JPH1077741A - Self-propelled fireproofing covering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To spray a fireproofing covering material to uniform thickness, and to efficiently carry out a spraying work. SOLUTION: A self-propelled fireproofing covering device 2 is composed of a main truck 4, an expansion truck 6 and a sub-truck 8, and these trucks are unitedly connected during a spray-motion. Rails 12, 96 are spreadly provided above the main truck 4 and the expansion truck 8, and a nozzle 20 is fitted onto a travel body 14 travelling on the rails 12, 96 through an elevating lifter 16 and an articulated arm 18. The expansion truck 6 and the sub-truck 8 are severally erectedly provided with a laser position measuring device 84 for position measurement, and the movement and positioning of the truck are automatically carried out on the results of measurement made by the laser position measuring device 84. The travel body 14 is moved to carry out the spraying of the fireproofing covering material in a fixed range in the extending direction of a steel frame beam 140, and on the other hand, the height and direction of the nozzle 20 are varied through the elevating lifter 16 and the articulated arm 18 to carry out the spraying work in the lateral required range of the steel frame beam 140.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled fireproof coating apparatus for spraying a fireproof coating material on a building structure to perform a fireproof coating.

[0002]

2. Description of the Related Art When building an architectural structure, a steel member is provided with a fire-resistant coating for the purpose of protecting it from fire since it is important in structure. Of the steel members, those constituting the columns are usually provided with a fire-resistant coating made of a formed non-combustible material, while the steel members constituting the beams are provided with a fire-resistant coating material mainly composed of rock wool. Is sprayed on a steel frame member to provide a fire-resistant coating.

When a fireproof coating is applied to a beam, one of the following methods is generally employed. (1) An operator holds the spray nozzle and receives the supply of the refractory material toward the position to be sprayed to perform spraying. (2) A spray nozzle is attached to the tip of an arm that is mounted on a traveling trolley and has up-and-down telescopic means and multi-joints and is freely bent, and is supplied with a refractory material under computer control and has a certain width (steel frame). In the case of the length of the beam, the traveling cart is sprayed while being stepped. (3) A rail is laid in the area to be sprayed, and a refracting arm with a spray nozzle is mounted on the rail, and the spray nozzle is operated to a predetermined height by an expansion and contraction means to spray while spraying the nozzle. This is performed while adding a rail to the spraying area for a predetermined length.

[0004]

According to the above-mentioned conventional method, the following problems occur. That is, (1)
According to the above, the worker must approach the sprayed position directly, and work on an unstable scaffold, and the work environment is extremely poor due to inefficient work efficiency and scattered fireproof material. Therefore, rationalization by mechanization and automation has been strongly demanded.

[0005] So-called spraying robots (2) and (3) have been developed and are being put into practical use, but there are still many improvements. That is, in (2), the spraying robot mounted on the traveling carriage can be operated automatically or manually by computer control, and the spraying operation can be performed without the worker directly moving to the spraying position. If the width of the spraying is short and the width is long like a steel beam, the carriage must be divided into several steps and sprayed.If the stop position of the carriage is incorrect, the spray seam is uniform. In other words, the spraying accuracy varies, and a time lag occurs in the ejection of the spraying material every time the gun moves, resulting in a time loss due to the switch operation.

In (3), a rail is provided in a range to be sprayed, and the spraying robot slides on the rail to blow the rail, so that the rail is extended and an obstacle is present on the floor, so that the rail laying is complicated. is there.

The present invention has been made in order to solve such a problem, and an object of the present invention is to provide a self-propelled type capable of spraying a refractory coating material with a uniform thickness and performing work efficiently. It is to provide a fireproof coating device.

[0008]

In order to achieve the above object, the present invention provides a main bogie driven by a first driving means,
A traveling bogie composed of a sub bogie connected to one end of the main bogie and an extendable telescopic bogie connected to the other end of the main bogie, and a double carriage on an upper part of the main bogie and the extended telescopic bogie. A traveling body on which the rail is laid, and which travels on the rail by a second driving means, a multi-joint arm lifting lifter vertically erected on the traveling body, and the multi-joint arm lifting lifter A multi-joint arm mounted so as to be able to move up and down, and a rock wool spray nozzle attached to the tip of the multi-joint arm.
Cement paste is supplied to the rock wool spray nozzle and the rock wool is sprayed onto the fire-resistant structure. The present invention is also a self-propelled refractory coating apparatus for spraying a refractory coating material on a structure, wherein the main bogie is driven by first driving means and has a first rail laid almost horizontally on an upper part thereof, A telescopic trolley having an extendable base, connected to the main trolley, and having a second rail connected to the first rail laid on the base; And a traveling body that travels on the second rail, an elevating lifter attached to the traveling body, an articulated arm supported by the elevating lifter, and the refractory coating material attached to the articulated arm. And a discharge nozzle.

[0009] The present invention also relates to a telescopic trolley,
A sub-cart is connected to an end of the main cart, and the sub-cart and the telescopic cart are separable from the main cart. The present invention is further characterized in that the apparatus further comprises a laser position measuring device for measuring a distance between the self-propelled refractory coating device and the structure. The present invention also includes a laser position measuring device that measures a distance between the self-propelled refractory coating device and the structure, wherein the laser position measuring device includes a first laser position attached to the sub-cart. A measuring device,
And a second laser position measuring device attached to the telescopic carriage.

The present invention is also characterized in that the lifting lifter is attached to the traveling body so as to be swingable in a substantially vertical plane. The present invention also includes a control device mounted on the sub-cart to control the traveling of the traveling body by operating the second driving means, and to control the elevation of the elevating lifter and the bending and elongation of the articulated arm. It is characterized by the following.
According to the present invention, the main bogie includes a steering device, and inputs a spray condition of the fire-resistant coating material, and identifies a spray range of the fire-resistant coating material based on a measurement result of the laser position measuring device, and the identification result is obtained. Controlling the position of the main bogie by controlling the first driving means and the steering device on the basis of the first driving means and the steering device; A central control device for spraying the coating material is provided, and the central control device is mounted on the telescopic carriage. The present invention further includes a remote control device for controlling the position of the main bogie by controlling the first driving means and the steering device, and for controlling the discharge of the refractory coating material from the nozzle. It is characterized by.

In the self-propelled refractory coating apparatus of the present invention, the nozzle is attached to the traveling body on the rail laid on the main carriage and the telescopic carriage, and spraying is performed while moving the traveling body along the rail. A relatively wide range of spraying can be performed with the main carriage and the telescopic carriage fixed. Also,
There is no need to lay rails on the floor as in the past.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing an example of the self-propelled refractory coating apparatus according to the present invention, and FIG. 2 is a perspective view showing a state in which each part of the self-propelled refractory coating apparatus shown in FIG. 1 is separated. The self-propelled fire-resistant coating device 2 includes a main bogie 4, a telescopic bogie 6, and a sub bogie 8. The main trolley 4, the telescopic trolley 6, and the sub trolley 8 are connected to each other as shown in FIG. 1 at the time of work, while they are separated as shown in FIG. The main bogie 4 is supported on wheels,
The vehicle is provided with a driving means (not shown) (first driving means according to the present invention) and can travel on a work floor. A deck 10 is provided substantially horizontally above the main carriage 4, and two parallel rails 12 are laid on the deck 10 in its longitudinal direction. A traveling body 14 is arranged on the rail 12 so as to be able to travel, and an elevating lifter 16 is mounted on the traveling body 14. The lifting lifter 16 is swingable in a vertical plane, and is in an upright state as shown in FIG. 1 when performing a spraying operation, while as shown in FIG. It is said to be in a prone state.

The articulated arm 18 is attached to the lifter 16, and a spray nozzle 20 (also simply referred to as a nozzle 20) is attached to the tip of the articulated arm 18. The nozzle 20 includes a spray gun 22 and a cement paste gun 24. Rock wool is pumped through the rock wool supply pipe 26 to the spray gun 22, while a predetermined piping in the articulated arm 18 is supplied to the cement paste gun 24. The cement paste is supplied under pressure.

FIG. 3 is a sectional front view showing the traveling body 14 disposed on the rail 12 of the main carriage 4. The traveling body 14 will be described in detail with reference to FIG. The traveling body 14
Slide deck 28, upper guide wheel 30, lower guide wheel 3
2, the inner guide wheel 34, the driving means 36 (second driving means according to the present invention) and the like.

The slide deck 28 is disposed horizontally on the rail 12 so as to straddle the rail 12, and the above three types of wheels are attached to both sides. The upper guide wheel 30 is rotatably supported by a shaft extending in the width direction of the rail 12, and is disposed so that an outer peripheral surface thereof is in contact with an upper surface of the rail 12.
On the other hand, the lower guide wheel 32 is rotatably supported by a shaft extending in the width direction of the rail 12, and has an outer peripheral surface on the rail 1.
2 are arranged so as to be in contact with the lower surface. The inner guide wheel 34 is rotatably supported by a vertical axis, and is arranged with its outer peripheral surface abutting on the inner surface of the rail 12.
Thereby, the slide deck 28 can run on the rail 12.

The driving means 36 comprises a motor 38, a power transmission means 40, a speed reducer 42, a rack 44, a pinion 46 and the like. The motor 38 is mounted on the slide deck 28.
The reduction gear 42 is fixed to the slide deck 28 in the vicinity of the left end in the figure at a substantially central position in the width direction of the slide deck 28 with the rotation axis also vertical. The power transmission means 40 includes a belt pulley 48, a belt pulley 50, and a belt 52 with a rib. The belt pulley 48 is provided on a rotating shaft of the motor 38, and the belt pulley 50 is provided on a reduction gear 42.
, And the two pulleys are connected by a ribbed belt 52.

A pinion 46 is attached to the output shaft of the speed reducer 42. Inside the rail 12 on the side of the speed reducer 42,
A rack 44 that meshes with the pinion 46 extends in the direction in which the rail 12 extends. Therefore, when the motor 38 rotates, the rotation is transmitted to the reduction gear 42 by the power transmission means 40, and the output shaft of the reduction gear 42 rotates. As a result, the pinion 46 rotates, and the slide deck 28 runs on the rail 12.

A support frame 54 is fixed on the slide deck 28, and the lifting lifter 16 is mounted on the support frame 54. FIG. 4 is a side view showing the lifting lifter 16 mounted on the traveling body 14 in detail. The lifting lifter 16 will be described in detail with reference to FIG. The lifting lifter 16 includes a servo motor 56, a screw 5
8, a female screw nut 60 and the like,
Numeral 2 is fixed to the upper surface of the support frame 54 via an undulating portion 64, and the lifting lifter 16 can swing about the undulating portion 64 in a vertical plane. The undulating portion 64 is provided with the handle 6.
6, a handle shaft 68, a worm gear 70, and the like. By rotating the handle 66, the worm gear 70 rotates, and the lifting lifter 16 swings.

A servo motor 56 is disposed on the base 62 with its rotation axis directed vertically upward.
A screw screw 58 is attached to the rotation shaft of the. Two guide members 72 are provided on both sides of the screw screw 58 at intervals so as to extend in parallel with the screw screw 58. The slider 73 is slidably attached to these two guide members 72. A female screw nut 60 is attached to the slider 73, and the nut 60 is
8 is screwed. An outer tube 74 is covered on the screw 58 and the guide member 72.
Is fixed to the slider 73. The lower portion of the screw screw 58 and the guide member 72 and the lower portion of the outer tube 74 are accommodated in a rubber bellows 76. The lower end of the bellows 76 is fixed to the base 62, and the upper end is fixed to a position below the outer tube 74.

In such a configuration, the servo motor 5
When 6 rotates, the screw screw 58 rotates, and as a result, the floating female screw nut 60 moves together with the slider, and the outer tube 74 moves up and down. Even if the outer tube 74 rises, the lower portion of the screw screw 58 and the guide member 72 are covered with the bellows 76, so that dust does not adhere to these portions. A base 75 for attaching the articulated arm 18 is attached near the upper end of the outer tube 74.

FIG. 5 is a schematic plan view for explaining the wheels of the main bogie 4. As shown in this figure, the main bogie 4 is supported by four wheels, two of which are arranged diagonally among them are drive wheels 78, and the other two are driven wheels 7
9 The drive wheel 78 is connected to the drive unit 3 (not shown).
6 is driven to rotate.

The directions of these four wheels are controlled by a steering device (not shown). When the main carriage 4 is moved forward, all the wheels are directed in the longitudinal direction of the main carriage 4 as shown in FIG. When the main bogie 4 is skewed, the main bogie 4 is set at an angle with respect to the longitudinal direction of the main bogie 4 as shown in FIG. 5B. Is set in the direction orthogonal to the longitudinal direction. When the main bogie 4 is rotated (spinned) at that position, one surface of each wheel is set to face the center of the main bogie 4 as shown in FIG.

As shown in FIGS. 1 and 2, the telescopic carriage 6 comprises a box 80, an auxiliary carriage 82, and a foldable deck 10
a, a laser position measuring device 84 and the like. The deck 10a (the base according to the present invention) is composed of two deck members 86, 88, and one ends of the deck members 86, 88 are connected to each other via hinges 90. One end is connected to an upper end member of the box body 80 and the opposed upper carriage 82, respectively, via hinges (not shown). Box body 80 and auxiliary cart 8
2 has casters 92 and 94 on the bottom surface, respectively, and is movable.

When the box 80 and the auxiliary carriage 82 are arranged close to each other, as shown in FIG.
Is bent at the hinge 90, and the deck 10 is in a folded state. This state is set at the time of transportation and the like. on the other hand,
When the box body 80 and the auxiliary carriage 82 are arranged apart from each other, the deck 10a is in an unfolded state as shown in FIG.

On the deck 10a, two rails 96 extending in the longitudinal direction when deployed are laid. The shape, interval and position of these rails 96 are the same as the shape, interval and position of the rails 12 laid on the main carriage 4. Therefore, when the main bogie 4 and the telescopic bogie 6 are connected to each other and the deck 10a is in the deployed state, the rail 96 is connected to the main bogie 4
The rails are continuous with the rails 12 laid on the deck 10. The connection between the main bogie 4 and the telescopic bogie 6 is the main bogie 4
Is carried out by arranging the auxiliary carriage 82 at the end of the vehicle and connecting and fixing the two with a connecting member 98.

A central control unit 100 for controlling the operation of the self-propelled refractory coating apparatus 2 is accommodated in the box 80 of the telescopic carriage 6, and its operation panel 102 is arranged on the upper surface of the box 80. . The central control device 100 and the laser position measuring device 84 will be described later in detail.

As shown in FIGS. 1 and 2, the sub-carriage 8 comprises a box 104, and a caster 106 is attached to the bottom surface thereof so as to be movable. On the side of the box 104,
A valve unit 108 is attached (omitted in FIG. 2), and cement paste is supplied to the valve unit 108 through a cement paste supply pipe 110.
On the other hand, the cement paste is supplied from the valve unit 108 to the cement paste gun 24 through the predetermined pipe in the articulated arm 18.

A laser position measuring device 84 having the same configuration as the laser position measuring device 84 provided on the telescopic trolley 6 is erected above the box 104 of the sub-trolley 8. In addition, box 1
A control device 112 for controlling the operation of the self-propelled refractory coating apparatus 2 is accommodated in the inside of the apparatus. The control device 112 will be described later in detail. The connection between the main bogie 4 and the sub bogie 8 is performed by arranging the sub bogie 8 at an end of the main bogie 4 and connecting and fixing them with a connecting member 98.

Next, the laser position measuring device 84 provided on the telescopic carriage 6 and the auxiliary carriage 8 will be described in detail.
FIG. 6 is a side view showing the laser position measuring device 84. As shown in this figure, the laser position measuring device 84 includes a first jack cylinder 114, a second jack cylinder 116,
It comprises a turntable 118, a shift table 120, a laser sensor 122 and the like.

The first jack cylinder 114 is provided in the box 80
Alternatively, a rod 126 is vertically arranged and stored in a storage tube 124 erected on the box 104, and a rod 126 extends vertically upward from the upper end of the first jack cylinder 114. An elevating plate 128 is horizontally fixed to the tip of the rod 126,
The second jack cylinder 116 is fixed to the lower surface of the elevating plate 128 at the upper end in a vertically arranged state.
From the upper end of the second jack cylinder 116, the lifting plate 1
A rod 130 extends vertically upward through a through-hole formed in 28, and an elevating plate 132 is horizontally fixed to an upper end thereof.

On the upper surface of the elevating plate 132, a turntable 118 which rotates around a vertical axis within a range of about 90 ° is attached, and is mounted on the turntable 118 in the horizontal direction (the longitudinal direction of the main carriage 4) and the vertical direction. A shift table 120 that moves in a direction (a direction orthogonal to the longitudinal direction of the main carriage 4 in a horizontal plane) is attached. The laser sensor 122 is mounted on the shift table 120. An upper lid 134 is mounted on the upper part of the laser sensor 122.

At the time of non-measurement, the rod 126, the rod 130
Are the first jack cylinder 114 and the second jack cylinder 114, respectively.
The retracted state is controlled in the jack cylinder 116,
As a result, the laser sensor 122 is housed in the housing tube 124 as shown in FIG. 2, and the upper opening of the housing tube 124 is closed by the upper lid 134.

At the time of measurement, both the rods 126 and 130 are controlled to extend from the inside of the first jack cylinder 114 and the second jack cylinder 116, respectively, as shown in FIGS. The height of the laser sensor 122 can be set by adjusting the extension distance of the rods 126 and 130, the direction of the laser sensor 122 in the horizontal plane can be changed by appropriately rotating the turntable 118, and The horizontal and vertical positions can be changed by moving the shift table 120.

Next, the central control device 100 and the control device 1 mounted on the telescopic carriage 6 and the auxiliary carriage 8, respectively.
12 will be described. The control device 112 controls the traveling body 14
Of the traveling body 14 by controlling the motor 38
The refractory coating material is sprayed within a certain range in the horizontal direction by running and moving on 96. The controller 112 also controls the servo motor 56 of the lift 16 to change the height of the articulated arm 18 and
8 itself is controlled so that the refractory coating is sprayed within a certain range mainly in the vertical direction of the spraying point.

The central controller 100 controls the laser position measuring device 84 to measure the position, recognizes the positional relationship of the self-propelled refractory coating device 2 with respect to the structure based on the result, and mounts it on the main bogie 4. By controlling the driving means 36 and the steering device (not shown), the position of the self-propelled refractory coating device 2 with respect to the structure is correctly set.

The central control unit 100 also controls and moves the driving means 36 of the main carriage 4 so that the refractory coating material is sprayed within a required horizontal range of the spraying point. At that time, the valve unit 108, the cement paste gun 24, and the spray gun 22 are operated to control the spraying and stopping of the spraying of the refractory coating material, and further control the supply amount of the refractory coating material. Central controller 100 performs such control based on instruction information input from operation panel 102.

The self-propelled refractory coating device 2 can automatically spray the refractory coating material by the operation of the control device 112 and the central control device 100.
On the other hand, an operator can manually perform a spraying operation or the like through the remote control unit 136. In that case, the control device 112 and the central control device 100
Executes each control described above according to an instruction from the remote control unit 136.

Next, the spraying of the refractory coating material performed by the self-propelled refractory coating apparatus 2 configured as described above will be described. FIG. 7 is a flowchart showing the procedure of spraying the refractory coating material, and FIG. 8 is a process diagram showing the movement of the apparatus at each stage of the spraying operation. First, the self-propelled refractory coating device 2 is divided into a main bogie 4, a sub bogie 8, and a telescopic bogie 6, and each is unloaded to a floor where work is performed by a construction elevator or the like (step S1). The auxiliary trolley 8 and the telescopic trolley 6 are connected as shown in FIG.
a is expanded. Also, a supply plant for rock wool and cement paste (installed on the ground or on the nearest floor)
The rock wool supply pipe 26 and the cement paste supply pipe 11
0 is connected.

Next, the operator operates the remote control unit 136 to set the manual mode (step S).
2) Manually move the device to the vicinity of the spraying point 138 as shown in FIG. 8A (step S3). At this time, the central control device 100 controls the driving means 36 and the steering device mounted on the main vehicle 4 based on the instruction information sent from the remote control unit 136, and Move.

Thereafter, the operator operates the operation panel 102 of the telescopic carriage 6, and inputs the shape of the steel beam 140, which is the member to be sprayed, and the spraying range using predetermined codes as spraying conditions (step S4). The central controller 100 receives these pieces of information from the operation panel 102 and stores the information in its storage device.

Next, the operator operates the remote control unit 136 to switch to the automatic mode (step S).
5) In addition, execution of spraying is commanded by inputting a code for identifying the steel beam 140 to be sprayed through the operation panel 102 (step S6). Accordingly, the central control device 100 starts the operation in the automatic mode, and first operates the laser position measuring device 84 to measure the position (step S7). Here, the two laser position measuring devices 84 measure the distance to the steel beam 140 and the left and right distances, respectively, and output the results to the central control device 100. The central control device 100 controls the driving means 36 and the steering device of the main truck 4 based on the measurement result, and moves the self-propelled refractory coating device 2 to the steel beam 140 as shown in FIG. Then, they are arranged at the left end position of the spraying range in a state of being substantially parallel with a necessary interval (step S8). In FIG. 8B, a dotted line A with an arrow indicates a laser beam emitted by the laser position measuring device 84.

The measurement of the position by the laser position measuring device 84 is specifically performed as follows. FIGS. 9A to 9C are explanatory diagrams showing position measurement by the laser position measurement device 84. FIG. First, as shown in FIG. 9A, the central controller 100 raises the laser sensor 122 to the height of the steel beam 140 to be sprayed, and in this state, first measures the distance to the front steel beam 140. . Next, as shown in FIG. 9B, the laser sensor 122 is rotated 90 ° in a horizontal plane to measure a distance to a lateral steel beam or the like. In each of these measurements, the central control device 100 slightly shifts the laser sensor 122 in the horizontal direction, and for example, as shown in FIG.
Measurement is performed at P2 and P3. Then, for example, when a slight convex portion is formed at the point P2, the point P1
Alternatively, the measurement value at the point P3 is adopted as a final measurement result.

The central control unit 100 operates the valve unit 108, the cement paste gun 24, and the spray gun 22 based on the information stored in the storage device, and supplies the refractory coating material at an appropriate supply amount. Spraying is started (step S9). At this time, the control device 112 mounted on the sub-carriage 8 simultaneously operates as shown in FIG.
As shown in (5), the motor 38 of the running body 14 is controlled to move the running body 14 on the rails 12 and 96 so that the refractory coating material 141 can be sprayed within the area where the rails 12 and 96 are laid. The control device 112 also controls the servomotor 56 of the lifter 16 to control the articulated arm 18.
Is controlled, and the articulated arm 18 itself is controlled so that the refractory coating is sprayed on the entire steel beam 140 mainly in the vertical direction.

The controller 112 controls the height of the articulated arm 18 and the articulated arm 18 in the following manner. (A) to (E) of FIG.
2 articulated arm 18 height and articulated arm 1
FIG. 8 is an explanatory diagram showing the control of FIG.

As shown in FIG. 10A, the controller 112 first raises the elevating lifter 16 and flexes and extends the articulated arm 18 so that the lower surface 144 of the upper flange 142 of the steel beam 140 is moved downward. With the nozzle 20 oriented, the tip of the nozzle 20 is moved in a range from the side of the upper flange 142 to the junction with the web 146 so that the refractory coating is sprayed onto this location.

Next, the control device 112 (B) of FIG.
As shown in (C), the articulated arm 18 is appropriately bent and extended so that the tip of the nozzle 20 is connected to the web 146 of the steel beam 140.
Of the web 146 so that the side of the web 146 is covered by the refractory coating.

The control device 112 further operates as shown in FIG.
As shown in FIG. 7, the nozzle 20 is directed to the upper surface 150 of the lower flange 148 of the steel beam 140, and the nozzle 20 extends from the side of the lower flange 148 to the joint with the web 146.
The tip is moved to spray.

Thereafter, as shown in FIG. 10 (E), the control device 112 lowers the lifting lifter 16 and appropriately bends and extends the articulated arm 18 so that the steel beam 140
The nozzle 20 is directed to the lower surface 152 of the lower flange 148 of the lower flange 148, and the tip of the nozzle 20 is moved in the width direction of the lower surface 152 of the lower flange 148 so that the refractory coating material is
48 to be sprayed on the lower surface 152.

When the spraying at the positions shown in FIGS. 8B and 8C is completed, the central controller 100 operates the laser position measuring device 84 again to check the remaining amount of the spraying range (step S10). (Step S7), the remaining amount of the spraying range is measured (Step S11). In this case, as a result of the measurement, it is found that the remaining amount is present. Therefore, as shown in FIG. 8D, the central control device 100 still sprays the self-propelled refractory coating device 2. Forward in no direction.

Then, as shown in FIG. 8E, at this position, the central control device 100 and the control device 112 repeat the above procedure again, and spray the fireproof coating material 143 on the steel beam 140. Then, step S10
Since there is no remaining amount in the remaining amount check, the spraying of the refractory coating material on the steel beam 140 is completed (step S12). Then, the operator operates the remote control unit 136 again to move the self-propelled refractory coating device 2 to a location where the spraying is to be performed next.

As described above, in the self-propelled refractory coating apparatus 2 of the present embodiment, the nozzle 20 is attached to the traveling body 14 on the rails 12 and 96 laid on the main carriage 4 and the telescopic carriage 6, and Since the spraying is performed while moving the traveling body 14 along the 96, a relatively wide range of spraying can be performed with the main carriage 4 and the telescopic carriage 6 fixed. Therefore, it is not necessary to move the bogie many times in spraying on one beam as in the related art, and the working efficiency is greatly improved. Further, since the number of joints of the refractory coating material is reduced, the problem that the thickness of the refractory coating material changes near the joint and the thickness becomes non-uniform can be solved, and a decrease in fire resistance performance can be avoided. Further, since the labor and time-consuming work of laying the rail on the floor is not required, the work efficiency can be greatly improved also in this respect.

The position of the self-propelled refractory coating device 2 is measured by, for example, an operator without using the laser position measuring device 84 as in this embodiment, and the measurement result is input to the central processing unit. Alternatively, the self-propelled refractory coating device 2 can be moved in the manual mode by the remote control unit 136 based on the measurement result. In that case, the laser position measuring device 84 becomes unnecessary.

In such a case, the valve unit 1
08 or the configuration in which the control device 112 is mounted on the main bogie 4, the sub bogie 8 can be omitted and the main bogie 4 and the telescopic bogie 6 alone can be used.

[0054]

As described above, in the self-propelled refractory coating apparatus of the present invention, the nozzle is attached to the traveling body on the rail laid on the main carriage and the telescopic carriage, and the traveling body is moved along the rail. Since the spraying is performed while the main trolley and the telescopic trolley are fixed, a relatively wide range of spraying can be performed. Therefore, it is not necessary to move the bogie many times in spraying on one beam as in the related art, and the working efficiency is greatly improved. Further, since the number of joints of the refractory coating material is reduced, the problem that the thickness of the refractory coating material changes near the joint and the thickness becomes non-uniform can be solved, and a decrease in fire resistance performance can be avoided. Further, since the labor and time-consuming work of laying the rail on the floor is not required, the work efficiency can be greatly improved also in this respect.

Further, in the self-propelled refractory coating apparatus of the present invention, since the main bogie, the telescopic bogie, and the sub bogie can be separated, they can be conveniently separated when transported by an elevator or the like or stored. In the self-propelled refractory coating apparatus of the present invention provided with the laser position measuring device, the position of the self-propelled refractory coating device can be measured automatically, and the spraying position can be set accurately. Furthermore, the self-propelled refractory coating device of the present invention, to which the lifter is swingably attached, can be folded and compact during transportation and storage, which is convenient. Further, in the self-propelled refractory coating device of the present invention provided with a control device, the lifting / lowering lifter and the articulated arm can be automatically controlled, so that the work efficiency can be increased, and the spray position and the thickness of the refractory coating material can be reduced. Can be set accurately. And in the self-propelled refractory coating device of the present invention provided with the central control device, the position of the main bogie and the discharge of the refractory coating material from the nozzle can be controlled automatically and accurately, and the spraying operation of the refractory coating material can be performed efficiently. At the same time, the spraying position and the thickness of the refractory coating can be set accurately. Furthermore, in the self-propelled refractory coating apparatus of the present invention including the remote control unit, since the remote operation is possible even when the apparatus is operated manually, it is possible to improve the working environment of the worker to each step. it can.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an example of a self-propelled refractory coating device according to the present invention.

FIG. 2 is a perspective view showing a state where respective parts of the self-propelled refractory coating apparatus shown in FIG. 1 are separated.

FIG. 3 is a sectional front view showing a traveling body arranged on a rail of a main bogie.

FIG. 4 is a side view showing in detail a lifting lifter mounted on a traveling body.

FIG. 5 is a schematic plan view for explaining wheels of a main bogie.

FIG. 6 is a side view showing a laser position measuring device.

FIG. 7 is a flowchart showing a procedure for spraying a refractory coating material.

FIG. 8 is a process chart showing the movement of the apparatus at each stage of the spraying operation.

FIGS. 9A to 9C are explanatory diagrams showing position measurement by a laser position measuring device.

FIGS. 10A to 10E are explanatory diagrams showing control of the height of the articulated arm and control of the articulated arm performed by the control device.

[Explanation of symbols]

 2 Self-propelled fireproof coating device 4 Main bogie 6 Telescopic bogie 8 Secondary bogie 10 Deck 12 Rail 14 Running body 16 Elevating lifter 18 Articulated arm 20 Spray nozzle (nozzle) 22 Spray gun 24 Cement paste gun 26 Rock wool supply pipe 28 Slide Deck 36 Driving means 82 Auxiliary trolley 84 Laser position measuring device 96 Rail 100 Central control device 102 Operation panel 110 Cement paste supply pipe 112 Control device 122 Laser sensor 136 Remote control unit

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yukihiro Watanabe 4-6-15 Sendagaya, Shibuya-ku, Tokyo Inside Fujita Co., Ltd.

Claims (9)

[Claims] 1. A traveling bogie comprising a main bogie traveling by a first driving means, a sub bogie connected to one end of the main bogie, and a telescopic bogie connected to the other end. A traveling body that lays two rails on top of the main carriage and the extended telescopic carriage and travels on the rails by a second driving unit; and a multi-joint vertically erected on the traveling body. An elevating lifter for an arm, an articulated arm mounted on the elevating lifter for the articulated arm so as to be able to move up and down, and a rock wool spraying nozzle attached to a tip of the articulated arm. A self-propelled refractory coating apparatus, characterized in that rock wool is supplied with a cement paste to the rock wool spray nozzle and is sprayed on a refractory structure. 2. A self-propelled refractory coating apparatus for spraying a refractory coating material onto a structure, comprising: a main bogie that runs by first driving means and has a first rail laid substantially horizontally on an upper part thereof; A telescopic trolley having an extendable base, connected to the main trolley, and having a second rail connected to the first rail laid on the base; And a traveling body that travels on the second rail; a lifting lifter attached to the traveling body; a multi-joint arm supported by the lifting lifter; and the fireproof covering material attached to the multi-joint arm. A self-propelled refractory coating device, comprising: a nozzle for discharging. 3. The vehicle according to claim 1, further comprising a sub-cart connected to an end of the main car on the side opposite to the telescoping car, wherein the sub-car and the telescoping car are separable from the main car. Self-propelled fireproof coating equipment. 4. The self-propelled refractory coating apparatus according to claim 1, further comprising a laser position measuring device for measuring a distance between the self-propelled refractory coating apparatus and the structure. 5. A laser position measuring device for measuring a distance between the self-propelled refractory coating device and the structure, wherein the laser position measuring device includes a first laser position attached to the sub-cart. The self-propelled refractory coating device according to claim 1 or 3, comprising a measuring device and a second laser position measuring device attached to the telescopic carriage. 6. The self-propelled fireproof covering device according to claim 1, wherein the lifting lifter is attached to the traveling body so as to swing in a substantially vertical plane. 7. A control device for operating the second drive means to control the traveling of the traveling body and for controlling the elevation of the elevating lifter and the bending and elongation of the articulated arm is mounted on the sub-cart. The self-propelled refractory coating device according to claim 1. 8. The main bogie includes a steering device, and identifies a spraying range of the refractory coating material based on an input of a spray condition of the refractory coating material and a measurement result of the laser position measurement device. Controlling the position of the main bogie by controlling the first driving means and the steering device on the basis of the first driving means and the steering device; The self-propelled fire-resistant coating device according to claim 1 or 3, further comprising a central control device that sprays the coating material, wherein the central control device is mounted on the telescopic carriage. 9. A remote control device for controlling the position of the main bogie by controlling the first driving means and the steering device, and for controlling the discharge of the refractory coating material from the nozzle. Item 9. A self-propelled refractory coating device according to Item 8.