to the spraying nozzle 3 (total length of the rubber hose 11) can be shortened, the piping resistance in the spraying material supply system 20 can be reduced, and the risk of clogging in the rubber hose 11 can be reduced. In this case, for example, as shown in Fig. 3, the vehicle 30 and the cart 22 can be connected via a connecting rod 33. In the spraying material supply system 20 in the spraying machine 100 in the illustrated embodiment, it is possible not to place the concrete pump 21 on the cart 22, as shown in Fig. 19. In that case, the solidification material plant (including the concrete mixer truck 23 and the concrete pump 21) is provided near the construction site where the spraying method is used.

[0059] In the spraying machine 100 described with reference to Figures 3 to 19, if the location to which the spray material is to be sprayed (for example, slope F) is located lower than the highest point of the boom 31 mounted on the vehicle 30, when the attachment 1 is attached, the spray nozzle 3 will be located higher than the location to be sprayed, making spraying difficult. When the location to which the spray material is to be sprayed is lower than the highest point of the boom 31, as shown in Figure 20, instead of attaching an attachment 1 to the boom 31 mounted on the vehicle 30, a spray nozzle 3 is attached to the end of the boom 31 opposite the vehicle 30 (the end on the highest point side) via a boom side connecting member 32 to which the spray nozzle 3 can be attached / detached, and the spray material is sprayed from the spray nozzle 3 while moving the boom 31. When the location to which the spray material is to be sprayed is located higher than the highest point reached by the boom 31, the attachment 1 is attached to the boom 31 and the spraying work is carried out, as described with reference to Figures 3 to 19.

[0060] In the embodiment shown in Figure 20, the nozzle 3 is fixed to the boom side connecting member 32, but as shown in Figure 21, a plate-like member 2 can be attached to the boom side connecting member 32 and the nozzle 3 can be configured to be movable in the longitudinal direction of the plate-like member 2 (left-right direction in Figure 21: direction of arrow A6). In order to make the nozzle 3 movable in the longitudinal direction of the plate-like member 2, for example, a configuration for carrying out the process described with reference to FIG. 6 may be used. In the embodiment shown in Figure 21 (a modified example of the embodiment shown in Figure 20), when the location to which the spray material is to be sprayed is lower than the highest point of the boom 31, the spray material can be sprayed not only onto the area near the boom side connecting member 32, but also onto areas spaced apart from the boom side connecting member 32 in the longitudinal direction of the plate-like member 2 (left-right direction in Figure 21: direction of arrow A6).

[0061] It should be noted that the illustrated embodiment is merely an example and is not intended to limit the technical scope of the present invention. [Explanation of symbols]

[0062] 1. Attachment 1-1: First member (vehicle side member) 1-2: Second member (spray nozzle side member) 2. Plate-shaped member 3. Spray nozzle 4. Attachment side connection means 5. Lateral movement member 6...First rotating member 7....Second rotating member 8. Vehicle side rocking member 11 Rubber hose (piping for solidification material) 20. Spraying material supply system 21···Concrete pump (pump for sprayed solidification material) 22... Cart 30. Vehicle 31. Boom 32 Boom side connecting member 100···Spraying machine CU...Control device CU1: Input device F···Sprayed surface (slope)

Claims

1. The method includes a step of attaching an attachment to a vehicle, The attachment includes a spray nozzle, A nozzle position adjustment step of adjusting the position of the spray nozzle, The nozzle position adjustment step includes a step of adjusting a spray distance (L) from a spray nozzle outlet to a spray surface, The attachment includes a plate-like member that is movable in a longitudinal direction thereof and extends in a direction perpendicular to the longitudinal direction thereof, and a spray nozzle that is movable along the plate-like member, The nozzle position adjustment step includes: A nozzle moving step of moving the spray nozzle in accordance with the surface shape of the surface to be sprayed, In the nozzle moving step, extending and retracting the attachment in a longitudinal direction; swinging the attachment; moving the plate-like member in a longitudinal direction of the attachment; moving a spray nozzle along the plate-like member; rotating the plate-like member about a rotation center extending in a longitudinal direction of the attachment; A spraying method comprising the step of rotating a spray nozzle.

2. 2. The spraying method according to claim 1, wherein the spraying distance is adjusted to a value determined by a test using a test piece conducted prior to construction.

3. A spraying method according to claim 1 or 2, which includes a step of determining the quick-setting agent, the mortar, and the distance between the spray nozzle and the spray surface by testing using a test piece prior to each step of claim 1.

4. A spraying machine for use in the spraying method of claim 1, The vehicle is provided with an attachment having an attachment side connecting means for mounting to and / or removing from a boom provided on the vehicle, The attachment (1) is provided with a spray nozzle and has a function of adjusting a spray distance from the nozzle outlet to a spray surface; The attachment comprises: The device has a first member and a second member having a longest shape, and is configured to be extendable and contractable in a longitudinal direction by sliding the second member over the first member, a plate-like member that is movable in the longitudinal direction of the second member and extends in a direction perpendicular to the longitudinal direction (lateral direction), and a lateral direction movement member that moves the spray nozzle along the plate-like member; a first rotation member that rotates the plate-like member about a rotation center that extends in a longitudinal direction of a second member; A second rotating member for rotating the spray nozzle is included, A spraying machine characterized in that the vehicle is provided with a vehicle-side rocking member that rocks the first member.

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