Spraying method and spraying system

Abstract

To provide a spraying method and a spraying system, which can realize an automatic spraying work by avoiding a specified area such as a sleeve.SOLUTION: A spraying method sprays a spraying material 20 ejected from a nozzle 14 mounted on a spraying device 12 to a sprayed object 16. The spraying method comprises: a step to set an exclusion area parameter indicating a position and a shape of a spray exclusion area S excluded from a spray area on the sprayed object 16; a step to set an operation parameter indicating a position, orientation, a moving path of the nozzle 14 with respect to the sprayed object 16 according to the set shape parameter and the set exclusion area parameter; and a step to spray the spraying material 20 to the sprayed object 16 while avoiding the spray exclusion area S by actuating the nozzle 14 according to the set operation parameter.SELECTED DRAWING: Figure 1

Description

Technical Field

[0005]

[0001] The present invention relates to a spraying method and a spraying system for performing a spraying operation of a fireproof coating material onto a steel structure member such as a beam or a column of a building, for example.

Background Art

[0002] Conventionally, a spraying device for spraying a fireproof coating material onto a steel structure member such as a beam or a column of a building has been known (see, for example, Patent Document 1). The spraying device of this Patent Document 1 includes a manipulator composed of a plurality of articulated joints installed on a trolley, a nozzle member provided at the tip thereof, and a sensor for measuring the distance from the nozzle member to the object to be sprayed. Based on the detection signal of the sensor, the manipulator is operated to control the position and orientation of the nozzle member, and the fireproof coating material sprayed from the nozzle member is sprayed onto the object to be sprayed such as a steel beam.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when performing the spraying operation onto a beam with a sleeve automatically using the above conventional spraying device, if the nozzle member is simply moved along a rectangular wave-shaped locus along the web surface and the fireproof coating material is sprayed, there is a problem that the material sprayed at the position of the sleeve (opening) formed on the beam web surface is wasted. Therefore, a technique capable of realizing an automatic spraying operation in a form that avoids a predetermined part such as a sleeve has been demanded.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a spraying method and a spraying system capable of realizing an automatic spraying operation in a form that avoids a predetermined part such as a sleeve. [Means for solving the problem]

[0006] To solve the above-mentioned problems and achieve the objective, the spraying method according to the present invention is a method for spraying a spraying material ejected from a nozzle provided in a spraying device onto an object to be sprayed, characterized by comprising the steps of: setting a shape parameter indicating the surface shape of the object to be sprayed; setting an exclusion area parameter indicating the position and shape of an exclusion area to be excluded from the spraying area on the object to be sprayed; setting an operation parameter indicating the position, orientation and movement path of the nozzle relative to the object to be sprayed according to the set shape parameter and exclusion area parameter; and operating the nozzle according to the set operation parameter to spray the spraying material onto the object to be sprayed while avoiding the exclusion area.

[0007] Furthermore, another spraying method according to the present invention is characterized in that, in the above-described invention, the object to be sprayed is a steel frame member, the area excluded from spraying is a sleeve provided on the steel frame member, and the spraying material is a fire-resistant coating material.

[0008] Furthermore, the spraying system according to the present invention is a system for spraying a spraying material emitted from a nozzle provided in a spraying device onto an object to be sprayed, and is characterized by having a setting means for setting a shape parameter indicating the surface shape of the object to be sprayed and an exclusion area parameter indicating the position and shape of an exclusion area to be excluded from the spraying area on the object to be sprayed, and an operation parameter indicating the position, orientation and movement path of the nozzle relative to the object to be sprayed according to the set shape parameter and exclusion area parameter, and a control means for operating the nozzle according to the set operation parameter to spray the spraying material onto the object to be sprayed while avoiding the exclusion area.

[0009] Furthermore, another spraying system according to the present invention is characterized in that, in the above-described invention, the object to be sprayed is a steel frame member, the area excluded from spraying is a sleeve provided on the steel frame member, and the spraying material is a fire-resistant coating material. [Effects of the Invention]

[0010] The spraying method according to the present invention is a method for spraying a spraying material emitted from a nozzle provided in a spraying device onto an object to be sprayed, and includes the steps of: setting a shape parameter indicating the surface shape of the object to be sprayed; setting an exclusion area parameter indicating the position and shape of an exclusion area to be excluded from the spraying area on the object to be sprayed; setting an operation parameter indicating the position, orientation and movement path of the nozzle relative to the object to be sprayed according to the set shape parameter and exclusion area parameter; and operating the nozzle according to the set operation parameter to spray the spraying material onto the object to be sprayed while avoiding the exclusion area. Therefore, it has the effect of realizing automatic spraying work in a manner that avoids the exclusion area.

[0011] Furthermore, according to another spraying method of the present invention, the object to be sprayed is a steel frame member, the area excluded from spraying is a sleeve provided on the steel frame member, and the spraying material is a fire-resistant coating material, thus providing the effect of realizing automatic spraying of fire-resistant coating material onto steel beams with sleeves and the like.

[0012] Furthermore, the spraying system according to the present invention is a system that sprays a spraying material emitted from a nozzle provided in a spraying device onto an object to be sprayed, and includes a setting means that sets a shape parameter indicating the surface shape of the object to be sprayed and an exclusion area parameter indicating the position and shape of an exclusion area on the object to be sprayed that is excluded from the spraying area, as well as an operation means that sets an operation parameter indicating the position, orientation and movement path of the nozzle relative to the object to be sprayed according to the set shape parameter and exclusion area parameter, and a control means that sprays the spraying material onto the object to be sprayed while avoiding the exclusion area by operating the nozzle according to the set operation parameter, thereby achieving the effect of realizing automatic spraying work in a manner that avoids the exclusion area.

[0013] Furthermore, according to another spraying system of the present invention, the object to be sprayed is a steel frame member, the area excluded from spraying is a sleeve provided on the steel frame member, and the spraying material is a fire-resistant coating material, thus achieving the effect of realizing automatic spraying of fire-resistant coating material onto steel beams with sleeves and the like. [Brief explanation of the drawing]

[0014] [Figure 1] Figure 1 is an explanatory diagram of an embodiment of the spraying method and spraying system according to the present invention, where (1) is an explanatory diagram of the positional relationship between the spraying surface and the nozzle, (2) is a schematic perspective view, and (3) is a beam side view. [Figure 2] Figure 2(1) is a list of parameters for this embodiment, (2) is a side view of the beam showing the nozzle's movement path, and (3) is a cross-sectional view of the beam. [Figure 3] Figure 3 is an explanatory diagram of the operation from the starting side to the left end of the sleeve according to this embodiment, where (1) is when the nozzle is at the left end branching point, (2) is spraying operation L1, and (3) is spraying operation L2. [Figure 4] Figure 4 is an explanatory diagram of the operation of the right end of the sleeve according to this embodiment, where (1) is when the nozzle is at the right end branching point, (2) is spray operation R1, and (3) is spray operation R2. [Figure 5] Figure 5 is an explanatory diagram of the operation of the sleeve from the right end to the left end to the sleeve edge according to this embodiment, where (1) is spraying operation C1, (2) is spraying operation C2, and (3) is spraying operation C3. [Modes for carrying out the invention]

[0015] Embodiments of the spraying method and spraying system according to the present invention will be described in detail below with reference to the drawings. However, the present invention is not limited to these embodiments.

[0016] As shown in Figure 1(1), the spraying system 10 according to an embodiment of the present invention sprays fire-resistant coating material 20 (spraying material) from a nozzle 14 provided in the spraying device 12 onto the spraying surface 18 of the steel beam 16 (object to be sprayed), while avoiding the sleeve S (spray exclusion area). In this embodiment, the steel beam is an H-shaped steel with an H-shaped cross section, and as shown in Figure 1(3), multiple circular sleeves are arranged on its web surface at intervals in the beam axis direction, and the spraying material is a fire-resistant coating material such as sprayed rock wool. However, the present invention is not limited to these examples. Furthermore, the beam axis direction (horizontal direction) is defined as the X-axis direction, the horizontal direction perpendicular to the X-axis is defined as the Y-axis direction, and the height direction perpendicular to the X-axis is defined as the Z-axis direction.

[0017] The spraying device 12 comprises a manipulator mounted on a trolley (not shown), a control unit 22 for controlling its own movement, and a setting unit 24 for setting and inputting parameter data. The trolley is movably positioned on the floor near the steel beam 16, and the manipulator has multiple movable joints, an arm, and actuators for driving them, and is mounted to be movable in the vertical, horizontal, and forward / backward directions relative to the trolley. The arm can assume any posture. The nozzle 14 is mounted to be swivelable relative to the tip of the arm, as shown in Figure 1(2). A distance sensor, an angle sensor, and a speed sensor (not shown) are provided near the nozzle 14. As the spraying device 12, for example, the device described in Patent Document 1 can be used.

[0018] The distance sensor is a sensor that measures the distance between the nozzle 14 and the spraying surface 18, and for example, a pair of them are arranged so as to sandwich the cylinder tip axis of the nozzle 14. The distance sensor can use, for example, a non-contact sensor using laser light. In this case, the distance sensor irradiates laser light forward and measures the distance to the spraying surface 18 by receiving the laser light reflected by the spraying surface 18. The angle sensor is a sensor that detects the cylinder tip angle of the nozzle 14 with respect to a reference direction (for example, the horizontal direction), and can be constituted by, for example, a gyro sensor or the like. The speed sensor is a sensor that detects the speed at which the nozzle 14 moves, and can be constituted by, for example, a three-axis acceleration sensor or the like. This speed sensor can detect the speed by performing calculations based on the detected acceleration.

[0019] The control unit 22 is control means that controls the operation of the manipulator based on detection signals from the distance sensor, angle sensor, speed sensor, etc. and parameter data set by the setting unit 24. For example, it is arranged on the carriage of the spraying device 12. This control unit 22 generates control data from the parameter data and controls the operation of the manipulator using the detection signals of each sensor and the control data. Through this operation control, the position, orientation, movement path, movement speed, spraying timing of the refractory coating material 20, etc. of the nozzle 14 are operated, the refractory coating material 20 is sprayed from the nozzle 14, and it is sprayed onto the spraying surface 18 in a form that avoids the sleeve S. The specific control content for spraying in a form that avoids the sleeve S will be described later.

[0020] The setting unit 24 is setting means for setting and inputting parameter data. For example, it is arranged on the carriage of the spraying device 12. The setting unit 24 can be constituted by, for example, a table-form setting input field 26 displayed on the screen of a computer or the like as shown in Fig. 2(1), and a keyboard, mouse, etc. (not shown) for inputting setting values into this setting input field 26. The parameter data are items of beam information parameters and items of spraying parameters (operation parameters).

[0021] As shown in Fig. 1(1), the items of the beam information parameters include the shape parameter items related to the surface shape of the steel beam 16, such as the beam type, flange width, flange thickness, beam top height from the floor to the beam top end, and the spraying range in the beam axis direction, etc., and are set to generate the trajectory of the nozzle 14.

[0022] The items of the spraying parameters consist of basic setting items, path setting items related to the path (moving route), and sleeve setting items related to the spraying operation around the sleeve. The basic setting items include the operation parameter items such as the angle (direction) formed by the nozzle 14 with respect to the web surface, the distance (position) of the nozzle 14 from the web surface, the moving speed, acceleration, and deceleration of the nozzle 14. As shown in Fig. 2(2) and (3), the path setting items are the setting items related to the path when moving the nozzle 14 along the web surface in a rectangular wave-like trajectory. Each path extends in the Z direction and the paths are separated in the X direction. The path setting items include, for example, the position and starting point (node) of the first path, the pitch e which is the distance in the X direction between adjacent paths, the number of paths f which is the number of paths, the path length g, and the accuracy i related to the smoothness near the path turning point, etc., which are operation parameter items.

[0023] In addition, in this embodiment, as shown in Fig. 2(3), it is assumed that in each path, the nozzle 14 moves from node 0 on the upper surface of the lower flange to nodes 1 to 4 in the Z direction on the web surface in sequence. When setting the operation (such as the angle) of the nozzle 14 to change at each node 0 to 4, it is desirable that no node is located within the range of the sleeve S. In this case, for example, the distance h1 from the upper surface of the lower flange to node 2 may be set to be smaller than the distance H1 from the upper surface of the lower flange to the lower end of the sleeve S. Also, the distance h3 from the lower surface of the upper flange to node 3 may be set to be smaller than the distance H3 from the lower surface of the upper flange to the upper end of the sleeve S.

[0024] As shown in Figure 2(1), the sleeve setting items include the number of sleeves, sleeve pitch, sleeve core height, sleeve diameter, fold reference α, fold margin β, sleeve relief amount, the speed at which the nozzle 14 sprays around the sleeve, the speed at which it crosses the center of the sleeve in the X direction, the spraying angle at which it sprays around the sleeve, and the number of sprays at which it sprays around the sleeve. The number of sleeves, sleeve pitch, sleeve core height, and sleeve diameter correspond to exclusion area parameters that indicate the position and shape of sleeve S. The fold reference α, fold margin β, sleeve relief amount, speed at which it sprays the sleeve, the speed at which it crosses the center of the sleeve, the spraying angle at which it sprays the sleeve, and the number of sprays at which it sprays correspond to the operation parameters related to the periphery of sleeve S.

[0025] The operation and function of the above configuration will be explained. First, the spraying device 12 is placed on the floor near the steel beam 16. Next, the setting unit 24 is used to input beam information parameters related to the steel beam 16 and spraying parameters, and the parameter data is set. This makes it easy to set the movement path of the nozzle 14 for automatic spraying work. It is desirable to obtain the left end position of each sleeve S immediately before the spraying operation. In this case, for example, the nozzle 14 is placed at the sleeve core height position, and the distance is detected by the distance sensor while moving the nozzle 14 in the X direction over the spraying area. The left end position of each sleeve S in the spraying area is detected by taking advantage of the fact that the detected value changes abruptly at the left edge of the sleeve S. The right end position of the sleeve S can be obtained by adding the sleeve diameter to the left end position. The left end position and right end position of the sleeve S are used when determining the sleeve range. The sleeve range is the range of the web surface from the left end to the right end of the sleeve.

[0026] When parameter data is set, the control unit 22 generates control data and controls the operation of the manipulator of the spraying device 12 based on the detection signals of each sensor and the control data. As a result, the nozzle 14 is arranged at a preset start position from the spraying surface 18 of the steel frame beam 16. The start position can be set, for example, at the lower left side of the web surface in Fig. 2(2) or at the upper left side of the web surface in Fig. 3(1). After adjusting the nozzle angle and distance with respect to the spraying surface 18, the refractory coating material is sprayed from the nozzle 14 to start the spraying operation, and the nozzle 14 is moved in a rectangular wave shape along the set path. The spraying operation around the sleeve S is executed, for example, as follows considering sleeve setting items and the like.

[0027] (Spraying operation from the start side to the left end of the sleeve) As shown in Fig. 3(1), when the nozzle 14 moving along the path on the left side of the sleeve S reaches the branch point at the left end of the sleeve range, the spraying operation is changed according to the relationship between the pitch e and a of the path. Here, the left end branch point is the upstream point (node) closest to the sleeve S among the first paths within the sleeve range. a is the distance in the X direction between the left end branch point and the left end of the sleeve. In this embodiment, α with a value in the range of 0 to 1 is provided, and e×α is used as the criterion for the folding operation. When e×α≦a<e, the spraying operation L1 shown in Fig. 3(2) is entered. Then, the path is terminated immediately before reaching the sleeve S from the left end branch point and folded back. After folding back, it is moved along the subsequent path to spray the upper web surface of the sleeve S. The folding position can be set with the value of A of the sleeve clearance amount (= sleeve radius + A). By doing so, the spraying overlap around the sleeve S can be adjusted. On the other hand, when a<e×α, the spraying operation L2 shown in Fig. 3(3) is entered. Then, the path is continued from the left end branch point, the path is terminated, and then folded back. After folding back, it is moved along the subsequent path to spray the lower web surface of the sleeve S.

[0028] (Spraying operation for the right end of the sleeve) As shown in Fig. 4(1), when the nozzle 14 moving on the upper web surface of the sleeve S reaches the branch point at the right end of the sleeve range, the spraying operation is changed according to the relationship between the pitch e and a of the path. Here, the right-end branch point is the upstream point (node) closest to the sleeve S among the last paths within the sleeve range. a is the distance in the X direction between the right-end branch point and the right end of the sleeve. In the present embodiment, α taking a value in the range of 0 to 1 is provided, and e×α is used as the determination criterion for the folding operation. When a < e×α, the spraying operation R1 shown in Fig. 4(2) is shifted to, and it is moved from the right-end branch point along the path to the central height within the sleeve S. On the other hand, when e×α ≤ a < 2e, the spraying operation R2 shown in Fig. 4(3) is shifted to, the path is terminated immediately before reaching the sleeve S from the right-end branch point, and it is folded back. After folding back, it is moved along the subsequent path, and when approaching the sleeve S next time, it is moved to its central height (sleeve core height). The folding position can be set with the value of A of the sleeve escape amount (= sleeve radius + A). By doing so, the spraying overlap around the sleeve S can be adjusted. It is preferable to set the nodes of the paths near the folding to positions along the peripheral edge of the sleeve S. In order to prevent overspraying in this vicinity, it is desirable not to set nodes in the vicinity of the sleeve central height (within a margin β from the central height). In addition, as shown in Fig. 3(3), the spraying operation when the nozzle 14 moving on the lower web surface of the sleeve S reaches the branch point at the right end of the sleeve range can also be set in the same manner as above.

[0029] (Spraying operation with respect to the right end of the sleeve ~ the left end of the sleeve ~ the edge of the sleeve) In spraying operation C1 shown in Figure 5(1), the nozzle 14, located to the right of the center (sleeve core height) of the sleeve S, is moved to the left, returning to the leftmost path within the sleeve range, and spraying the lower web surface of the sleeve S. The X-direction position of the return path and the direction of the return are the same for the upper and lower parts of the sleeve S. Once the nozzle 14 reaches the path corresponding to the right of the center of the sleeve S, the process moves to spraying operation C2 shown in Figure 5(2), and spraying is performed on the inner peripheral edge of the sleeve S. In this case, the inner peripheral edge of the sleeve S may be sprayed by moving the nozzle 14 counterclockwise along the inner peripheral edge of the sleeve S, or, as shown in Figure 1(2), the nozzle 14 may be moved along the axis passing through the center of the circle of the sleeve S, and then the nozzle 14 may be rotated around the axis to change the spraying angle while spraying the inner peripheral edge of the sleeve S. By doing so, the inner peripheral edge of the sleeve S can be sprayed appropriately. After the completion of spraying operation C2, when the nozzle 14 reaches the path corresponding to the center right end of the sleeve S, the process moves to spraying operation C3 shown in Figure 5(3). In this spraying operation C3, the same operation as the starting operation (Figure 3(1)) is performed. It is desirable not to provide path nodes in the area inside the margin β (the area indicated by hatching).

[0030] According to the method described above, by pre-setting the parameter values ​​according to differences in beam cross-sectional shape, beam height, sleeve S position and shape, spray thickness, and properties of the spray material, automatic spraying work on the web surface while avoiding sleeve S can be achieved. Therefore, according to this embodiment, automatic spraying work that avoids sleeve S can be achieved with simple settings. As a result, productivity can be improved by reducing labor.

[0031] In the above embodiment, the leftmost position of each sleeve S in the spraying range was detected by detecting the distance using a distance sensor while moving the nozzle 14, positioned at the sleeve core height, in the X direction within the spraying range immediately before the spraying operation. However, the present invention is not limited to this. For example, the leftmost position of each sleeve S may be set in the sleeve setting item. The same effects as described above can be achieved even in this way.

[0032] Furthermore, although the above embodiment was described using the example of a case where circular sleeves S are arranged at regular intervals on the web surface as the spray exclusion area, the spray exclusion area of ​​the present invention is not limited to this and may be any shape or position. Also, the spray exclusion area is not limited to an opening such as a sleeve, but may be any structure as long as it is an area to be excluded from the spray target.

[0033] As described above, the spraying method according to the present invention is a method for spraying a spraying material emitted from a nozzle provided in a spraying device onto an object to be sprayed, and includes the steps of: setting a shape parameter indicating the surface shape of the object to be sprayed; setting an exclusion area parameter indicating the position and shape of an exclusion area to be excluded from the spraying area on the object to be sprayed; setting an operation parameter indicating the position, orientation and movement path of the nozzle relative to the object to be sprayed according to the set shape parameter and exclusion area parameter; and operating the nozzle according to the set operation parameter to spray the spraying material onto the object to be sprayed while avoiding the exclusion area. Therefore, it is possible to realize automatic spraying work in a manner that avoids the exclusion area.

[0034] Furthermore, according to another spraying method of the present invention, the object to be sprayed is a steel frame member, the area excluded from spraying is a sleeve provided on the steel frame member, and the spraying material is a fire-resistant coating material, thus enabling the automatic spraying of fire-resistant coating material onto steel beams with sleeves and the like.

[0035] Furthermore, the spraying system according to the present invention is a system for spraying a spraying material emitted from a nozzle provided in a spraying device onto an object to be sprayed, and includes a setting means for setting a shape parameter indicating the surface shape of the object to be sprayed and an exclusion area parameter indicating the position and shape of an exclusion area on the object to be sprayed that is excluded from the spraying area, as well as an operation means for setting operation parameters indicating the position, orientation and movement path of the nozzle relative to the object to be sprayed according to the set shape parameter and exclusion area parameter, and a control means for operating the nozzle according to the set operation parameters to spray the spraying material onto the object to be sprayed while avoiding the exclusion area, thereby enabling automatic spraying work in a manner that avoids the exclusion area.

[0036] Furthermore, according to another spraying system of the present invention, the object to be sprayed is a steel frame member, the area excluded from spraying is a sleeve provided on the steel frame member, and the spraying material is a fire-resistant coating material, thus enabling the automatic spraying of fire-resistant coating material onto steel beams with sleeves and the like. [Industrial applicability]

[0037] As described above, the spraying method and spraying system according to the present invention are useful for spraying fire-resistant coatings onto steel structural members such as beams and columns of buildings, and are particularly suitable for realizing automated spraying operations that avoid predetermined areas such as sleeves. [Explanation of symbols]

[0038] 10. Spraying System 12. Spraying device 14 nozzles 16. Steel beam (sprayed coating) 18. Sprayed surface 20 Fireproof coating material (sprayed material) 22 Control Unit (Control Means) 24 Setting section (setting means) 26. Settings input field S Sleeve (Spray exclusion area)

Claims

1. A method for spraying a spray material emitted from a nozzle provided in a spraying device onto a steel frame member, The steps include setting shape parameters that indicate the surface shape of the steel frame member, The steps include setting exclusion area parameters that indicate the location and shape of the exclusion area to be excluded from the spraying area in the steel frame member, The steps include setting operation parameters that indicate the position, orientation, and movement path of the nozzle relative to the steel frame member, according to the set shape parameters and exclusion area parameters, The process includes the step of operating the nozzle according to the set operating parameters to spray the spray material onto the steel frame member while avoiding the spray exclusion area, The aforementioned spray exclusion area is a sleeve provided on the steel frame member, In the step of setting the operating parameters, at least a path is set which is the movement path of the nozzle as it moves in the direction of the steel frame member, and a node is set which is the spraying start point in the path. A spraying method characterized in that, when the nozzle moving along the path of the spraying area reaches the left or right end of the sleeve range, which is the range of the steel frame member from the left end to the right end of the sleeve, the spraying operation transitions to two different types of routes, which are determined by the relationship between the axial distance (a) of the steel frame member between the position of the nozzle and the left or right end of the sleeve range and the pitch (e) of the path.

2. The spraying method according to claim 1, characterized in that the spraying material is a fire-resistant coating material.

3. A system for spraying a spray material emitted from a nozzle provided on a spraying device onto a steel frame member, A setting means for setting a shape parameter indicating the surface shape of the steel frame member and an exclusion area parameter indicating the position and shape of an exclusion area to be excluded from the spraying area on the steel frame member, and setting an operation parameter indicating the position, orientation and movement path of the nozzle relative to the steel frame member according to the set shape parameter and the exclusion area parameter, The system includes a control means for operating the nozzle according to the set operating parameters, thereby spraying the spray material onto the steel frame member while avoiding the spray exclusion area. The aforementioned spray exclusion area is a sleeve provided on the steel frame member, The setting means sets, in the operation parameters, at least a path which is a movement path in which the nozzle moves in the direction of the steel frame member, and a node which is a spraying start point in the path. A spraying system characterized in that, when the nozzle moving along the path of the spraying area reaches the left or right end of the sleeve range, which is the range of the steel frame member from the left end to the right end of the sleeve, it transitions to two different types of spraying operations, each determined by the relationship between the axial distance (a) of the steel frame member between the position of the nozzle and the left or right end of the sleeve range and the pitch (e) of the path.

4. The spraying system according to claim 3, characterized in that the spraying material is a fire-resistant coating material.

Images