Spraying system and method

Abstract

To provide a spraying system and a spraying method which can contribute to labor saving.SOLUTION: A system 10 sprays a spraying material to a member 12 to be sprayed and comprises: a spraying device 14 arranged at a position and a height away by a predetermined distance D from the member 12 to be sprayed; and control means 16 that generates control information for controlling the spraying device 14, on the basis of information showing a cross sectional shape of the member 12 to be sprayed preliminarily set, information showing the position of the member 12 to be sprayed from a reference position 32, information sowing the positional relation between the spraying device 14 and the member 12 to be sprayed, information showing a spraying range in the member 12 to be sprayed, and information showing a spraying order, and controls spraying operation by the spraying device 14 on the basis of the generated control information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a spraying system and a spraying method suitable for spraying fire-resistant covering materials onto steel frame members such as beams and columns of a building. [Background technology]

[0002] Traditionally, fireproof coating has been sprayed onto steel-framed buildings. However, this work can create a poor working environment due to the dust generated by the material, and in recent years, there have been problems such as a shortage of workers. Given these circumstances, there is a demand for mechanization of the spraying process and labor-saving measures.

[0003] A conventional spraying device for mechanizing spraying work and reducing labor is known, for example, from Patent Document 1. This spraying device has a manipulator consisting of multiple moving joints mounted on a carriage, a spray nozzle member attached to the terminal moving joint of the manipulator, a conduit for supplying material to the nozzle member formed inside the required moving joint, and an external conduit member connected to the conduit, and is equipped with a sensor for detecting the distance from the nozzle member to the object to be sprayed. In this device, the manipulator is operated based on the detection signal from the sensor, and the spraying work is carried out while controlling the distance. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 5-302429 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the spraying device of the above-mentioned conventional Patent Document 1 required the user to visually check the area to be sprayed and move the nozzle member to the most suitable position for spraying the material, which was a time-consuming operation. For this reason, there was a demand for technology that could reduce this time-consuming work and contribute to labor savings.

[0006] The present invention has been made in view of the above, and aims to provide a spraying system and a spraying method that can contribute to labor saving. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the objectives, the spraying system of the present invention is a system for spraying a spray material onto a member to be sprayed, and is characterized by having a spraying device that is positioned at a position and height a predetermined distance from the member to be sprayed, and a control means that generates control information for controlling the spraying device based on information indicating the pre-set cross-sectional shape of the member to be sprayed, information indicating the position of the member to be sprayed from a reference position, information indicating the positional relationship between the spraying device and the member to be sprayed, information indicating the spraying range on the member to be sprayed, and information indicating the spraying order, and controls the spraying operation of the spraying device based on the generated control information.

[0008] Another spraying system according to the present invention is characterized in that, in the above-mentioned invention, the member to be sprayed is a steel beam made of H-shaped steel, and the control means sprays the spraying material onto the surface of the web, the surfaces of the upper and lower flanges, and the end face of the steel beam in a predetermined spraying sequence that has been set in advance.

[0009] In addition, the spraying method of the present invention is a method of spraying a spray material onto a member to be sprayed, and is characterized by having the steps of: placing a spraying device at a position and height a predetermined distance away from the member to be sprayed; inputting information indicating the cross-sectional shape of the member to be sprayed, information indicating the position of the member to be sprayed from a reference position, information indicating the positional relationship between the spraying device and the member to be sprayed, information indicating the spraying range on the member to be sprayed, and information indicating the spraying order; generating control information for controlling the spraying device based on the input information; and controlling the spraying operation of the spraying device based on the generated control information and spraying the spray material onto the member to be sprayed.

[0010] Another spraying method according to the present invention is characterized in that, in the above-mentioned invention, the member to be sprayed is a steel beam made of H-shaped steel, and the spraying material is sprayed onto the surface of the web, the surfaces of the upper and lower flanges, and the end face of this steel beam in a predetermined spraying sequence that has been set in advance. [Effects of the Invention]

[0011] The spraying system of the present invention is a system for spraying a spray material onto a member to be sprayed, and includes a spraying device positioned at a position and height a predetermined distance from the member to be sprayed, and a control means that generates control information for controlling the spraying device based on predetermined information indicating the cross-sectional shape of the member to be sprayed, information indicating the position of the member to be sprayed from a reference position, information indicating the positional relationship between the spraying device and the member to be sprayed, information indicating the spraying range on the member to be sprayed, and information indicating the spraying order, and controls the spraying operation of the spraying device based on the generated control information.By inputting information indicating the cross-sectional shape of the member to be sprayed, etc., the system can easily spray the predetermined spraying range using the spraying device, thereby contributing to labor-saving spraying operations.

[0012] In addition, according to another spraying system of the present invention, the member to be sprayed is a steel beam made of H-shaped steel, and the control means sprays the spraying material onto the surface of the web, the surfaces of the upper and lower flanges, and the end face of the steel beam in a predetermined spraying sequence that has been set in advance, thereby achieving the effect of ensuring the application quality of spraying materials such as fire-resistant coating materials sprayed onto the steel beam.

[0013] Furthermore, a spraying method according to the present invention is a method for spraying a spray material onto a member to be sprayed, and includes the steps of: positioning a spraying device at a position and height a predetermined distance from the member to be sprayed; inputting information indicating the cross-sectional shape of the member to be sprayed, information indicating the position of the member to be sprayed from a reference position, information indicating the positional relationship between the spraying device and the member to be sprayed, information indicating the spray area on the member to be sprayed, and information indicating the spraying sequence; generating control information for controlling the spraying device based on the input information; and controlling the spraying operation of the spraying device based on the generated control information to spray the spray material onto the member to be sprayed. Therefore, by inputting information indicating the cross-sectional shape of the member to be sprayed, etc., spraying work on a predetermined spray area can be easily performed using the spraying device, thereby contributing to labor-saving in spraying work.

[0014] In addition, according to another spraying method of the present invention, the member to be sprayed is a steel beam made of H-shaped steel, and the spraying material is sprayed onto the surface of the web, the surfaces of the upper and lower flanges, and the end face of this steel beam in a predetermined spraying sequence, thereby achieving the effect of ensuring the application quality of spraying materials such as fire-resistant coating materials sprayed onto the steel beam. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 shows an embodiment of a spraying system and a spraying method according to the present invention, where (1) is a front view, (2) is a side cross-sectional view, and (3) is another side cross-sectional view. [Figure 2]2(1) to (3) are explanatory diagrams of the alignment of the steel beam and the robot, and FIG. 2(4) is an explanatory diagram of the method of specifying the spraying range. [Figure 3] FIG. 3 is an explanatory diagram of the spraying conditions, where (1) is the spraying sequence, (2) is the spraying pitch, and (3) is the spraying angle. [Figure 4] FIG. 4 is a diagram showing an image of the spraying operation. [Figure 5] FIG. 5 is a diagram showing an example of division of the spraying range. DETAILED DESCRIPTION OF THE INVENTION

[0016] The following describes in detail an embodiment of a spraying system and a spraying method according to the present invention, taking an example of automatic spraying onto a steel beam, with reference to the drawings. However, the present invention is not limited to this embodiment.

[0017] As shown in Figures 1(1) and (2), the spraying system 10 according to an embodiment of the present invention is a system for spraying a fire-resistant coating material (spraying material) onto steel beams 12 (sprayed components) inside a building, and is equipped with a spraying device 14 placed in front of the steel beams 12, and an operation terminal 16 (control means) for controlling the spraying operation by the spraying device 14.

[0018] The steel beam 12 is made of an H-shaped steel beam equipped with a web 18 and upper and lower flanges 20, 22. The longitudinal direction of the steel beam 12 is the horizontal left-right direction (X-axis direction), the normal direction of the surface of the web 18 is the horizontal front-back direction (Y-axis direction), and the normal direction of the surfaces of the upper and lower flanges 20, 22 is the up-down direction (Z-axis direction). The fire-resistant coating material sprayed onto the steel beam 12 is assumed to be sprayed rock wool fire-resistant coating material, but other materials may also be used.

[0019] The spraying device 14 is composed of a cart 24, a lifter 26 installed on the cart 24, a horizontal movement mechanism 28 installed on the lifter 26, and an articulated six-axis robot 30 mounted on the horizontal movement mechanism 28, and is placed at a position a predetermined distance D in the Y-axis direction from the steel beam 12. Note that the number of axes of the robot 30 is not limited to six.

[0020] The cart 24 supports the lifter 26 and has wheels 34 that enable it to travel on the floor surface 32. The cart 24 may be moved manually or remotely via the operation terminal 16 or the like. The lifter 26 is equipped with a pantograph mechanism 36 that can raise and lower its upper surface in the vertical direction (Z-axis direction). The pantograph mechanism 36 is driven to rise and lower by an actuator and a cam mechanism (not shown). The operation of the pantograph mechanism 36 is controlled by the operation terminal 16.

[0021] The horizontal movement mechanism 28 is a mechanism for moving the robot 30 in the left-right direction (X-axis direction) along the horizontal upper surface of the lifter 26, and includes an actuator (not shown), a guide fixed to the upper surface of the lifter 26 and extending in the left-right direction, and a stage that is provided so as to be movable in the left-right direction along the guide. By moving the stage along the guide with the actuator, the robot 30 fixed on the stage can be moved horizontally in the left-right direction. The operation of the horizontal movement mechanism 28 is controlled by the operation terminal 16.

[0022] As shown in FIG. 1(2), the robot 30 includes a base 38, a first joint 40, a base-end arm 42, a second joint 44, a first intermediate arm 46, a second intermediate arm 48, a third joint 50, and a distal arm 52, and these components 38 to 52 are connected in this order. The base 38 is installed on the upper surface of the stage of the horizontal movement mechanism 28. The first joint 40 is rotatable about a rotation axis C1 relative to the base 38. The base-end arm 42 is rotatable about a rotation axis C2 relative to the first joint 40. The first intermediate arm 46 is rotatable about a rotation axis C3 relative to the second joint 44. The second intermediate arm 48 is rotatable about a rotation axis C4 relative to the first intermediate arm 46. The distal arm 52 is rotatable about a rotation axis C5 relative to the third joint 50 and about a rotation axis C6. The movement and posture of the robot 30 are controlled by the operation terminal 16. The sprayable range (the range that the arm can reach) of the robot 39 alone is the area of ​​horizontal distance L in FIG. 1(1).

[0023] A nozzle device 54 having a nozzle for spraying fire-resistant coating material to the outside is detachably attached to the tip of the distal arm 52. A pipe (not shown) is connected to the base of the nozzle device 54 for supplying fire-resistant coating material from the outside to the nozzle device 54. In addition, a distance sensor (not shown) is attached to the distal arm 52. This distance sensor measures the distance between a predetermined point on the steel beam 12 and the distal arm 52 itself, and can be configured, for example, as a laser rangefinder that measures distance using laser light. The nozzle device 54 and the distance sensor can send and receive information to and from the operation terminal 16, and the operation of the nozzle device 54 and the distance sensor can be controlled by the operation terminal 16.

[0024] The operation terminal 16 is connected to the spraying device 14 via a wired or wireless communication line and is capable of transmitting control information to the spraying device 14 and receiving information transmitted by the spraying device 14. The operation terminal 16 can input information indicating the cross-sectional shape of the steel beam 12, information indicating the height position of the steel beam 12 from the floor surface 32 (reference position), information indicating the positional relationship between the spraying device 14 and the steel beam 12, information indicating the spraying range of the steel beam 12, and information indicating the spraying sequence. The operation terminal 16 generates control information for controlling the spraying device 14 based on the input information. The operation terminal 16 also controls the spraying operation of the spraying device 14 by transmitting the generated control information to the spraying device 14.

[0025] The operation and function of the above configuration will now be described. First, the cross-sectional shape of the steel beam 12 on which the spraying work is to be performed is input. Specifically, the dimensions (information) of the beam depth A, beam width B, and flange thickness t shown in Figures 1(1) and 1(2) are input to the operation terminal 16.

[0026] Next, the height H of the beam top from the floor surface 32 is input to the operation terminal 16, and the height (information) of the steel beam 12 from the floor is recognized by the system 10.

[0027] Next, the cart 24 is moved to position the spraying device 14 in front of the steel beam 12, and the cart 24 is fixed so that it cannot move relative to the floor surface 32. In this case, it is desirable to position it in an appropriate position obtained in advance by simulation. In the example of Figure 1 (2), it is positioned so that the horizontal distance D from the center line of the web 18 of the steel beam 12 to the center line of the base 38 of the robot 30 is 1300 mm.

[0028] Next, the height of the lifter 26 is adjusted to an appropriate height. In this case, it is desirable to adjust the height of the robot 30 on the lifter 26 using the operation terminal 16 so that it is the appropriate height obtained in advance by simulation. The example in Figures 1(1) and (2) shows the case where the robot is placed at a height h2.

[0029] Next, as shown in Figures 2(1) to 2(3), the steel beam 12 and the robot 30 are aligned. In this case, a distance sensor installed on the distal arm 52 of the robot 30 is used to manually measure the distance between itself and three different points (taught points) on the surface of the web 18, thereby obtaining the positional relationship between the surface of the web 18 and the robot 30. Specifically, as shown in Figure 2(1), three different points P1, P2, and P3 are set on the web 18. It is preferable to set P1 as the origin, P2 on the X-axis, and P3 on the Z-axis. The distances from a fixed position in the Y-axis direction to each of the three points are obtained using the distance sensor. Next, as shown in Figure 2(2), the obtained distances are sent to the operation terminal 16, and the operation terminal 16 determines the three-dimensional coordinates of the three points. The three-dimensional coordinates of the three points are calculated using the robot coordinates of the distance sensor. In this way, the positional relationship (information) between the surface of the web 18 and the robot 30 is obtained. Based on the obtained positional relationship, the operation terminal 16 performs coordinate conversion calculations to correct the robot coordinates. As a result, as shown in FIG. 2(3), the robot 30 is appropriately controlled from the operation terminal 16 using the corrected robot coordinates.

[0030] Next, the spraying area is specified. In this case, the robot 30 may be manually operated to specify the spraying area and input the information into the operation terminal 16, or the position (information) indicating the spraying area may be directly input on the operation screen of the operation terminal 16. In the case of manual operation, for example, the nozzle device 54 may be manually positioned in a position directly opposite three of the corner points of the rectangular spraying area, and the position coordinates and orientation of the nozzle device 54 at each position may be input into the operation terminal 16. Note that the example in Figure 2(4) shows a case where a rectangular spraying area R on the web 18 surface is specified by three points Q1, Q2, and Q3. The spraying area R may be set in an area horizontally inward from the beam end by a distance L0 and vertically inward from the top and bottom ends of the web by a distance H0. L0 and H0 can be set to approximately 200 mm, for example.

[0031] Next, based on the above information, control information for controlling the robot 30 is generated by the operation terminal 16. Various spraying conditions can be incorporated into the control information. Examples of the spraying conditions include the spraying sequence, spraying pitch, spraying accuracy, spraying speed, spraying distance (the distance between the steel beam 12 and the nozzle), and spraying angle (the nozzle jet angle relative to the steel beam 12).

[0032] As shown in Figure 3 (1), the spraying order can be divided into area R2, where spraying is performed when the height of the lifter 26 is high (h2), and area R1, where spraying is performed when the height of the lifter 26 is low (h1). Area R2 can be set, for example, to a spraying order of the surface of the web 18 → the lower surface of the upper flange 20 → the edge surface of the upper flange 20. Area R1 can be set, for example, to a spraying order of the lower surface of the lower flange 22 → the upper surface of the lower flange 22 → the edge surface of the lower flange 22. Note that the spraying order of the present invention is not limited to this, and any procedure can be set as appropriate.

[0033] The spraying pitch is the horizontal length S1 when spraying by moving the nozzle in a zigzag pattern both vertically and horizontally, as shown in Figure 3(2). This length may be adjustable, for example, between 50 and 150 mm. The vertical length S2 can be set appropriately based on the spraying range. The zigzag bends may be smooth curves (e.g., arcs). The radius of curvature of this arc may be adjustable with a spraying accuracy of, for example, about 50 mm. The spraying speed is the nozzle movement speed and can be set to an appropriate speed determined in advance through testing. The spraying distance may be set arbitrarily, for example, between 300 and 500 mm. As shown in Figure 3(3), the spraying angle from the nozzle is basically 90°, where the spray angle θ is directly facing the steel beam 12. However, the spraying angle may be varied at the start and end of the spraying range, which are located at both ends of the spraying range. In addition, the nozzle's position relative to the steel beam 12 may be continuously changed as it moves away from the center of the spraying range. It is preferable that the spray angle can be set appropriately by determining the finished shape in advance through testing, etc., and inputting any desired numerical value into the operation terminal.

[0034] Next, the generated control information is sent from the operation terminal 16 to the robot 30, causing the robot 30 to begin spraying. The robot 30 moves the nozzle device 54 attached to the distal arm 52 along a predetermined path while changing its posture in accordance with the control information. For example, as shown in FIG. 3(1), the spraying operation is performed in the following order: surface of the web 18 → underside of the upper flange 20 → edge surface of the upper flange 20. FIG. 4 shows an example of the movement path S3 of the nozzle device 54 around the web 18 and upper flange 20. The fire-resistant coating material is sprayed from the nozzle device 54 under predetermined spraying conditions, thereby spraying the fire-resistant coating material within the range that can be sprayed by the robot 30 alone.

[0035] After the work on the web 18 and the upper flange 20 is completed, the lifter 26 is lowered to a height h1 as shown in Figure 1 (3). Thereafter, the robot 30 performs spraying work on the area around the lower flange 22. In this case, for example, as shown in Figure 3 (1), the spraying work is performed in the order of the lower surface of the lower flange 22 → the upper surface of the lower flange 22 → the edge surface of the lower flange 22.

[0036] This completes the spraying work. If spraying work is to be performed on other steel beams 12, the cart 24 is moved to the next construction position and the same work as above is repeated. Signals indicating the start and end of the spraying work may be sent from the robot 30 to the operation terminal 16, and these signals may be sent to the nozzle device 54 (spraying material spraying device) to turn the spraying of the spraying material on and off.

[0037] According to this embodiment, by inputting information indicating the cross-sectional shape of the steel beam 12, spraying work can be easily performed on a predetermined spraying area using the spraying device 14. This contributes to labor savings in spraying work and improved productivity. It also reduces the need for work in dusty environments.

[0038] Furthermore, spraying the fire-resistant coating material in a predetermined spraying sequence ensures the quality of the fire-resistant coating. There is a risk that the fire-resistant coating material may peel off and fall off, especially on the underside of the bottom flange. However, according to this embodiment, the fire-resistant coating material is sprayed in a U-shape in cross section in the above-described spraying sequence to integrate the fire-resistant coating material around the bottom flange, thereby preventing the fire-resistant coating material from peeling off and falling off from the underside of the bottom flange.

[0039] It is possible to import CAD data or three-dimensional data information to achieve complete automation of spraying work, but in this embodiment, CAD data or the like is not required, and partial automatic spraying can be easily achieved by inputting information indicating the cross-sectional shape of the steel beam 12, etc.

[0040] In the above embodiment, the spraying work is performed without using the horizontal movement mechanism 28. However, the present invention is not limited to this, and the spraying work may be performed using the horizontal movement mechanism 28. FIG. 5(1) shows the division of the spraying area when the horizontal movement mechanism 28 is not used. FIG. 5(2) shows the division of the spraying area when the horizontal movement mechanism 28 is used. When the horizontal movement mechanism 28 is not used, as shown in FIG. 5(1), the operating range T1 of the robot 30 allows the robot 30 to continuously perform work in the spraying range U1 by itself without moving the carriage 24. After performing work in the left-side range U1, the carriage 24 is moved to the right to move the robot 30 to the adjacent right, and the right-side range U1 is sprayed. Note that the turning-around range V is sprayed by swinging the nozzle before and after the relocation.

[0041] In contrast, when the horizontal movement mechanism 28 is used, as shown in FIG. 5(2), in addition to the operational range T1 of the robot 30, an operational range T2 is created by the horizontal movement mechanism 28. The length ST of the operational range T2 depends on the movable range of the horizontal movement mechanism 28, but can be set to, for example, approximately 800 mm. This allows the robot 30 to continuously perform spraying in a range U1 by itself and a range U2 by the robot 30 working in cooperation with the horizontal movement mechanism 28 without moving the carriage 24. Therefore, compared to when the horizontal movement mechanism 28 is not used, continuous spraying can be performed over a wider range, improving work efficiency. Note that, as in the case of FIG. 5(1), after performing spraying in the left-hand ranges U1 and U2, the carriage 24 is moved to the right to move the robot 30 to the adjacent right, and spraying is performed in the right-hand ranges U1 and U2. The turning-around range V is sprayed by oscillating the nozzle before and after the relocation.

[0042] As described above, the spraying system of the present invention is a system for spraying a spray material onto a member to be sprayed, and includes a spraying device positioned at a position and height a predetermined distance from the member to be sprayed, and a control means that generates control information for controlling the spraying device based on predetermined information indicating the cross-sectional shape of the member to be sprayed, information indicating the position of the member to be sprayed from a reference position, information indicating the positional relationship between the spraying device and the member to be sprayed, information indicating the spraying range on the member to be sprayed, and information indicating the spraying order, and controls the spraying operation of the spraying device based on the generated control information.Therefore, by inputting information indicating the cross-sectional shape of the member to be sprayed, etc., spraying of the predetermined spraying range can be easily performed using the spraying device, thereby contributing to labor-saving spraying operations.

[0043] In addition, according to another spraying system of the present invention, the member to be sprayed is a steel beam made of H-shaped steel, and the control means sprays the spraying material onto the surface of the web, the surfaces of the upper and lower flanges, and the end face of the steel beam in a predetermined spraying sequence that has been set in advance, thereby ensuring the application quality of the spraying material, such as fire-resistant coating material, sprayed onto the steel beam.

[0044] Furthermore, a spraying method according to the present invention is a method for spraying a spray material onto a member to be sprayed, and includes the steps of: positioning a spraying device at a position and height a predetermined distance from the member to be sprayed; inputting information indicating the cross-sectional shape of the member to be sprayed, information indicating the position of the member to be sprayed from a reference position, information indicating the positional relationship between the spraying device and the member to be sprayed, information indicating the spray area on the member to be sprayed, and information indicating the spraying sequence; generating control information for controlling the spraying device based on the input information; and controlling the spraying operation of the spraying device based on the generated control information to spray the spray material onto the member to be sprayed. Therefore, by inputting information indicating the cross-sectional shape of the member to be sprayed, etc., spraying work can be easily performed using the spraying device to the predetermined spray area, thereby contributing to labor-saving spraying work.

[0045] In addition, according to another spraying method of the present invention, the member to be sprayed is a steel beam made of H-shaped steel, and the spraying material is sprayed onto the surface of the web, the surfaces of the upper and lower flanges, and the end face of this steel beam in a predetermined spraying sequence, thereby ensuring the application quality of the spraying material, such as fire-resistant coating material, sprayed onto the steel beam. [Industrial Applicability]

[0046] As described above, the spraying system and spraying method according to the present invention are useful for spraying fire-resistant coating materials onto steel frame members and the like, and are particularly suited to reducing the labor required for spraying work. [Explanation of symbols]

[0047] 10 Spraying System 12 Steel beam (sprayed member) 14 Spraying equipment 16 Operation terminal (control means) 18 Web 20 Upper flange 22 Lower flange 24 carts 26 Lifter 28 Horizontal movement mechanism 30 Robot 32 Floor surface (reference position) 34 wheels 36 Pantograph mechanism 38 Foundation 40 First joint 42 base arm 44 Second joint 46 First intermediate arm 48 Second intermediate arm 50 Third joint 52 distal arm 54 Nozzle device

Claims

1. A system for spraying a spray material onto a target member, a spraying device disposed at a position and height a predetermined distance from the target member; a distance sensor installed on the spraying device to align the sprayed member with the spraying device; a control means for generating control information for controlling the spraying device based on information indicating a cross-sectional shape of the member to be sprayed that has been set in advance, information indicating the position of the member to be sprayed from a reference position, information indicating the positional relationship between the spraying device and the member to be sprayed, information indicating the spraying range on the member to be sprayed, and information indicating the spraying order, and for controlling the spraying operation of the spraying device based on the generated control information; The sprayed member is a steel beam made of H-shaped steel, the control means sprays the spraying material onto the surface of the web, the surfaces of the upper and lower flanges, and the end face of the steel beam in a predetermined spraying sequence that has been set in advance; information indicating the positional relationship between the spraying device and the steel beam, which is the member to be sprayed, is set based on distances between the distance sensor itself and three different points on the surface of the web, which are manually measured using the distance sensor; A spraying system characterized in that the three points are set at an origin set on the surface of the web, a point separated from the origin in the horizontal left-right direction, which is the longitudinal direction of the steel beam, and a point separated from the origin in the vertical direction, which is the normal direction of the surfaces of the upper and lower flanges.

2. A method for spraying a spray material onto a target member, comprising: Positioning a spraying device at a position and height a predetermined distance from the member to be sprayed; a step of measuring the distance between the distance sensor itself and three different points on the surface of the sprayed member using a distance sensor installed in the spraying device, and acquiring information indicating the positional relationship between the spraying device and the sprayed member based on the measured distances; A step of inputting information indicating the cross-sectional shape of the member to be sprayed, information indicating the position of the member to be sprayed from a reference position, information indicating the positional relationship between the spraying device and the member to be sprayed, information indicating the spraying range on the member to be sprayed, and information indicating the spraying order; generating control information for controlling the spray device based on the input information; and controlling the spraying operation of the spraying device based on the generated control information, and spraying the spray material onto the sprayed member, The member to be sprayed is a steel beam made of H-shaped steel, and the spray material is sprayed onto the surface of the web, the surfaces of the upper and lower flanges, and the end face of the steel beam in a predetermined spraying sequence. information indicating the positional relationship between the spraying device and the steel beam, which is the member to be sprayed, is set based on distances between the distance sensor itself and three different points on the surface of the web, which are manually measured using the distance sensor; A spraying method characterized in that the three points are set at an origin set on the surface of the web, a point separated from the origin in the horizontal left-right direction, which is the longitudinal direction of the steel beam, and a point separated from the origin in the vertical direction, which is the normal direction of the surfaces of the upper and lower flanges.

Images