Normal surface spraying method and spraying machine

Abstract

To provide a slope spraying method and a spraying machine which can mechanically construct spraying work and accurately spray a spraying material onto a surface of a slope with uniform thickness without manufacturing a single spraying device.SOLUTION: A slope spraying method mounts an attachment (1) on a vehicle, in which the attachment (1) has a plate-like member (2) that is movable in a longer direction and extends in a perpendicular direction, and a spraying nozzle (3) movable along the plate-like member (2), moves the spraying nozzle (3) so as to follow the surface shape of a slope, previously sets a trajectory of a position where a spraying material is sprayed from the spraying nozzle prior to movement of the spraying nozzle (3), and performs control so that the trajectory of the position where the spraying material is sprayed from the spraying nozzle becomes the same as a preset trajectory, when the spraying nozzle (3) is moved.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a slope spraying method for spraying a spraying material onto the surface of a slope, and a spraying machine used therefor.

Background Art

[0002] In the slope spraying method of spraying a spraying material onto the surface of a slope with many irregularities, much of the work (manual work) was carried out by an operator holding a spraying nozzle and spraying the spraying material at a predetermined location. Manual spraying work has risks such as falling, and since the operator has to hold the spraying nozzle manually, the operator is exposed to danger when the hose is blocked. Furthermore, there was a problem that the work efficiency was low (for example, the work area per operator was 100 m 2 / day). On the other hand, if spraying work is performed using a machine, the work efficiency is significantly improved compared to manual work. And the danger to the operator is reduced. Therefore, a self-propelled slope spraying device (for example, Patent Document 1) has been proposed.

[0003] However, such a slope spraying device (Patent Document 1) may be manufactured as so-called "one-off production", and when it is one-off produced, there is a problem that the price is high and the introduction cost soars. In addition, in order to fix the device during spraying work, the outriggers of the vehicle must be extended, and time is spent on the fixing work by the outriggers. In addition, since the degree of freedom of the position and injection direction of the spraying nozzle is low, it has been difficult to spray the spraying material with a uniform thickness onto the surface of a slope with large irregularities.

[0004] Here, in spraying work, if the locus (course for performing the spraying work) of the spraying position where the spraying material is sprayed from the nozzle is preset before the work, and the spraying work is carried out along the set locus (or course), the work efficiency can be greatly improved. However, setting in advance the trajectory (or course) of the spraying position before the spraying operation and performing the spraying operation along the set trajectory requires a very high-precision control technology, which has not been done in the prior art. And, for example, spraying the spraying material so as to draw a trajectory (draw a diagonal trajectory) extending in a direction inclined with respect to the horizontal plane (diagonal direction) on the construction surface is impossible in the prior art by spraying where an operator holds and sprays a spraying nozzle or by spraying with the above-described surface spraying device (Patent Document 1). As other prior art, a technique has been proposed in which the uneven shape of the surface to be constructed is measured by a commercially available measuring device using laser light, and the spraying status and spraying thickness of the target surface are confirmed in real time (see Patent Document 2). However, in such prior art (Patent Document 2), it is not intended to set in advance the trajectory (or course) of the spraying position before the spraying operation and perform the spraying operation along the set trajectory, and it was impossible to perform a spraying operation in which the trajectory of the spraying position extends in a diagonal direction.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] The present invention has been proposed in view of the problems of the above-described prior art, and an object thereof is to provide a surface spraying method and a spraying machine capable of performing a spraying operation by a machine, accurately spraying a spraying material with a uniform thickness on the surface of a surface, setting in advance the trajectory (or course) of the spraying position before the spraying operation, and performing the spraying operation along the set trajectory.

Means for Solving the Problems

[0007] The slope spraying method of the present invention includes a step of attaching an attachment (1) to a vehicle (30: including a machine that travels on an endless track belt), the attachment (1) includes a plate-like member (2) that is movable in its longitudinal direction and extends in a direction orthogonal to the longitudinal direction (lateral direction), and a spraying nozzle (3) that is movable along the plate-like member (2), a nozzle movement step of moving the spraying nozzle (3) following the surface shape of the slope (F), in the nozzle movement step, a step of expanding and contracting the attachment (1) in the longitudinal direction (axial direction), a step of swinging the attachment (1), a step of moving the plate-like member (2) in the longitudinal direction of the attachment (1), a step of moving the spraying nozzle (3) along the plate-like member (2), (with respect to the longitudinal direction of the attachment (1) or the rotation center extending parallel to the longitudinal direction) a step of rotating (including the case of swinging and / or rotating) the plate-like member (2), including any one of the steps of rotating (including the case of swinging and / or rotating) the spraying nozzle (3) (including the case of rotating the spraying nozzle 3 with respect to the plate-like member 2), prior to the nozzle movement step, including a step of presetting a locus (set locus, path) of a position (spraying position) where the spraying material is sprayed from the spraying nozzle (3), in the nozzle movement step, it is characterized in that the locus of the position where the spraying material is sprayed from the spraying nozzle (3) (spraying locus) is controlled to be the same as the preset locus (set locus).

[0008] In the slope spraying method of the present invention, the preset locus of the position where the spraying material is sprayed from the spraying nozzle (3) (set locus) is preferably a locus (diagonal direction locus) that extends in a direction inclined with respect to the horizontal plane of the construction slope. Alternatively, in the slope spraying method of the present invention, The locus (set locus) of the position where the spraying material is sprayed from the preset spraying nozzle (3) is It has a specific spraying start position (the starting point of the set locus) and a spraying end position (the ending point of the set locus), and it is preferable that the section between the spraying start position and the spraying end position is continuous without interruption, without overlapping the same path, and without overlapping the same path (so-called "drawing in one stroke").

[0009] In the slope spraying method of the present invention, When the place where the spraying material is sprayed is at a position lower than the highest reach point of the boom (31) provided on the vehicle (30: including machines that travel on an endless track belt such as an excavator), without attaching the attachment (1), a spraying nozzle (3) is attached to the tip of the boom (31) provided on the vehicle (30) on the side opposite to the vehicle (30), and while moving the boom (31), the spraying material is jetted from the spraying nozzle (3). When the place where the spraying material is sprayed is at a position higher than the highest reach point of the boom (31) provided on the vehicle (30: including machines that travel on an endless track belt), it is preferable to attach the attachment (1) to the tip of the boom (31) provided on the vehicle (30) on the side opposite to the vehicle (30). In addition, the spraying material supply system (20) that supplies the spraying material to the spraying nozzle side includes a spraying solidifying material pump (21: for example, a concrete pump), and the spraying solidifying material pump (21) is placed on a movable carriage (22). (In order to avoid as much as possible the construction range being limited by the pump pressure feeding distance) When jetting the spraying material from the spraying nozzle (3), it is preferable to have a step of moving the carriage (22) to a position close to the spraying nozzle (3).

[0010] The spraying machine (100) of the present invention is An attachment (1) having attachment-side connection means (4) for attaching to and / or removing from a boom (31) provided on a vehicle (30: including a machine traveling on an endless track belt), and a control device (CU: for example, a control panel or a PC on the spraying machine side), The attachment (1) has a first member (1-1: vehicle-side member) and a second member (1-2: spraying nozzle-side member) having the longest shape, and is configured to be telescopically extendable in the longitudinal direction by sliding (sliding) the second member (1-2) on the first member (1-1), a plate-like member (2) that is movable in the longitudinal direction of the second member (1-2: spraying nozzle-side member) and extends in a direction (lateral direction) orthogonal to the longitudinal direction, and a lateral movement member (5) that moves the spraying 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 the second member (1-2: spraying nozzle-side member), and a second rotation member (7) that rotates the spraying nozzle (3) (including rotating the spraying nozzle 3 with respect to the plate-like member 2). The vehicle (30) is provided with a vehicle-side swing member (8) that swings the first member (1-1: vehicle-side member). The control device (CU) has a function of presetting a locus (set locus) of a position where a spraying material is to be sprayed before spraying the spraying material from the spraying nozzle (3), and is characterized by having a function of adjusting (controlling) so that a locus (spraying locus) of a position where the spraying material is sprayed from the spraying nozzle (2) coincides with a preset locus (set locus).

[0011] In the spraying machine (100) of the present invention, the control device (CU) preferably has a function of setting, as a locus (set locus) of a position where a spraying material is to be sprayed from a preset spraying nozzle (2), a locus (diagonal-direction locus) extending in a direction (diagonal direction) inclined with respect to the horizontal plane of the construction slope surface. Alternatively, in the spraying machine (100) of the present invention, As a trajectory (set trajectory) of a position where a spraying material is sprayed from a preset spraying nozzle (2), the control device (CU) has a specific spraying start position (starting point of the set trajectory) and a spraying end position (ending point of the set trajectory), and it is preferable that the control device (CU) has a function of setting a trajectory that is continuous (so-called "one-stroke writing") without interruption and without overlapping the same path between the spraying start position and the spraying end position.

[0012] Also, in the spraying machine (100) of the present invention, the control device (CU) has a function of sliding (sliding) the second member (1-2) on the first member (1-1) to expand and contract the longitudinal dimension of the attachment (1), a function of moving a plate-like member (2) extending in a direction (lateral direction) orthogonal to the longitudinal direction to a target location in the longitudinal direction of the second member (1-2), a function of driving a laterally moving member (5) to move a spraying nozzle (3) along the plate-like member (2), a function of rotating the plate-like member (2) around a rotation center extending in the longitudinal direction of the second member (1-2) or parallel thereto by a first rotating member (6), a function of rotating a spraying nozzle (3) by a second rotating member (7) (including rotating the spraying nozzle 3 relative to the plate-like member 2), and preferably has a function of operating a vehicle-side swinging member (8) provided on the vehicle (30) to swing the first member (1-1).

[0013] Furthermore, in the spraying machine (100) of the present invention, it is provided with a spraying material supply system (20) for supplying a spraying material to the spraying nozzle side, and a pump (21: for example, a concrete pump) for a spraying solidifying material is interposed in the spraying material supply system (20). When injecting the spraying material from the spraying nozzle (3), in order to shorten the distance between the spraying nozzle (3) and the spraying solidifying material pump (21), it is preferable that the spraying solidifying material pump (21) is placed on a movable carriage (22).

Advantages of the Invention

[0014] According to the present invention having the above-described configuration, since the spraying work can be performed by a machine without manual labor, the danger to the operator is less compared to the conventional manual work. In addition, by attaching the attachment (1) to the boom (31) of the existing vehicle (30) having the boom (31), the spraying device (100) can be prepared without manufacturing it as a single product, so that the construction cost is saved. And by appropriately selecting the vehicle (30) to which the attachment (1) should be attached and selecting the vehicle (30) corresponding to the construction height of the spraying work, the construction range is not limited. Similarly, by selecting an appropriate operation, it is possible to omit the fixing operation by extending the outrigger of the vehicle. And it is possible to spray a large volume of spraying material onto the slope (F) to be constructed.

[0015] In addition, according to the present invention, the spraying nozzle (3) is moved following the surface shape of the slope (F). When moving the nozzle, the attachment (1) is expanded and contracted in the longitudinal direction (axial direction), the attachment (1) is swung, the plate-like member (2) is moved in the longitudinal direction of the attachment (1), the spraying nozzle (3) is moved along the plate-like member (2), the plate-like member (2) is rotated about the rotation center extending in the longitudinal direction of the attachment (1), or the spraying nozzle (3) is rotated. As a result, the degrees of freedom of the position of the spraying nozzle (3) and the spraying direction of the spraying material are increased, and the control is performed with high precision. Therefore, when the spraying nozzle (3) moves, the degree of freedom is large, and the spraying nozzle (3) can move following the surface shape of the slope (F) with high precision. Therefore, even for a slope with a lot of unevenness (concavities and convexities) and a complex shape, the spraying material sprayed from the spraying nozzle (3) can be accurately sprayed onto the surface of the slope (F) with a uniform thickness. As a result, a spraying layer with a uniform thickness can be accurately formed on the surface of the slope (F). In the present invention, for the spraying thickness of the spraying material in each region, a marking target (for example, a plastic marking target) is installed on the slope where the spraying method should be applied, the height of the marking target from the construction slope is set to a predetermined spraying thickness, and if the marking target cannot be visually recognized in the video data created based on the measurement by the measuring device (M), it can be confirmed that the predetermined spraying thickness has been reached. Alternatively, by comparing the image immediately before spraying and the image immediately after spraying obtained by the measuring device (M), it can be calculated by a conventionally known method (see, for example, Patent Document 2). Furthermore, it is also possible to perform the spraying operation while confirming by using the marking target and the above calculation by the measuring device (M) in combination.

[0016] In the present invention, prior to moving the spraying nozzle (3) to spray the spraying material, a locus (set locus) of the position where the spraying material is sprayed from the spraying nozzle (3) is preset. When moving the spraying nozzle (3) to spray the spraying material (nozzle movement step), the locus (spraying locus) of the position where the spraying material is sprayed from the spraying nozzle (3) is controlled to be the same as the preset locus (set locus). By making the preset locus of the spraying position (set locus) a locus (locus in an oblique direction) extending in a direction (oblique direction) inclined with respect to the horizontal plane of the construction surface, for example, it becomes possible to perform the spraying operation while moving the spraying position in the oblique direction, which was impossible with the prior art. Alternatively, if the preset locus of the spraying position (set locus) is set to a locus that has, for example, a specific spraying start position (starting point of the set locus) and a spraying end position (ending point of the set locus), and is continuous without interruption and without overlapping the same path between the spraying start position and the spraying end position (so-called "one-stroke writing"), by setting the spraying start position (starting point of the set locus) and the spraying end position (ending point of the set locus) at the spraying work site, it is possible to perform the spraying operation by fully automatic control (regardless of the labor of the operator) for a specific range.

[0017] Here, in the present invention, since the first member (1-1) and the second member (1-2) in the attachment (1) slide (slide) and expand and contract with each other, a highly flexible rubber hose (11) is used as the pipe for transporting the solidifying material. It is necessary to absorb the difference in the longitudinal length when the attachment (1) contracts and expands by loosening the rubber hose (11). However, compared with a rigid pipe, the rubber hose (11) with high flexibility is known to have a high pipe resistance. And since the difference in the longitudinal length when the attachment (1) contracts and expands is absorbed by loosening the rubber hose (11), it is necessary to make the total length of the rubber hose (11) longer than that of the fixed pipe by the amount of loosening of the rubber hose (11). Therefore, in the spraying material supply system (20) constituted by the rubber hose (11), the pipe resistance is large, and there is a high possibility that the pipe will be blocked compared with the conventional air pressure feeding. On the other hand, in the present invention, if a pump (21) for spraying the solidifying material is installed in the spraying material supply system (20) and the pump (21) for spraying the solidifying material is placed on a movable carriage (22), the carriage (22) is moved to shorten the distance from the discharge port of the pump (21) for spraying the solidifying material to the spraying nozzle (3) (the length of the rubber hose (11) from the discharge port of the pump (21) for spraying the solidifying material to the spraying nozzle (3)), and the pipe resistance in the spraying material supply system (20) can be reduced. As a result, blockage of the rubber hose (11) can be suppressed. In addition, since the pump (21) for spraying the solidifying material is placed on the movable carriage (22), it is possible to avoid as much as possible the situation where the construction range is limited by the pump pressure feeding distance.

Brief Description of the Drawings

[0018]

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Mode for Carrying Out the Invention

[0019] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. First, referring to FIG. 1, an outline of an embodiment of the present invention will be described. In FIG. 1, a spraying machine 100 according to an embodiment of the present invention includes a vehicle 30 (for example, a vehicle having a track belt) and an attachment 1 that can be attached / detached to / from a boom 31 of the vehicle 30. The attachment 1 is connected to the boom 31 by attachment-side connection means 4. As will be described later, the attachment 1 has a first member 1-1 (vehicle-side member) and a second member 1-2 (spraying nozzle-side member). By the relative sliding (sliding) of the first member 1-1 and the second member 1-2, the attachment 1 can be extended and contracted in the longitudinal direction. That is, the second member 1-2 is movable (slidable) with respect to the first member 1-1. The attachment 1 is provided with a plate-like member 2 extending in a direction (lateral direction) orthogonal to the longitudinal direction, and a spraying nozzle 3 movable along the plate-like member 2. The spraying nozzle 3 is configured to move following the surface shape of a normal surface F (construction normal surface) where spraying work is to be performed (execute a nozzle movement step). In FIG. 1, a rubber hose (supply hose) for supplying a spraying material (solidifying material) to the spraying nozzle 3 is indicated by reference numeral 11.

[0020] As will be described in detail later, the spraying machine 100 in FIG. 1 A step of extending and contracting the attachment 1 in the longitudinal direction (axial direction) (see FIG. 2), The step of swinging the attachment 1 (see FIG. 3), The step of moving the plate-like member 2 in the longitudinal direction of the attachment 1 (see FIG. 2), The step of moving the spraying nozzle 3 along the plate-like member 2 (see FIGS. 4 and 5), The step of rotating (including the cases of swinging and / or rotating) the plate-like member 2 with respect to the rotation center extending in the longitudinal direction of the attachment 1 (see FIGS. 6 to 8), The step of rotating (including the cases of swinging and / or rotating) the spraying nozzle 3 (in the attachment mechanism for attaching the spraying nozzle to the plate-like member) (see FIGS. 9 to 13), It is configured to be executable. By any of the above steps, a nozzle movement step is configured in which the spraying nozzle 3 moves following the surface shape of the normal plane F. In FIG. 1, the vehicle 30 and the carriage 22 are connected via the connecting rod 33, and the concrete pump 21 is placed on the carriage 22. As will be described later with reference to FIG. 23, the distance for pumping the spraying material (solidifying material) discharged from the concrete pump 21 to the spraying nozzle 3 (not shown) by the rubber hose 11 is shortened to reduce the risk of blockage in the rubber hose 11.

[0021] In FIG. 1, the laser light irradiated from the measuring device M to the normal plane F is indicated by the arrow L. As will be described later with reference to FIGS. 14 and 21, the video data created by the control device MCU of the measuring device M is transmitted to the control device CU of the spraying machine 100 via the signal line SL1 (wired or wireless). Further, the control signal of the control device CU of the spraying machine 100 is transmitted to the concrete pump 21 via the signal line SL10. Also, as will be described later with reference to FIG. 14, the control device CU transmits, in addition to the control signal to the concrete pump 21, control signals to each member (such as the attachment 1) for adjusting the position of the spraying nozzle 3, control signals to the supply device (such as a compressor) of the air mixed into the spraying material, the supply device of the quick-setting agent, etc. (see FIG. 14). In FIG. 1, the second member 1-2 is slidable with respect to the first member 1-1, whereby the longitudinal dimension of the attachment 1 can be extended and contracted. And the plate-like member 2 is slidable in the longitudinal direction of the second member 1-2. By this sliding movement, the spraying nozzle 3 reciprocates in the longitudinal direction of the attachment 1 and passes through the same spraying position a plurality of times, for example, four times in the illustrated embodiment. Each time it passes through the same spraying position, one-fourth of the spraying amount to be sprayed in the spraying operation is jetted from the spraying nozzle 3.

[0022] Move the spraying nozzle 3 following the surface shape of the inclined surface F. When moving the spraying nozzle 3, extend and contract the attachment 1 in the longitudinal direction (axial direction) to move the plate-like member 2 in the longitudinal direction of the attachment 1, swing the attachment 1, move the spraying nozzle 3 along the plate-like member 2, rotate the plate-like member 2 with respect to the rotation center extending in the longitudinal direction of the attachment 1, or rotate the spraying nozzle 3. To move the spraying nozzle 3 by combining such a plurality of types of operations, the degree of freedom in the position of the spraying nozzle 3 and the spraying direction of the spraying material increases, and its control is performed with high precision. Since the degree of freedom when the spraying nozzle 3 moves increases, it is possible to move the spraying nozzle 3 following the surface shape of the inclined surface F with high precision. Therefore, even for an inclined surface with a rough (uneven) and complex shape, the spraying material jetted from the spraying nozzle 3 can be accurately sprayed onto the surface of the inclined surface F with a uniform thickness, and a spraying layer with a uniform thickness can be accurately formed on the surface of the inclined surface F.

[0023] Here, in order to measure the spraying thickness of the spraying material in each region of the inclined surface F, a marking target (not shown: for example, a black plastic marking target) is installed on the inclined surface to which the spraying method is to be applied. The height dimension of the marking target (not shown) from the construction inclined surface is set to be the same as the predetermined spraying thickness. During the spraying operation, if the marking target cannot be visually recognized in the video data created based on the measurement by the measuring device M, it can be confirmed that the predetermined spraying thickness has been reached. When the marking target is not used, it is possible to perform calculations by a conventionally known method by comparing an image immediately before spraying and an image immediately after spraying obtained by the measuring device (M) (see, for example, Patent Document 2). Furthermore, it is also possible to perform the spraying operation while confirming the spraying thickness by using the marking target and the calculation by the measuring device (M) in combination. In the illustrated embodiment, as the measuring device M, a commercially available measuring device that performs measurement by irradiating laser light can be used. In FIG. 1, the control device of the spraying machine 100 is, for example, an information processing device such as a control panel on the spraying machine side or a PC, but may also mean an operator who operates the control panel.

[0024] In the illustrated embodiment, as will be described with reference to FIGS. 14 to 21, prior to the nozzle movement step, there is a step of presetting the locus of the position (spraying position: spraying area) where the spraying material is sprayed from the spraying nozzle 3, and in the nozzle movement step, the locus of the position where the spraying material is sprayed from the spraying nozzle 3 (spraying locus) is controlled to be the same as the preset locus. For example, if the locus of the spraying position of the spraying material to be preset (set locus) is a locus (diagonal direction locus) extending in a direction inclined with respect to the horizontal plane of the construction slope surface as shown in FIG. 16 described later, it becomes possible to perform the spraying operation while moving the spraying position in the diagonal direction, which was impossible in the prior art. Alternatively, as shown in FIGS. 17(A) and 19(B) described later, for the trajectory of the spraying position of the preset spraying material (the set trajectory), in the spraying regions RA and RB, it has specific spraying start positions A1 and B1 (the starting points of the set trajectory) and spraying end positions A2 and B2 (the ending points of the set trajectory), and if the trajectory is set to be a continuous trajectory (a so-called "one-stroke" trajectory) where the area between the spraying start positions A1 and B1 and the spraying end positions A2 and B2 is continuous without interruption and without overlapping the same path, then only by setting the spraying start position (the starting point of the set trajectory) and the spraying end position (the ending point of the set trajectory) at the spraying operation site, for the specific range to which the spraying material should be sprayed, it is possible to execute the spraying operation by fully automatic control (regardless of the labor of the operator) in a manner where there is a uniform spraying thickness and no uncoated areas. In the nozzle movement process, the measurement device M acquires video data (e.g., 3D map) including the position information of individual regions (spraying positions, spraying areas) of the normal surface to which the spraying material should be sprayed, and by utilizing or referring to the video data, the spraying nozzle 3 can be moved to accurately follow the surface shape of the normal surface F, and while observing the state of spraying the spraying material, it is possible to execute the spraying operation.

[0025] The process of expanding and contracting the attachment 1 in the longitudinal direction is shown in FIG. 2. In FIG. 2, the attachment 1 has a first member 1-1 (vehicle side member) and a second member 1-2 (spraying nozzle side member) having a shape extending in the longitudinal direction. By sliding the second member 1-2 relative to the first member 1-1 in the direction of arrow S, the attachment 1 (the first member 1-1 and the second member 1-2) can expand and contract in the longitudinal direction. The attachment 1 has attachment-side connection means 4 near the vehicle-side end of the first member 1-1, and through the attachment-side connection means 4, the attachment 1 is configured to be attachable and / or detachable to / from the boom 31 of the vehicle 30. Figure 2 shows the state where the attachment 1 is fully extended, and the lower end of the second member 1-2 is located near the upper end of the first member 1-1. On the other hand, although not shown, in the contracted state where the attachment 1 is shortest, the upper end of the second member 1-2 is located near the upper end of the first member 1-1. In Figure 2, the length of the arrow S indicates the movement range 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.

[0026] In Figure 2, a plate-like member 2 that is slidable (movable) in the longitudinal direction of the second member 1-2 and extends in a direction (lateral direction) orthogonal to the longitudinal direction (see Figure 4) is attached to the second member 1-2 of the attachment 1. In Figure 2, the states where the single plate-like member 2 has moved to the uppermost position, the lowermost position, and the intermediate position between the uppermost and lowermost positions of the second member 1-2 are shown, but only one plate-like member 2 is provided, not three. Including the contracted state (not shown) where the attachment 1 is shortest, the movable range of the plate-like member 2 in the longitudinal direction of the attachment 1 is approximately twice or more the range of the three positions shown in Figure 2. As a mechanism for moving the plate-like member 2 in the longitudinal direction of the second member 1-2, a conventionally known mechanism can be used. A spraying nozzle 3 is attached to the plate-like member 2, and the spraying nozzle 3 is movable in the lateral direction (the direction perpendicular to the paper surface in Figure 2) along the plate-like member 2 (see Figures 4 and 5). In Figure 2, the supply hose for supplying the solidifying material (spraying material) to the spraying nozzle 3 is indicated by reference numeral 11.

[0027] The process of swinging the attachment 1 is shown in Figure 3. In FIG. 3, a vehicle-side swing member 8 for swinging the attachment 1 (the first member 1-1 thereof) is provided on the boom 31 of the vehicle 30. In FIG. 3, the attachment 1 is set to swing (see arrow A3) within a maximum range of 15° by the vehicle-side swing member 8. However, "maximum 15°" is an example, and the swing range in the direction of arrow A3 can be set to other angles. As the vehicle-side swing member 8 for swinging the attachment 1, a conventionally known mechanism can be used.

[0028] The process in which the spraying nozzle 3 slides (moves) along the plate-shaped member 2 is shown in FIG. 4. In FIG. 4, the spraying nozzle 3 slides (moves) along the plate-shaped member 2 in a direction (arrow A4 direction) perpendicular to the longitudinal direction of the attachment 1. In FIG. 4, a single spraying nozzle 3 is shown in a state of being located at both end positions and the central position in the longitudinal direction (arrow A4 direction) of the plate-shaped member 2. However, only one spraying nozzle 3 is provided, and it is not the case that three are provided. A supply hose 11 is connected to the spraying nozzle 3. The spraying nozzle 3 moves along the plate-shaped member 2 by the lateral movement member 5 shown in FIG. 5.

[0029] In FIG. 5, the lateral movement member 5 disposed on the plate-shaped member 2 has a pair of sprockets 5A, 5A, a chain 5B driven by the sprockets 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 to an angular pipe (not shown) attached to the plate-shaped member 2 via a rotating roller (not shown). And the spraying nozzle 3 is attached to the nozzle attachment member 5C. When moving the spraying nozzle 3 along the plate-shaped member 2, one of the pair of sprockets 5A is rotated forward or backward by a driving source (for example, a hydraulic motor not shown), and thereby the chain 5B travels left and right. Then, the spraying nozzle 3 together with the nozzle mounting member 5C fixed to the chain 5B moves in the left-right direction (arrow A5 in FIG. 5) of FIG. 5. Here, both the arrow A4 in FIG. 4 and the arrow A5 in FIG. 5 indicate the direction in which the spraying nozzle 3 moves in the longitudinal direction of the plate-shaped member 2 (the left-right direction in FIGS. 4 and 5). If an operator of the spraying machine 100 stops a hydraulic motor (not shown) by operation, the spraying nozzle 3 attached to the nozzle mounting member 5C stops and is fixed at an arbitrary position. In addition, in FIG. 5, the spraying nozzle 3 is arranged facing the direction perpendicular to the longitudinal direction of the plate-shaped member 2 (the direction perpendicular to the paper surface in FIG. 5), but as will be described later with reference to FIGS. 9 to 13, the spraying nozzle 3 can be rotated (including the cases of swinging and / or rotating).

[0030] FIG. 6 shows a rotation (arrow R1) about the rotation center axis C6 of the plate-shaped member 2. The rotation center axis C6 extends in the longitudinal direction of the second member 1-2 of the attachment 1. To prevent complexity in the drawing, the illustration of the nozzle 3 is omitted in FIG. 6. Note that the rotation center axis C6 can also be extended in a direction parallel to the longitudinal direction of the second member 1-2 of the attachment 1. The rotation of the plate-shaped member 2 is executed by the first rotation members 6 and 6-1, which will be described later with reference to FIGS. 7 and 8.

[0031] The first rotation member 6 schematically shown in FIG. 7 includes a telescopable first cylinder 6A and a second cylinder 6B. The first cylinder 6A connects the cylinder mounting portion 6C and the rotatable shaft fulcrum 2a on the plate-shaped member 2, and the second cylinder 6B connects the cylinder mounting portion 6C and the rotatable shaft fulcrum 2b on the plate-shaped member 2. When the expansion and contraction amounts of the first and second cylinders 6A and 6B are equal, the plate-like member 2 assumes the rotation position P1 shown by the solid line. When the first cylinder 6A is extended and the second cylinder 6B is contracted, the plate-like member 2 rotates (arrow R2) and, for example, assumes the rotation position P2 shown by the dashed line. By adjusting the expansion and contraction amount of the first cylinder 6A, the plate-like member 2 can be fixed at various positions. The rotation indicated by arrow R2 is one aspect of the rotation indicated by arrow R1 in FIG. 6.

[0032] In FIG. 8 showing a modification 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. 8) pivotally supports the plate-like member 2 via a plate-like member support portion 6-1A and an attachment portion 2c. The plate-like member support portion 6-1A is provided near the tip of the main body portion of the first rotating member 6-1, and the attachment portion 2c is provided on the attachment bracket 2A on the side of the plate-like member 2. The first rotating member 6-1 is provided with a telescopic cylinder 6-1B. The cylinder 6-1B connects the cylinder attachment portion 6-1C of the main body portion of the first rotating member 6-1 and the cylinder attachment portion 2d. The cylinder attachment portion 2d is provided on the attachment bracket 2A on the side of the plate-like member 2.

[0033] As shown in FIG. 8, the cylinder attachment portion 2d of the plate-like member 2 is offset from the attachment portion 2c (the plate-like member support portion 6-1A of the main body portion) provided on the attachment bracket 2A in the cylinder expansion and contraction direction of the cylinder attachment portion 6-1C. Therefore, when the cylinder 6-1B expands and contracts, the plate-like member 2 can be rotated (arrow R3). The rotation indicated by arrow R3 is also one aspect of the rotation indicated by arrow R1 in FIG. 6. For example, when the cylinder 6-1B is compressed as shown by the solid line, the plate-like member 2 can be set to the rotation position P3 shown by the solid line in FIG. 8. Alternatively, when the cylinder 6-1B is extended as shown by the dotted line, the plate-like member 2 can be set to the rotation position P4 shown by the dashed line in FIG. 8. By adjusting the expansion and contraction amount of the cylinder 6-1B, the plate-like member 2 can be fixed at various rotation positions.

[0034] Figure 9 shows the rotation (or oscillation) of the spraying nozzle 3. In Figure 9, the spraying nozzle 3 is movably provided on a plate-shaped member 2 (not shown) by an attachment mechanism 9, and rotates (including the cases of oscillation and / or rotation) as indicated by the arrow R4. In Figure 9, reference numeral 11 indicates a supply hose that supplies the solidifying material to the spraying nozzle 3. The spraying nozzle 3 is rotated by a second rotating member 7 (not shown in Figure 9), and the second rotating member 7 will be described with reference to Figures 10 to 13.

[0035] The second rotating member 7 shown in Figure 10 is an example of a mechanism for rotating the spraying nozzle 3. In Figure 10, in the second rotating member 7, a disk portion 7C rotates about a rotating shaft 7B provided on a main body portion 7A, and one end portion 7DA of a rod 7D is rotatably supported on the disk portion 7C. The other end portion 7DB of the rod 7D is connected to a connecting member 3D via a connecting member 7E in the vicinity of the base of the spraying nozzle 3. The connecting member 3D connects the spraying nozzle 3 and the supply hose 11. Although not clearly shown, the other end portion 7DB of the rod 7D is supported by the connecting member 7E so as to be movable, for example, in the vertical direction in Figure 11 but not movable in the horizontal direction. When the other end portion 7DB is supported in this way, when the disk portion 7C of the second rotating member 7 is rotated (arrow R5 in Figure 11), the rotation of the disk portion 7C is transmitted to the spraying nozzle 3 via the rod 7D, the connecting member 7E, and the connecting member 3D, and the spraying nozzle 3 oscillates as indicated by the arrow R6 in Figure 10, for example. The oscillation angle is, for example, 45° on one side. Note that by adjusting the position (positional relationship with the rotation center 7C1) of one end portion 7DA of the rod 7D on the disk portion 7C and fixing (supporting) the other end portion 7DB of the rod 7D rotatably with respect to the connecting member 7E, the tip of the spraying nozzle 3 can be rotated as indicated by the arrow R7 in Figure 10.

[0036] The mechanism for rotating the spraying nozzle 3 is not limited to the mechanism shown in FIGS. 10 and 11. For example, a mechanism as shown in FIG. 12 may also be used. FIG. 12 shows a modification 7-1 of the second rotating member which is the mechanism for rotating the spraying nozzle 3. In FIG. 12, the second rotating member 7-1 includes a first cylinder 7-1A and a second cylinder 7-1B that are telescopically movable. The first cylinder 7-1A connects the first cylinder mounting portion 7-1C and the mounting portion 3a on the bracket 3A on the spraying nozzle 3 side, and the second cylinder 7-1B connects the second cylinder mounting portion 7-1D and the mounting portion 3b on the bracket 3A on the spraying nozzle 3 side.

[0037] According to the amount of expansion and contraction of the first and second cylinders 7-1A and 7-1B, the spraying nozzle 3 rotates (swings) with respect to the rotation center 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 and 7-1B are made equal, the spraying nozzle 3 is held at the position of the solid line (position P5) in FIG. 12. When the first cylinder 7-1A contracts and the second cylinder 7-1B expands, the spraying nozzle 3 moves to the left (in FIG. 12) with respect to the swing center 3A and is located at the swing position (position P6) indicated by the dashed line. On the other hand, when the first cylinder 7-1A expands and the second cylinder 7-1B contracts, the spraying nozzle 3 moves to the right (in FIG. 12) with respect to the swing center 3A and becomes the swing position (position P7) indicated by the dashed line. And by adjusting the amounts of expansion and contraction of the first cylinder 7-1A and the second cylinder 7-1B, the spraying nozzle 3 can be set at various swing positions. In FIG. 12, the swing angle of the spraying nozzle 3 is, for example, 15° on one side (a total swing range of 30° on both sides).

[0038] Regarding the rotation of the spraying nozzle 3, in addition to the swinging as shown in FIGS. 10 to 12, it also includes the case where the tip of the spraying nozzle 3 is rotated so as to draw a small circle trajectory. FIG. 13 shows a second modification 7-2 of the second rotating member in which the tip of the spraying nozzle 3 is rotated so as to draw a small circle trajectory. In FIG. 13, for the second rotating member 7-2, a first disk portion 7-2C is rotatably supported by a rotating shaft 7-2B provided on a main body portion 7-2A, and a second disk portion 7-2D is rotatably supported by a shaft portion 7-2DA on the first disk portion 7-2C. The rotation center 7-2CA of the first disk portion 7-2C is offset with respect to the center (circular center point) of the first disk portion 7-2C. An end portion 7-2DB (the upper end in FIG. 13) of the second disk portion 7-2D is connected to a connecting member 7-2E, and a support member 3E of the spraying nozzle 3 is fixed to the connecting member 7-2E.

[0039] In FIG. 13, when the first disk portion 7-2C rotates about the rotation axis 7-2CA (arrow R9), the second disk portion 7-2D rotates eccentrically, and this eccentric rotation is transmitted to the spraying nozzle 3 via the connecting member 7-2E and the support member 3E, and the tip of the spraying nozzle 3 rotates so as to draw a small circle trajectory (arrow R12). By adjusting the offset amount of the rotation center 7-2CA of the first disk portion 7-2C, the shaft support position 7-2DA of the second disk portion 7-2D, etc., it is possible to adjust the rotation radius, etc. of the rotation R12 of the tip of the spraying nozzle 3. Note that, for simplicity of illustration and to make the explanation easier, in FIGS. 10 and 13, the display is in an upside-down state with respect to the actual machine.

[0040] Next, with reference to FIG. 14 which is a functional block diagram, the control device CU of the spraying machine 100 will be described. As described above, the control device CU of the spraying machine 100 has a function of presetting a trajectory (set trajectory, path) of a position where the spraying material is sprayed from the spraying nozzle 3 prior to the nozzle movement step, and in the nozzle movement step, controls so that the trajectory (trajectory of the spraying position, actual trajectory) of the position where the spraying material is sprayed from the spraying nozzle 3 becomes the same as the preset trajectory (path). Then, the control device CU has functions to execute the expansion and contraction of the longitudinal dimension of the attachment 1, the longitudinal movement of the second member 1-2 of the plate-like member 2, the movement of the spraying nozzle 3 in the longitudinal direction of the plate-like member 2, the rotation of the plate-like member 2, the rotation of the spraying nozzle 3, and the swing of the first member 1-1, and has a function to transmit control signals to members such as the attachment 1 and supply means such as spraying materials. In FIG. 14, the control device CU of the spraying machine 100 has a spraying area identification block B1, a trajectory setting block B10, a nozzle position adjustment block B2, a spraying amount check block B3, a spraying amount determination block B4, an air increase / decrease determination block B5, and a control signal generation block B6. Details of the nozzle position adjustment block B2 will be described later with reference to FIG. 15.

[0041] The spraying area identification block B1 has a function to acquire video data (e.g., 3D map) of the slope F or its individual areas (areas) to which the spraying material should be sprayed from the measuring device M via the signal line SL1. The video data includes position information of the spraying area (area). The spraying area identification block B1 has a function to identify the spraying position based on the acquired video data. When identifying the spraying position, conventionally known techniques can be adopted. The information on the spraying position identified by the spraying area identification block B1 is transmitted to the nozzle position adjustment block B2 via the signal line SL2.

[0042] An input device CU1 for inputting "information for setting the trajectory of the spraying position (information related to the setting of the trajectory)" is provided outside the control device CU prior to the spraying operation. The input device CU1 is composed of an information processing device such as a PC. Note that the input device CU1 is not shown in FIG. 1. Examples of "information regarding the setting of the trajectory of the spraying position" include, for example, the spraying range, the pattern of the trajectory, the spraying start position (starting point), the spraying end position (ending point), the spraying amount per unit time according to the required spraying thickness of the spraying material, the nozzle movement speed, and others. As the pattern of the trajectory, for example, there are a pattern in which the trajectory of the spraying position extends in an oblique direction shown in FIG. 16 described later, the pattern shown in FIG. 17(A), the patterns shown in FIGS. 18, 19(B), and 20, and others. The trajectory setting block B10 acquires, from the input device CU1 via the signal line SL13, the "information regarding the setting of the trajectory of the spraying position" previously input by the operator. And the trajectory setting block B10 has a function of presetting the trajectory of the position where the spraying material is sprayed based on the acquired "information regarding the setting of the trajectory of the spraying position". The setting of the trajectory of the spraying position will be described later with reference to FIGS. 17 to 20. The information on the trajectory of the position where the spraying material is sprayed set by the trajectory setting block B10 is transmitted to the nozzle position adjustment block B2 via the signal line SL14.

[0043] The nozzle position adjustment block B2 has a function of adjusting (controlling) so that the trajectory of the spraying position (the actual spraying trajectory) is the same as the preset trajectory based on the information on the trajectory of the spraying material spraying position set by the trajectory setting block B10 and the information on the spraying position specified by the spraying area specifying block B1. And it has a function of adjusting (controlling) to the optimal nozzle position for executing the spraying. Specifically, in order to adjust to the optimal nozzle position, it has a function of determining the operations and positions of each member such as the attachment 1 (the members shown in FIGS. 1 to 13) and transmitting a control signal to each member such as the attachment 1. The operations and positions of each member such as the attachment 1 are determined by each constituent block of the nozzle position adjustment block B2 (the attachment longitudinal direction position adjustment block B21 to the vehicle movement block B27 in FIG. 15) for each member. In the control by the nozzle position adjustment block B2 (and / or the spraying amount check block B3), the information on the spraying position obtained from the spraying area identification block B1 is used to check that the spraying thickness at the spraying position has reached a predetermined thickness, that is, to check the spraying situation at the spraying position and to determine whether it is necessary to perform further spraying at the spraying position.

[0044] Prior to the description of the spraying amount check block B3 to the control signal generation block B6 shown in FIG. 14, each functional block in the nozzle position adjustment block B2 (each component B21 to B27) shown in FIG. 15 will be described. In FIG. 15, the nozzle position adjustment block B2 includes a longitudinal position adjustment block B21 for the attachment, a swing angle adjustment block B22 for the attachment, a plate member position adjustment block B23, a lateral position adjustment block B24 for the nozzle, a rotation adjustment block B25 for the plate member, a rotation adjustment block B26 for the nozzle, and a vehicle movement block B27. The longitudinal position adjustment block B21 for the attachment slides (slides) the second member 1-2 of the attachment 1 on the first member 1-1 (in the direction of arrow S in FIG. 2), expands and contracts the attachment 1 (the first member 1-1 and the second member 1-2) in the longitudinal direction, and has a function of adjusting the longitudinal position of the attachment 1. By adjusting the longitudinal position of the attachment 1 (the second member 1-2), the longitudinal position of the plate member 2 (the spraying nozzle 3 thereon) attached to the second member 1-2 is adjusted.

[0045] The attachment swing angle adjustment block B22 operates the vehicle-side swing member 8 (Fig. 3) provided on the vehicle 30 to swing the first member 1-1 (and the second member 1-2 connected to the first member 1-2) (arrow A3 in Fig. 3) and has the function of adjusting its swing angle. The angle range for swinging the first member 1-1 is, for example, a maximum of 15° as shown in Fig. 3. However, the swinging angle range is not limited to 15°, and it can also be set to other angles. By adjusting the swing angle of the first member 1-1, the swing position of the spraying nozzle 3 on the plate-shaped member 2 (i.e., the second member 1-2), that is, how much the attachment 1 bends (or tilts) with respect to the boom 31 of the vehicle 30 can be adjusted.

[0046] As described above with reference to Figs. 2 and 4, a plate-shaped member 2 is attached to the second member 1-2 of the attachment 1. The plate-shaped member 2 is slidable (movable) in the longitudinal direction of the attachment 1 and extends in a direction (lateral direction) orthogonal to the longitudinal direction of the attachment 1 (see Fig. 4). In Fig. 15, the plate-shaped member position adjustment block B23 has the function of moving the plate-shaped member 2 in the longitudinal direction of the second member 1-2 (direction of arrow S in Fig. 2) and adjusting the position of the plate-shaped member 2 in the longitudinal direction of the attachment 1. Thereby, the longitudinal position of the spraying nozzle 3 attached to the plate-shaped member 2 with respect to the attachment 1 is also adjusted. As described above, the spraying nozzle 3 is attached to the plate-shaped member 2, and by operating the laterally moving member 5, the spraying nozzle 3 can be moved along the longitudinal direction of the plate-shaped member 2 (direction of arrow A4 in Fig. 4). The nozzle lateral position adjustment block B24 has the function of adjusting the position of the spraying nozzle 3 in the longitudinal direction of the plate-shaped member 2 when the spraying nozzle 3 is moved along the longitudinal direction of the plate-shaped member 2 as shown in Figs. 4 and 5.

[0047] In FIG. 15, as shown, the plate-shaped member rotation adjustment block B25 operates the first rotating member 6 or the first rotating member 6-1 to rotate the plate-shaped member 2 (arrows R1 to R3 in FIGS. 6 to 8) (including the cases of swinging and / or rotating) about the rotation center extending in the longitudinal direction of the attachment 1, adjusts the position of the plate-shaped member 2 in the rotation direction, and thus has the function of adjusting the rotation direction position of the spraying nozzle 3 (with respect to the rotation center extending in the longitudinal direction of the attachment 1). The nozzle rotation adjustment block B26 operates the second rotating members 7, 7-1 or 7-2 to rotate the spraying nozzle 3 (including the cases of swinging and / or rotating) and has the function of adjusting the position of the spraying nozzle 3 in the rotation direction. As described above, the spraying nozzle 3 is movably attached to the plate-shaped member 2 by the attachment mechanism 9 (see FIG. 9), and is rotated (including the cases of swinging and / or rotating) by operating the second rotating member 7, the second rotating member 7-1 or the second rotating member 7-2, thereby adjusting the rotation direction position of the spraying nozzle 3. Here, the rotation of the spraying nozzle 3 is as illustrated in FIGS. 10 to 13. For example, the swing indicated by arrow R6 in FIG. 10 (the swing angle is, for example, 45° on one side), the rotation indicated by arrow R7 in FIG. 10, the swing indicated by arrow R8 in FIG. 12 (the swing angle is, for example, 15° on one side), or the rotation indicated by arrow R12 in FIG. 13.

[0048] In FIG. 15, the vehicle movement block B27 has the function of moving the spraying machine 100 by the vehicle 30. When executing this function, the operator of the spraying machine 100 (and the vehicle 30) may drive, or alternatively, the vehicle 30 may be configured to perform automatic driving. The control signal for adjusting and determining the nozzle position adjusted by each functional block B21 to B27 constituting the nozzle position adjustment block B2 to the nozzle position that is the same as the locus of the spraying position set by the locus setting block B10 is transmitted to each target member (each member shown in FIGS. 1 to 13) such as the attachment 1 via the signal line SL3 (FIG. 14).

[0049] Again referring to FIG. 14, the nozzle position adjustment block B2 has a function of transmitting signals regarding the nozzle position and the moving speed for performing spraying in the spraying area to the control signal generation block B6 (FIG. 14) via the signal line SL4. In FIG. 14, the spraying amount check block B3 has a function of acquiring, via the signal line SL5, video data (e.g., a 3D map including the position information of the area) of individual areas of the slope surface where the spraying material should be sprayed from the measuring device M. Further, the spraying amount check block B3 has a function of checking the spraying status of the spraying area based on the acquired video data and checking whether it is necessary to perform further spraying in the spraying area. When checking whether further spraying is necessary, as described above with reference to FIG. 1, for example, when a mark target (a black plastic mark target) installed according to a predetermined (target) spraying thickness cannot be visually recognized on the slope surface F where the spraying method should be applied, it is determined that the thickness is the predetermined spraying thickness, and it is determined that further spraying is unnecessary. Alternatively, when checking whether further spraying is necessary, it can also be determined using the prior art based on the video data obtained by the measuring device M. The check result (the determination result of whether further spraying is necessary) by the spraying amount check block B3 is transmitted to the spraying amount determination block B4 via the signal line SL6.

[0050] In FIG. 14, the spraying amount determination block B4 has a function of acquiring information regarding the result of whether further spraying is necessary at the spraying position from the spraying amount check block B3, and also acquiring video data of the area of the slope surface where the spraying material should be sprayed, and determining the spraying amount. When determining the spraying amount, it is possible to perform calculations by the method according to the prior art by comparing the image immediately before spraying with the image immediately after spraying. Furthermore, the spraying amount can also be determined by using in combination the visual recognition status of the landmark and the above calculations. As a result of determining the spraying amount, any one of maintaining, increasing or decreasing the spraying amount, or setting the spraying amount to zero (stopping spraying) is determined (determination of the spraying amount). The information on the spraying amount determined by the spraying amount determination block B4 (determination of the spraying amount) is transmitted to the control signal generation block B6 via the signal line SL7.

[0051] As will be described later with reference to FIG. 22, the spraying material (solidifying material, concrete, etc.) pumped by the supply hose 11 (FIGS. 1, 22, etc.) and sprayed from the spraying nozzle 3 has a large slump value, and thus does not adhere to the slope F in its original state. Therefore, immediately before the spraying nozzle 3 in the spraying material supply system 20 sprays, air and a quick-setting agent are mixed into the spraying material and sprayed. By mixing the quick-setting agent, the material sprayed from the spraying nozzle 3 adheres to the slope and solidifies even if the slump value of the spraying material is large. In FIG. 14, the air increase / decrease determination block B5 acquires video data (including position information of the spraying position, etc.) of the spraying position (area) from the measuring device M via the signal line SL8, and based on the video data, determines whether it is necessary to mix air and a quick-setting agent into the spraying material, and has a function of determining the increase / decrease and the mixing amount of air and the quick-setting agent when it is necessary to mix air and a quick-setting agent. When determining whether it is necessary to mix air and a quick-setting agent into the spraying material, and / or when determining the increase / decrease and the mixing amount of the mixing amount when it is necessary to mix air and a quick-setting agent, the adhesion status of the spraying material at the spraying position is confirmed by the above video data (for example, 3D map) from the measuring device M, and it is executed based on the adhesion status. The determination result by the air increase / decrease determination block B5 (the determination result of whether to mix air and a quick-setting agent, the determination result of the increase / decrease and the mixing amount of the mixing amount when it is necessary to mix air and a quick-setting agent) is transmitted to the control signal generation block B6 via the signal line SL9.

[0052] As described above, the control signal generation block B6 receives signals regarding the nozzle position and moving speed for performing spraying in the spraying area from the nozzle position adjustment block B2, receives information on the spraying amount determined by the spraying amount determination block B4 (including information regarding spraying stop), and further receives determination results from the air increase / decrease determination block B5 (determination results on whether to mix air and the quick-setting agent, increase / decrease of the mixing amount and the determination result of the mixing amount when it is necessary to mix air and the quick-setting agent).

[0053] In FIG. 14, when the control signal generation block B6 receives a "signal regarding the nozzle position and moving speed for performing spraying in the spraying area" from the nozzle position adjustment block B2, it has a function of transmitting a control signal for the concrete pump 21 in the spraying material supply system 20 to the signal line SL10, taking into account the determination result of the spraying amount from the spraying amount determination block B4. The concrete pump 21 that receives the control signal supplies a predetermined amount (the amount determined by the spraying amount determination block B4) of spraying material (solidifying material) to the spraying nozzle 3 through the solidifying material pipe 11 (rubber hose). Also, when the control signal generation block B6 receives a "signal regarding the nozzle position and moving speed for performing spraying in the spraying area" from the nozzle position adjustment block B2, it has a function of transmitting a control signal to the concrete pump 21, transmitting a control signal for the air supply device 24 to the signal line SL11, and transmitting a control signal for operating the quick-setting agent supply device 25 to the signal line SL12. Although not clearly shown in the figure, the air supply device 24 is composed of, for example, a compressor.

[0054] In FIG. 14, based on the control signal from the control signal generation block B6, the air supply device 24 supplies a predetermined amount of air determined by the air increase / decrease determination block B5 through the air pipe 13 (rubber hose, see FIG. 22), and the quick-setting agent supply device 25 supplies a predetermined amount of quick-setting agent determined by the air increase / decrease determination block B5 through the quick-setting agent pipe 14 (rubber hose, see FIG. 22). 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 spraying material via the quick-setting agent ring 12 immediately before (immediately upstream side) the spraying nozzle 3 in the spraying material supply system 20, as will be described later with reference to FIG. 22.

[0055] Next, with reference to FIG. 16, the case where the locus of the spraying position (spraying locus, actual locus) from the spraying nozzle 3 extends in a direction inclined with respect to the horizontal plane of the construction surface (oblique direction) (when the spraying position moves in the oblique direction) will be described. The locus (oblique direction locus) shown in FIG. 16 is also an aspect of the "locus pattern". In FIG. 16, the horizontal direction on the construction surface is H, the vertical direction on the construction surface is V, the inclination angle θ of the direction in which the locus (where the spraying nozzle 3 moves) extends, the horizontal movement speed V of the spraying nozzle 3 on the construction surface X , the vertical movement speed V of the spraying nozzle 3 on the construction surface Y When this is the case, the following relationship holds. The inclination angle θ of the direction in which the locus extends = tan -1 (Vy / Vx) The vertical movement speed Vy of the spraying nozzle 3 = Vx tanθ The horizontal movement speed Vx of the spraying nozzle 3 = Vy / tanθ Therefore, by adjusting and controlling the horizontal movement speed Vx and the vertical movement speed Vy of the spraying nozzle 3, the inclination angle θ of the direction in which the locus extends can be adjusted and controlled. In other words, if any two of the parameters θ, Vx, and Vy are set, the remaining one parameter can be calculated by the above formula. The vertical movement speed Vy of the spraying nozzle is, for example, the movement speed of the plate-shaped member 2 with respect to the second member 1-2 of the attachment 2 (see FIG. 2), and the horizontal movement speed Vx is the movement speed of the spraying nozzle 3 with respect to the plate-shaped member 2 (see FIG. 4).

[0056] Next, referring to FIG. 17, a trajectory having a specific spraying start position (the starting point of the set trajectory) and a spraying end position (the ending point of the set trajectory), which is continuous without interruption and without overlapping the same path between the spraying start position and the spraying end position (so-called "drawing in one stroke") will be described. In FIG. 17(A), when covering the construction area αC with the spraying material, the spraying position moves from the spraying start position A1 along the path H12 in the horizontal direction (the left-right direction in FIG. 17(A)) to the position indicated by the reference sign A2. While the spraying position moves along the path H12 (the trajectory from A1 to A2), the range of the width W (the vertical width in FIG. 17(A)) along the path H12 is covered with the spraying material having a thickness t. Here, the reference sign W is the width dimension in the width direction of the spraying material that collides with the construction surface and spreads when the spraying material is ejected from the spraying nozzle 3. Here, if the spraying operation along the set trajectory is only performed once, the thickness t of the spraying material is made equal to or greater than the designed thickness of the spraying material covering layer in the construction area αC. On the other hand, if the spraying operation along the set trajectory is repeated a plurality of times (for example, 4 times), the thickness t of the spraying material sprayed in one time is, with respect to the designed thickness ct of the spraying material covering layer in the construction area αC, t ≧ (ct / number of repetitions of the operation), if the number of repetitions is 4 times, then t ≧ ct / 4.

[0057] When the spraying position by the spraying nozzle 3 reaches the position indicated by the reference sign A2 (the horizontal edge of the construction area αC), the spraying of the spraying material is temporarily stopped and the spraying nozzle 3 is moved by the distance L indicated by the reference sign L to the position indicated by the reference sign A3 below in the vertical direction in FIG. 17(A). That is, in the path V23 with the distance L between positions A2 and A3, the spraying of the spraying material is not performed. Here, the distance L of the path V23 (the moving distance of the spraying nozzle 3) is equal to or less than the width dimension W in the width direction of the spraying material that collides with the construction surface and spreads (L ≦ W). This is to prevent the occurrence of an area in the construction area αC that is not covered with the spraying material. If it reaches position A3, while restarting the spraying of the spraying material, move the spraying nozzle 3 horizontally (to the left in the left - right direction in Fig. 17(A)) to position A4 (move along path H34), and cover the area of width W with the spraying material by a thickness dimension t. If it reaches position A4, stop the spraying of the spraying material, and move downward along path V45 in the up - down direction in Fig. 17(A) by a distance L, and move to position A5.

[0058] If it reaches position A5, while restarting the spraying of the spraying material, move the spraying nozzle 3 horizontally (to the right in the left - right direction in Fig. 17(A)) along path H56 to the spraying end position A6, and cover the area of width W with the spraying material by a thickness dimension t. If it reaches position A6 and the spraying operation along the set trajectory is only once, the spraying operation of the construction area αC is completed. On the other hand, when repeating the spraying operation along the set trajectory a plurality of times (for example, 4 times), if the number of repetitions has not reached the predetermined number of times, return to the spraying start position A1 again, and spray the spraying material on the construction area αC while moving the spraying nozzle 3 along the trajectory of paths H12, V23, H34, V45, H56. The movement trajectory of the spraying nozzle 3 described with reference to Fig. 17(A) is as shown in Fig. 17(B).

[0059] In Fig. 17, the entire surface of the construction area αC, which is a partial area of the construction slope, is covered with the spraying material. However, in the illustrated embodiment, it can be applied to form the formwork. In Fig. 17, also spray the spraying material so as to cover the area of width W on paths V23 and V45, and if the vertical distance between the formworks is set to the dimension L in Fig. 17(A) for the moving distances on V23 and V45, when the spraying nozzle 3 moves from position A1 to A6 as shown in Fig. 17, in Fig. 18(A), the area shown with hatching is covered with the spraying material of width W and thickness t. Thereby, in Fig. 18(A), the formwork N1 of width W and thickness t shown with hatching is formed. And by appropriately setting the spraying start position A1, the formwork N shown in Fig. 18(A) is formed.

[0060] The frame N in FIG. 18(A) extends in the horizontal direction (the left - right direction in FIG. 18(A)) and the vertical direction (the up - down direction in FIG. 18(A)). However, as shown in FIG. 18(B), it is possible to form a frame that extends in an oblique direction. As described with reference to FIG. 16, if the moving direction of the spraying nozzle 3 is set to an oblique direction with respect to the horizontal direction or the vertical direction, the spraying material is set to be sprayed so as to cover the region of width W, and the moving distances in the paths V23 and V45 in FIG. 18 are set to the dimension L, then, as shown in FIG. 18(B), the frame N2 extends in an oblique direction.

[0061] In the trajectories shown in FIGS. 17 and 18, during following one trajectory, it is necessary to stop the spraying of the spraying material from the spraying nozzle 3 in the paths V23 and V45 that extend in the up - down direction of the paper surface. However, for the paths as shown in FIGS. 19 and 20, there is no need to stop the spraying of the spraying material during following one trajectory. In FIG. 19(A), the trajectory KA (the set trajectory) of the position where the spraying material is sprayed has a spraying start position A1 (the start point of the set trajectory) and a spraying end position A2 (the end point of the set trajectory). And, without interruption between the spraying start position A1 and the spraying end position A2 and without overlapping the same path, a continuous trajectory (a trajectory in one stroke) is drawn to uniformly cover the entire range RA (spraying region) where the spraying operation should be performed with the spraying material. Also, for the trajectory pattern shown in FIG. 20, the trajectory KB (the set trajectory) of the position where the spraying material is sprayed has a spraying start position B1 (the start point of the set trajectory) and a spraying end position B2 (the end point of the set trajectory), and it is continuous (draws a trajectory in one stroke) without interruption between the spraying start position B1 and the spraying end position B2 and without overlapping the same path. Thereby, the entire range RB (spraying region) where the spraying operation should be performed is uniformly covered with the spraying material.

[0062] In Fig. 19(A), the spraying position (the portion covered with the spraying material) where the spraying material is sprayed is approximately circular, and the radius of curvature W / 2 is half of the width W by which the spraying material spreads in Figs. 17 and 18. By determining the region RC where the spraying operation should be performed and setting the spraying start position A1, the spraying end position A2, and the distances L1 to L6, the locus KA of the spraying position can be determined. When setting the spraying start position A1, the spraying end position A2, and the distances L1 to L6, it is necessary to prevent a portion not covered by the spraying material from occurring in the region RC. In Fig. 19(A), if the distance L1 between the spraying start position A1 and the corner RA1 of the region RA is greater than W / 2, the spraying material will not reach the vicinity of the corner RA1. Therefore, when setting the distance L1 between the spraying start position A1 and the corner RA1 of the region RA, it is necessary to satisfy the condition L1 ≤ W / 2. Also, unless the distance L2 from the upper edge RAe of the region RA (see Fig. 19(B)) to the spraying position (locus KA) is W / 2 or less (L2 ≤ W / 2), a portion not covered by the spraying material will be formed in the vicinity of the upper edge RAe.

[0063] Regarding the turning position KAd of the locus KA, as shown in Fig. 19(B), if it is separated from the right edge RAr of the region RA by a distance W / 2, a portion VA2 not covered by the spraying material will be formed at the right corner RAre of the region RA. Therefore, the turning position KAd of the locus KA is preferably set so that the corners of the region RA are surely covered with the spraying material. For example, if the distance Ld (see Fig. 19(A)) from the right corner RAre of the region RA to the turning position KAd is W / 2 or less (Ld ≤ W / 2), the right corner RAre of the region RA will surely be covered with the spraying material. In that case, the spraying start position A1, and the distances L1 and L2 are also set so as to satisfy the condition Ld ≤ W / 2. Regarding the interval L4 in the horizontal direction of the paths in Figs. 19(A) and 19(B) on the locus KA, so that a portion not covered by the spraying material and the thickness dimension do not become less than a predetermined dimension, L4 ≤ W / 2 is set.

[0064] Regarding the spray end position A2 as well, similar to the spray start position A1, in FIG. 19(A), it is preferably set so that the distance L6 from the corner RAc of the region RA satisfies the condition of L6 ≦ W / 2. By setting it in this way, the trajectory of the spraying position draws a one-stroke-like trajectory as shown in FIG. 19(A), and the spraying material can be sprayed over the entire spraying region RA. Note that the radius of curvature W / 2 of the portion covered with the spraying material can be determined by determining the spraying amount per unit time and the nozzle moving speed according to the required spraying thickness of the spraying material.

[0065] In FIG. 19(A), the spray start position A1 (starting point) and the spray end position A2 (ending point) can be reversed from the illustration. For example, in FIG. 19(A), the trajectory moves from the left side to the right side at the top, and then moves from the right side to the left side directly below it. However, the positions of the spray start position A1 (starting point) and the spray end position A2 (ending point) may be changed. Also, the trajectory at the top may move from the right side to the left side, and the trajectory directly below it may move from the left side to the right side. Furthermore, as shown in FIG. 20, at the leftmost side in the spraying region RB, the spraying nozzle 3 can be moved from bottom to top, and on the right side of it, it can be moved from top to bottom. Or the positions of the spray start position B1 (starting point) and the spray end position B2 (ending point) may be changed. And it may be set to move from top to bottom at the leftmost side and from bottom to top on the right side of it. In FIG. 20, the distance L7 from the corner RB1 of the spraying region RB to the spray start position B1 is set to L7 ≦ W / 2, the width L8 between the paths is also set to L8 ≦ W / 2, the distance L9 between the turning position KBd and the lower edge RBe of the region RB (the same as the distance between the upper turning position and the upper edge) is also set to L9 ≦ W / 2, It is preferable that the distance L10 from the corner RB2 to the spray end position B2 is also set to L10 ≦ W / 2.

[0066] The procedure of the spraying method using the spraying machine 100 in the illustrated embodiment will be mainly described with reference to FIG. 21. In FIG. 21, in step S1, an area to which the spraying material is to be sprayed is specified. When specifying the spraying area, if it has already been determined at the start of construction, it is the determined area. When specifying the spraying area, it can also be specified based on the video data created by the measuring device M by the control device CU (FIG. 14) of the spraying machine 100. The specification of the spraying area is performed by the spraying area specification block B1 (FIG. 14) of the control device CU. In step S2, a trajectory (of the spraying position) for spraying the spraying material from the spraying nozzle 3 is set. The setting of the trajectory in step S2 is executed by the trajectory setting block B10 (FIG. 14) of the control device CU based on the "information regarding the setting of the trajectory of the spraying position" acquired from the input device CU1 (FIG. 14). The "information regarding the setting of the trajectory of the spraying position" is information input in advance by the operator, and includes the spraying range, the pattern of the trajectory (see FIGS. 16 to 20), the spraying start position (starting point), the spraying end position (ending point), the spraying amount per unit time according to the required spraying thickness of the spraying material, the nozzle moving speed, and others. Although not explicitly shown in FIG. 21, video data from the measuring device M (FIG. 1) can also be referred to when setting the trajectory.

[0067] In FIG. 21, in step S3, the position, moving speed, etc. of the spraying nozzle 3 are set (determined) so that the spraying operation is performed along the trajectory of the spraying position set in step S2. When setting the position, moving speed, etc. of the spraying nozzle 3 in step S3, each component block B21 to B27 of the nozzle position adjustment block B2 (FIGS. 14 and 15) is executed based on the trajectory of the spraying position (set trajectory) acquired from the trajectory setting block B10. In step S4, based on the fact that the position and moving speed of the spraying nozzle 3 in step S3 are determined to draw the same trajectory as the set trajectory of the spraying position and spraying is to be performed, spraying is executed along the trajectory of the spraying position set in step S2. When spraying in step S4, as described above with reference to FIGS. 14 and 15, when the control signal generation block B6 receives signals regarding the nozzle position and moving speed from the nozzle position adjustment block B2, it transmits control signals to the concrete pump 21, the air supply device 24, and the accelerator supply device 25 respectively. The concrete pump 21, the air supply device 24, and the accelerator supply device 25 that have received the control signals supply predetermined amounts of spraying materials (solidifying materials), air, and accelerators (determined by the spraying amount determination block B4 and the air increase / decrease determination block B5) to the solidifying material pipe 11, the air pipe 13, and the accelerator pipe 14 respectively, and the supplied air and agents are mixed into the spraying material immediately before injection from the spraying nozzle 3. The mixing of the air and the accelerator into the spraying material will be described in detail with reference to FIG. 22.

[0068] In FIG. 21, in step S5, the spraying thickness in the spraying area (spraying position, spraying location) is determined. Based on this determination result, the control of the concrete pump 21 that supplies the spraying material is executed. The determination of the spraying thickness in the spraying area is executed by the spraying amount check block B3 and the spraying amount determination block B4 based on the video data (for example, 3D map) of the spraying location (spraying area, spraying position). Based on the determination result of the spraying thickness in the spraying area and the like, the spraying amount determination block B4 determines the spraying amount (including the increase / decrease of the spraying amount and the spraying stop), and the control signal generation block B6 transmits a control signal to the concrete pump 21. The concrete pump 21 supplies the solidifying material to the spraying machine 100 based on the control signal. In step S6, the mixing amounts of the air and the accelerator mixed into the spraying material are controlled (including the increase / decrease of the mixing amount and the case where mixing is not required). When controlling the air amount and the accelerator amount, as described above with reference to FIG. 14, the air increase / decrease determination block B5 determines the mixing amounts of the air and the accelerator mixed into the spraying material based on the video data of the spraying location (including the determination of the increase / decrease or maintenance of the mixing amount and the determination of the mixing stop), and the control signal generation block B6 transmits control signals to the air supply device 24 and the accelerator supply device 25. Based on the control signal, the air supply device 24 and the quick-setting agent supply device 25 supply a determined amount of air and quick-setting agent, and the supplied air and quick-setting agent are mixed into the spraying material immediately before the injection from the spraying nozzle 3. Then, it proceeds to step S7.

[0069] In FIG. 21, in step S7, it is determined whether to end the spraying operation. This determination is made by the control device CU in consideration of the degree of achieving the spraying target, the planned working time, and others. In that case, the degree of achieving the spraying target, the planned working time, and other indicators are input in advance to the control device CU of the spraying machine 100, and the control device CU can automatically make the determination. However, for step S7, it is also possible for the operator of the spraying machine 100 to make the determination. In step S7, when the spraying operation ends (step S7 is "Yes"), the spraying operation ends ("End"), and when the spraying operation does not end (step S7 is "No": the spraying operation continues), it returns to step S1, and steps S1 and below are repeated. In FIG. 21, step S4 is shown to be executed prior to step S5 and step S6, but it is possible to execute step S4 after step S5 and step S6. Also, it is possible to execute step S4, step S5, and step S6 simultaneously.

[0070] Next, mainly referring to FIGS. 22 to 24, the spraying material supply system 20 in the illustrated embodiment will be described. In the illustrated embodiment, the solidifying material (such as concrete) pumped from the concrete pump 21 (see FIGS. 23 and 24) through the supply hose 11 and injected 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 original state, it does not adhere to the slope. Therefore, a quick-setting agent ring 12 is provided at the position immediately before the injection of the spraying nozzle 3 in the spraying material supply system 20, and air and the quick-setting agent are mixed into the solidifying material by the quick-setting agent ring 12 and then injected. By mixing the quick-setting agent, even if the slump value of the solidifying material is large, the material sprayed from the spraying nozzle 3 solidifies on the slope.

[0071] In FIG. 22, the spraying material supply system 20 includes a solidifying material pipe 11 (rubber hose) that supplies a solidifying material from a concrete pump 21 to a spraying nozzle 3, a quick-setting agent ring 12 arranged to connect (merge) with the solidifying material pipe 11 at a position adjacent to the upstream side of the spraying nozzle 3, an air pipe 13 (e.g., 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 pipe 14 (e.g., rubber hose) that supplies a 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 merging portion 12A that merges with the solidifying material pipe 11, a connection portion 12B with the air pipe 13, and a merging portion 12C with the quick-setting agent pipe 14. Air and a quick-setting agent are mixed into the solidifying material pumped from the concrete pump 21 through the solidifying material pipe 11 at the merging portion 12A of the quick-setting agent ring 12, and the solidifying material (spraying material) mixed with the air and the quick-setting agent is sprayed from the spraying nozzle 3 onto the construction surface.

[0072] In the illustrated embodiment, as shown in FIG. 2, the attachment 1 (the first member 1-1, the second member 1-2) expands and contracts. To absorb the difference in the longitudinal dimension between when the attachment is extended and when it is contracted, a highly flexible rubber hose 11 (solidifying material pipe) is used, and when the attachment contracts, the rubber hose 11 is loosened to cope with it. However, if the entire length of the rubber hose 11 with a large piping resistance is increased to cope with the extension of the attachment, the possibility of blockage inside the rubber hose 11 increases. Therefore, in the illustrated embodiment, as shown in FIG. 23, a concrete pump 21 (a pump for spraying solidified material) for pumping the sprayed material (solidified material) manufactured by the mixer truck 23 to a spraying nozzle 3 (not shown) through a rubber hose 11 is placed on a carriage 22. If the carriage 22 is moved to the vicinity of the construction site of the spraying method and the carriage 22 is moved to a position close to the spraying nozzle 3, the distance from the concrete pump 21 to the spraying nozzle 3 (the total length of the rubber hose 11) can be shortened, and thus, the risk of the solidified material solidifying and blocking inside the rubber hose 11 can be reduced. In this case, for example, as shown in FIG. 1, the vehicle 30 and the carriage 22 can be connected via a connecting rod 33. In the illustrated embodiment, as shown in FIG. 24, it is possible not to place the concrete pump 21 on the carriage 22. In that case, a plant for the solidified material (including the concrete mixer truck 23 and the concrete pump 21) will be provided in the vicinity of the construction site of the spraying method.

[0073] In the embodiment described with reference to FIGS. 1 to 24, when the place where the sprayed material is sprayed (for example, the slope F) is at a position lower than the highest reach point of the boom 31 provided on the vehicle 30, if the attachment 1 is attached, the spraying nozzle 3 will be at a position higher than the spraying place, making spraying difficult. When the place where the sprayed material should be sprayed is at a position lower than the highest reach point of the boom 31, as shown in FIG. 25, without attaching the attachment 1 to the boom 31 provided on the vehicle 30, the spraying nozzle 3 is attached to the tip on the side of the boom 31 opposite to the vehicle 30 (the tip on the highest reach point side) via a boom-side connecting member 32 to which the spraying nozzle 3 can be attached / detached, and the sprayed material is ejected from the spraying nozzle 3 while moving the boom 31. When the place where the sprayed material should be sprayed is at a position higher than the highest reach point of the boom 31, as described with reference to FIGS. 1 to 24, the attachment 1 is attached to the boom 31 to perform the spraying operation.

[0074] In the embodiment shown in Fig. 25, the nozzle 3 is fixed to the boom-side connecting member 32. However, as shown in Fig. 26, 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 (the left-right direction in Fig. 26: the direction of arrow A4). In order to make the nozzle 3 movable in the longitudinal direction of the plate-like member 2, for example, a configuration for executing the process described with reference to Fig. 4 can be adopted. In the embodiment shown in Fig. 26 (a modification of the embodiment shown in Fig. 25), when the place where the spraying material is sprayed is at a position lower than the highest reach point of the boom 31, not only the area near the boom-side connecting member 32 but also the place separated from the boom-side connecting member 32 in the longitudinal direction of the plate-like member 2 (the left-right direction in Fig. 26: the direction of arrow A4) can be sprayed with the spraying material.

[0075] It should be noted that the illustrated embodiments are merely examples and not a description intended to limit the technical scope of the present invention.

Explanation of Reference Numerals

[0076] 1 ··· Attachment 1-1 ··· First member (vehicle-side member) 1-2 ··· Second member (spraying nozzle-side member) 2 ··· Plate-like member 3 ··· Spraying nozzle 4 ··· Attachment-side connecting means 5 ··· Lateral movement member 6 ··· First rotating member 7 ··· Second rotating member 8 ··· Vehicle-side swinging member 11 ··· Rubber hose (pipe for solidifying material) 20 ··· Spraying material supply system 21 ··· Concrete pump (pump for spraying solidifying material) 22 ··· Cart 30 ··· Vehicle 31 ··· Boom 32 ··· Boom-side connecting member 100 ··· Spraying machine F ··· Slope Control device for a machine for spraying CU···

Claims

Claim 1 An attachment (1) having attachment-side connection means (4) for attaching to and / or removing from a boom (31) provided on a vehicle (30), and a control unit (CU), wherein the attachment (1) has a first member (1-1) and a second member (1-2) having the longest shape, and the second member (1-2) is configured to be telescopically extendable and retractable in the longitudinal direction by sliding on the first member (1-1), a plate-shaped member (2) movable in the longitudinal direction of the second member (1-2) and extending in a direction orthogonal to the longitudinal direction, a lateral movement member (5) for moving a spraying nozzle (3) to which a supply hose (11) is connected along the plate-shaped member (2), the lateral movement member (5) including a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spraying nozzle (3) is attached, and a drive source for rotating either one of the pair of sprockets (5A, 5A) forward or backward, a first rotation member (6) for rotating the plate-shaped member (2) about a rotation center extending in the longitudinal direction of the second member (1-2), the first rotation member (6) including a telescopically extendable first cylinder (6A) and a telescopically extendable second cylinder (6B), the first cylinder (6A) connecting a cylinder attachment portion (6C) to a first pivot point (2a) rotatable on the plate-shaped member (2), and the second cylinder (6B) connecting the cylinder attachment portion (6C) to a second pivot point (2b) rotatable on the plate-shaped member (2). It includes a second rotating member (7) for rotating the spraying nozzle (3), and the second rotating member (7) has a main body portion (7A), a rotating shaft (7B) provided on the main body portion 7A, a disk portion (7C) rotated by the rotating shaft (7B), and a rod (7D) having one end portion (7DA) rotatably supported on the disk portion (7C). The other end portion (7DB) of the rod (7D) on the side opposite to the disk portion (7C) is connected to a connecting member (3D) connecting the spraying nozzle (3) and the supply hose (11) via a connecting member (7E). The rotation of the disk portion (7C) is combined so as to be transmitted to the spraying nozzle (3) via the rod (7D), the connecting member (7E), and the connecting member (3D). The vehicle (30) is provided with a vehicle-side swinging member (8) for swinging the first member (1-1). The control device (CU) is The vertical direction on the construction slope is (V), the inclination angle (θ) of the direction in which the locus of movement of the spraying nozzle (3) extends with respect to the horizontal direction (H) on the construction slope, the horizontal movement speed (V X ) of the spraying nozzle (3) on the construction slope, and the vertical movement speed (V Y ) of the spraying nozzle (3) on the construction slope. Set any two parameters, and the relational expression θ = tan -1 (Vy / Vx) Vy = Vxtanθ Vx = Vy / tanθ has a function of calculating the remaining one parameter, or As a locus of the position where the spraying material is sprayed from the preset spraying nozzle (2), it has specific spraying start positions (A1, B1) and spraying end positions (A2, B2), and the locus is continuous without interruption and without overlapping the same path between the spraying start position and the spraying end position. A spraying machine characterized by having a function of setting the locus so that no area not covered with the spraying material is generated in the construction area (αC, N, N2, RA).

2. It includes an attachment (1) having attachment-side connection means (4) for attaching to and / or removing from a boom (31) provided on a vehicle (30) and a control device (CU). The attachment (1) is It has a first member (1-1) and a second member (1-2) having the longest shape, and is configured to be longitudinally expandable and contractible by sliding the second member (1-2) on the first member (1-1). A plate-like member (2) that is movable in the longitudinal direction of the second member (1-2) and extends in a direction orthogonal to the longitudinal direction; It includes a lateral movement member (5) for moving a spraying nozzle (3) to which a supply hose (11) is connected along the plate-like member (2). The lateral movement member (5) includes a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle mounting member (5C) fixed to the chain (5B) and to which the spraying nozzle (3) is attached, and has a drive source for rotating either one of the pair of sprockets (5A, 5A) forward or backward. It includes a first rotation member (6) for rotating the plate-like member (2) with respect to the rotation center extending in the longitudinal direction of the second member (1-2). The first rotation member (6) has a first rotation member (6-1) attached to the second member (1-2) and pivotally supporting the plate-like member (2) rotatably by a plate-like member support portion (6-1A) and a mounting portion (2c). The plate-like member support portion (6-1A) is provided near the tip of the first rotation member (6-1), and the mounting portion (2c) is provided on a mounting bracket (2A) of the plate-like member (2). The first rotation member (6-1) is provided with a telescopic cylinder (6-1B). The cylinder (6-1B) connects the cylinder mounting portion (6-1C) of the first rotation member (6-1) and the cylinder mounting portion (2d) provided on the mounting bracket (2A) of the plate-like member (2). By adjusting the expansion and contraction amount of the cylinder (6-1B), it is combined so as to fix the plate-like member (2) at a predetermined rotation position. It includes a second rotating member (7) that rotates the spraying nozzle (3), and the second rotating member (7) includes a main body part (7A), a rotating shaft (7B) provided on the main body part 7A, a disk part (7C) that rotates by the rotating shaft (7B), and a rod (7D) whose one end part (7DA) is rotatably supported by the disk part (7C). The other end part (7DB) of the rod (7D) on the side opposite to the disk part (7C) is connected to a connecting member (3D) that connects the spraying nozzle (3) and the supply hose (11) via a connecting member (7E). The rotation of the disk part (7C) is combined so as to be transmitted to the spraying nozzle (3) via the rod (7D), the connecting member (7E), and the connecting member (3D). The vehicle (30) is provided with a vehicle-side swinging member (8) that swings a first member (1-1). The control device (CU) is In the vertical direction (V) on the construction surface, the inclination angle (θ) of the direction in which the locus of movement of the spraying nozzle (3) extends with respect to the horizontal direction (H) on the construction surface, the horizontal movement speed (V X ) of the spraying nozzle (3) on the construction surface, and the vertical movement speed (V Y ) of the spraying nozzle (3) on the construction surface. Set any two parameters, and the relational expression θ = tan -1 (Vy / Vx) Vy = Vxtanθ Vx = Vy / tanθ It has a function of calculating the remaining one parameter, or As a locus of the position where the spraying material is sprayed from the preset spraying nozzle (2), it has specific spraying start positions (A1, B1) and spraying end positions (A2, B2), and the locus is continuous without interruption and without overlapping the same path between the spraying start position and the spraying end position. The spraying machine is characterized by having a function of setting the locus so that no area not covered with the spraying material occurs in the construction area (αC, N, N2, RA).

3. It includes an attachment (1) having attachment-side connection means (4) for attaching to and / or removing from a boom (31) provided on a vehicle (30) and a control device (CU). The attachment (1) is It has a first member (1-1) and a second member (1-2) having the longest shape, and is configured to be longitudinally expandable and contractible by sliding the second member (1-2) on the first member (1-1). a plate-like member (2) that is movable in the longitudinal direction of the second member (1-2) and extends in a direction orthogonal to the longitudinal direction, including a laterally moving member (5) that moves a spraying nozzle (3) to which a supply hose (11) is connected along the plate-like member (2). The laterally moving member (5) includes a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle mounting member (5C) fixed to the chain (5B) and to which the spraying nozzle (3) is attached, and a drive source that rotates either one of the pair of sprockets (5A, 5A) forward or backward. including a first rotating member (6) that rotates the plate-like member (2) about a rotation center extending in the longitudinal direction of the second member (1-2). The first rotating member (6) includes a telescopically extendable first cylinder (6A) and a telescopically extendable second cylinder (6B). The first cylinder (6A) connects a cylinder mounting portion (6C) and a first pivot point (2a) of the plate-like member (2) that is rotatable, and the second cylinder (6B) connects the cylinder mounting portion (6C) and a second pivot point (2b) of the plate-like member (2) that is rotatable. including a second rotating member (7-1) that rotates the spraying nozzle (3). The second rotating member (7-1) includes a telescopically extendable first cylinder (7-1A) and a second cylinder (7-1B). The first cylinder (7-1A) connects a first cylinder mounting portion (7-1C) and a mounting portion (3a) of the bracket (3A) of the spraying nozzle (3), and the second cylinder (7-1B) connects a second cylinder mounting portion (7-1D) and a mounting portion (3b) of the bracket (3A). By the extension and contraction of the first and second cylinders (7-1A, 7-1B), the spraying nozzle (3) rotates about a rotation center (3B). a vehicle-side swinging member (8) that swings the first member (1-1) is provided on the vehicle (30). The control device (CU) sets any two of the parameters of the vertical direction (V) on the construction slope surface, the inclination angle (θ) of the direction in which the locus of movement of the spraying nozzle (3) extends with respect to the horizontal direction (H) on the construction slope surface, the horizontal movement speed (V X ) of the spraying nozzle (3) on the construction slope surface, and the vertical movement speed (V Y ) of the spraying nozzle (3) on the construction slope surface, and the relational expression θ = tan⁻¹(Vy / Vx), Vy = Vx tanθ, Vx = Vy / tanθ it has a function to calculate the remaining one parameter, or As a locus of the position where the spraying material is sprayed from a preset spraying nozzle (2), it has specific spraying start positions (A1, B1) and spraying end positions (A2, B2), and a locus is set that is continuous without interruption and without overlapping the same path between the spraying start position and the spraying end position, and it has a function to set the locus so that no area not covered with the spraying material is generated in the construction area (αC, N, N2, RA). The spraying machine is characterized by this.

4. It includes an attachment (1) having attachment side connection means (4) for attaching to and / or removing from a boom (31) provided on a vehicle (30), and a control device (CU). The attachment (1) is It has a first member (1-1) and a second member (1-2) having the longest shape, and is configured to be longitudinally extensible by sliding the second member (1-2) on the first member (1-1). A plate-like member (2) that is movable in the longitudinal direction of the second member (1-2) and extends in a direction orthogonal to the longitudinal direction, It includes a lateral movement member (5) for moving a spraying nozzle (3) to which a supply hose (11) is connected along the plate-like member (2). The lateral movement member (5) includes a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spraying nozzle (3) is attached, and a drive source for rotating either one of the pair of sprockets (5A, 5A) forward or backward. A first rotating member (6) for rotating the plate-shaped member (2) with respect to the rotation center extending in the longitudinal direction of the second member (1-2) is included. The first rotating member (6) has a first rotating member (6-1) which is attached to the second member (1-2) and pivotally supports the plate-shaped member (2) rotatably by a plate-shaped member support portion (6-1A) and an attachment portion (2c). The plate-shaped member support portion (6-1A) is provided near the tip of the first rotating member (6-1), and the attachment portion (2c) is provided on an attachment bracket (2A) of the plate-shaped member (2). The first rotating member (6-1) is provided with a telescopic cylinder (6-1B). The cylinder (6-1B) connects a cylinder attachment portion (6-1C) of the first rotating member (6-1) and a cylinder attachment portion (2d) provided on the attachment bracket (2A) of the plate-shaped member (2). By adjusting the amount of expansion and contraction of the cylinder (6-1B), the plate-shaped member (2) is combined so as to be fixed at a predetermined rotation position. A second rotating member (7-1) for rotating the spraying nozzle (3) is included. The second rotating member (7-1) includes a telescopic first cylinder (7-1A) and a second cylinder (7-1B). The first cylinder (7-1A) connects a first cylinder attachment portion (7-1C) and an attachment portion (3a) on a bracket (3A) of the spraying nozzle (3). The second cylinder (7-1B) connects a second cylinder attachment portion (7-1D) and an attachment portion (3b) on the bracket (3A). By the expansion and contraction of the first and second cylinders (7-1A, 7-1B), the spraying nozzle (3) rotates with respect to the rotation center (3B). A vehicle-side swinging member (8) for swinging a first member (1-1) is provided on the vehicle (30). The control device (CU) Sets any two of the parameters: the vertical direction (V) on the construction method surface, the inclination angle (θ) of the direction in which the locus of movement of the spraying nozzle (3) extends with respect to the horizontal direction (H) on the construction method surface, the horizontal movement speed (Vx) of the spraying nozzle (3) on the horizontal direction of the construction method surface, and the vertical movement speed (Vy) of the spraying nozzle (3) on the vertical direction of the construction method surface, and the relational expression θ = tan -1 (Vy / Vx) Vy = Vx tan θ Vx = Vy / tan θ Has a function of calculating the remaining one parameter, or As a locus of a position for spraying a spraying material from a preset spraying nozzle (2), it has specific spraying start positions (A1, B1) and spraying end positions (A2, B2), and a locus is set that is continuous between the spraying start position and the spraying end position without interruption and without overlapping the same path, and has a function of setting the locus so that no area not covered with the spraying material occurs in the construction area (αC, N, N2, RA). A spraying machine characterized by that.

5. An attachment (1) having attachment-side connection means (4) for attaching to and / or removing from a boom (31) provided on a vehicle (30) and a control device (CU), The attachment (1) is, It has a first member (1-1) and a second member (1-2) having the longest shape, and is configured to be longitudinally extendable and contractible by sliding the second member (1-2) on the first member (1-1), A plate-like member (2) that is movable in the longitudinal direction of the second member (1-2) and extends in a direction orthogonal to the longitudinal direction, It includes a lateral movement member (5) for moving a spraying nozzle (3) to which a supply hose (11) is connected along the plate-like member (2). The lateral movement member (5) includes a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spraying nozzle (3) is attached, and has a drive source for rotating either one of the pair of sprockets (5A, 5A) forward or backward. It includes a first rotation member (6) for rotating the plate-like member (2) with respect to a rotation center extending in the longitudinal direction of the second member (1-2). The first rotation member (6) includes a first cylinder (6A) and a second cylinder (6B) that are extendable and contractible. The first cylinder (6A) connects a cylinder attachment portion (6C) and a first pivot point (2a) that is rotatable on the plate-like member (2), and the second cylinder (6B) connects the cylinder attachment portion (6C) and a second pivot point (2b) that is rotatable on the plate-like member (2). It includes a second rotating member (7-2) that rotates the spraying nozzle (3). The second rotating member (7-2) has a first disk portion (7-2C) rotatably supported on a rotating shaft (7-2B) provided on a main body portion (7-2A). A second disk portion (7-2D) is rotatably supported on the first disk portion (7-2C) by a shaft portion (7-2DA). The rotation center (7-2CA) of the first disk portion (7-2C) is offset with respect to the center (circular center point) of the first disk portion (7-2C). An end portion (7-2DB) of the second disk portion (7-2D) is connected to a connecting member (7-2E), and a support member (3E) of the spraying nozzle (3) is fixed to the connecting member (7-2E). Thus, when the first disk portion (7-2C) rotates about the rotation center (7-2CA), the second disk portion (7-2D) rotates eccentrically, and the tip of the spraying nozzle (3) to which the eccentric rotation is transmitted via the connecting member (7-2E) and the support member (3E) rotates in a circular locus. The vehicle (30) is provided with a vehicle-side swinging member (8) that swings a first member (1-1). The control device (CU) The vertical direction on the construction slope is (V), the inclination angle (θ) in the direction in which the locus along which the spraying nozzle (3) moves extends with respect to the horizontal direction (H) on the construction slope, the horizontal movement speed (V X ) of the spraying nozzle (3) on the horizontal plane of the construction slope, and the vertical movement speed (V Y ) of the spraying nozzle (3) on the vertical plane of the construction slope. By setting any two of the parameters, the relational expression θ = tan -1 (Vy / Vx) Vy = Vxtanθ Vx = Vy / tanθ has a function of calculating the remaining one parameter, or As a locus of the position where the spraying material is sprayed from a preset spraying nozzle (2), it has specific spraying start positions (A1, B1) and spraying end positions (A2, B2), and sets a locus that is continuous without interruption and without overlapping the same path between the spraying start position and the spraying end position, and has a function of setting the locus so that no area not covered with the spraying material occurs in the construction area (αC, N, N2, RA). A spraying machine characterized by this.

6. It includes an attachment (1) having attachment-side connection means (4) for attaching to and / or removing from a boom (31) provided on a vehicle (30) and a control device (CU). The attachment (1) is composed of a first member (1-1) and a second member (1-2) having the longest shape, and is configured to be longitudinally extendable and contractible by sliding the second member (1-2) on the first member (1-1). a plate-like member (2) that is movable in the longitudinal direction of the second member (1-2) and extends in a direction orthogonal to the longitudinal direction, including a laterally moving member (5) for moving a spraying nozzle (3) to which a supply hose (11) is connected along the plate-like member (2). The laterally moving member (5) includes a pair of sprockets (5A, 5A), a chain (5B) driven by the sprockets (5A, 5A), a nozzle attachment member (5C) fixed to the chain (5B) and to which the spraying nozzle (3) is attached, and a drive source for rotating either one of the pair of sprockets (5A, 5A) forward or backward. including a first rotating member (6) for rotating the plate-like member (2) with respect to the rotation center extending in the longitudinal direction of the second member (1-2). The first rotating member (6) has a first rotating member (6-1) attached to the second member (1-2) and pivotally supporting the plate-like member (2) rotatably by a plate-like member support portion (6-1A) and an attachment portion (2c). The plate-like member support portion (6-1A) is provided near the tip of the first rotating member (6-1), and the attachment portion (2c) is provided on an attachment bracket (2A) of the plate-like member (2). The first rotating member (6-1) is provided with a telescopic cylinder (6-1B). The cylinder (6-1B) connects a cylinder attachment portion (6-1C) of the first rotating member (6-1) and a cylinder attachment portion (2d) provided on the attachment bracket (2A) of the plate-like member (2). By adjusting the amount of expansion and contraction of the cylinder (6-1B), the plate-like member (2) is combined to be fixed at a predetermined rotation position. It includes a second rotating member (7-2) for rotating the spraying nozzle (3), and the second rotating member (7-2) has a first disk portion (7-2C) rotatably supported on a rotating shaft (7-2B) provided on a main body portion (7-2A). A second disk portion (7-2D) is rotatably supported on the first disk portion (7-2C) by a shaft portion (7-2DA). The rotation center (7-2CA) of the first disk portion (7-2C) is offset with respect to the center of the first disk portion (7-2C). An end portion (7-2DB) of the second disk portion (7-2D) is connected to a connecting member (7-2E), and a support member (3E) of the spraying nozzle (3) is fixed to the connecting member (7-2E). Thus, when the first disk portion (7-2C) rotates about the rotation center (7-2CA), the second disk portion (7-2D) rotates eccentrically, and the eccentricity rotation is transmitted through the connecting member (7-2E) and the support member (3E), causing the tip of the spraying nozzle (3) to rotate in a circular locus. The vehicle (30) is provided with a vehicle-side swinging member (8) for swinging a first member (1-1). The control device (CU) Sets any two of the parameters: the vertical direction (V) on the construction surface, the inclination angle (θ) of the direction in which the locus of movement of the spraying nozzle (3) extends with respect to the horizontal direction (H) on the construction surface, the horizontal movement speed (Vx) of the spraying nozzle (3) on the horizontal direction of the construction surface, and the vertical movement speed (Vy) of the spraying nozzle (3) on the vertical direction of the construction surface, and calculates the remaining parameter according to the relational expression θ = tan -1 (Vy / Vx), Vy = Vx tan θ, Vx = Vy / tan θ Or it has a function of calculating the remaining parameter according to the relational expression, or As a locus of the position where the spraying material is sprayed from a preset spraying nozzle (2), it has specific spraying start positions (A1, B1) and spraying end positions (A2, B2), and sets a locus that is continuous without interruption and without overlapping the same path between the spraying start position and the spraying end position, and has a function of setting the locus so that no area not covered with the spraying material occurs in the construction area (αC, N, N2, RA). The spraying machine is characterized by this. According to claim 7, when the spraying position is lower than the highest reach point of the boom (31) provided on the vehicle (30), the spraying nozzle (3) is directly attached to the tip of the boom (31) on the side opposite to the vehicle (30) without attaching the attachment (1) to the boom (31). Therefore, a boom-side connection member (32) for attaching / detaching the spraying nozzle (3) is provided at the tip of the boom (31) on the side opposite to the vehicle (30). The spraying machine according to any one of claims 1 to 6. According to claim 8, in the slope spraying method using the spraying machine according to any one of claims 1 to 6, it has a step of attaching an attachment (1) to a vehicle (30), the attachment (1) includes a plate-shaped member (2) that is movable in its longitudinal direction and extends in a direction orthogonal to the longitudinal direction, and a spraying nozzle (3) that is movable along the plate-shaped member (2), it has a nozzle movement step of moving the spraying nozzle (3) following the surface shape of the slope (F), in the nozzle movement step, it has a step of extending and contracting the attachment (1) in the longitudinal direction, a step of swinging the attachment (1), a step of moving the plate-shaped member (2) in the longitudinal direction of the attachment (1), a step of moving the spraying nozzle (3) along the plate-shaped member (2), a step of rotating the plate-shaped member (2) about the rotation center extending in the longitudinal direction of the attachment (1), and a step of rotating the spraying nozzle (3). By setting any two of the parameters of the vertical direction (V) on the construction slope, the inclination angle (θ) of the direction in which the locus of movement of the spraying nozzle (3) extends with respect to the horizontal direction (H) on the construction slope, the horizontal movement speed (Vx) of the spraying nozzle (3) on the construction slope in the horizontal direction, and the vertical movement speed (Vy) of the spraying nozzle (3) on the construction slope in the vertical direction, the relational expression θ = tan-1(Vy / Vx) Vy = Vx tanθ Vx = Vy / tanθ is used to calculate the remaining one parameter, or As a locus of a position for spraying a spraying material from a preset spraying nozzle (2), a locus having specific spraying start positions (A1, B1) and spraying end positions (A2, B2), and being continuous without interruption and without overlapping the same path between the spraying start position and the spraying end position is set, and the locus is set so that an area not covered with the spraying material does not occur in a construction area (αC, N, N2, RA). A slope spraying method characterized by this.

9. When the place for spraying the spraying material is at a position lower than the highest reach point of the boom (31) provided on the vehicle (30), without attaching the attachment (1), the spraying nozzle (3) is attached to the tip of the boom (31) provided on the vehicle (30) on the side opposite to the vehicle (30), and while moving the boom (31), the spraying material is sprayed from the spraying nozzle (3). The slope spraying method according to claim 8, wherein when the place for spraying the spraying material is at a position higher than the highest reach point of the boom (31) provided on the vehicle (30), the attachment (1) is attached to the tip of the boom (31) provided on the vehicle (30) on the side opposite to the vehicle (30).

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