JP2899694B1 - Lifting robot - Google Patents

Abstract

[Summary] [Problem] Firefighting and rescue operations are performed quickly even when a ladder truck cannot move up and down the walls of a high-rise or high-rise building at high speed, or when evacuation facilities cannot demonstrate their capabilities. Be able to do it. A lifting robot (1) according to the present invention includes an arm (2).
A robot body 20 having arm joints 25, 26 for freely changing the arm posture, and arm joint axes 25, 26 for freely changing the arm posture, and a distal joint shaft 24 at each distal end of the arms 21, 23 forming both ends of the robot main body 20. , 27, and two gripping portions 28, 29 rotatably provided via the arm joint shaft 2
And a robot controller 3 for controlling the joint angle by instructing each of the joint axes 24 and 27 on the distal end side, and in response to a command from the robot controller 3, the grip portion 28 is provided horizontally. The member 72 is gripped, and in this state, each joint axis is rotated to change the posture of the robot. The change in the posture of the robot causes the gripper 29 to grip the next horizontal member 73 and sequentially perform this operation. Thereby, it moves up and down between the horizontally arranged members arranged vertically.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevating robot which moves up and down while holding a horizontal member arranged vertically at an interval, for example, a handrail provided on a veranda of each floor of a high-rise building.

[0002]

2. Description of the Related Art In the event of a fire in a high-rise or high-rise apartment building, a fire truck with a ladder (hereinafter referred to as a "ladder truck") or a building thereof is provided for a fire brigade or rescue team to reach a fire floor. It is common to use special evacuation stairs.

[0003]

The ladder truck is different from the building equipment and is installed by the fire brigade in the event of a fire. Therefore, the ladder truck has the advantage that it can be installed while avoiding the effects of a fire. The maximum height of the ladders fitted to the ladder is generally 40 m, and even the longest ladder used in Japan is 50 m. Considering the number of floors in the building, 40m is about 12th floor, 50m is 17th floor,
The ladder cannot be extended to further floors. When the ladder car is installed at a position away from the building, the ladder leans obliquely, so that it is impossible to reach the reachable floor.

On the other hand, evacuation facilities provided on buildings such as special evacuation stairs are provided up to the top floor where ladder cars cannot be reached, but are provided on the building itself where a fire has occurred. It may be affected by a fire. If these evacuation facilities are affected by a fire, there is a possibility that the expected capacity in normal times cannot be achieved.

[0005] In the case where a ladder truck cannot cope or the evacuation facilities cannot exert their capabilities as described above, a fire extinguishing operation and a rescue operation can be carried out quickly so that the outer wall of the building can be sucked with a suction cup. There has been proposed a device that moves up and down while adsorbing on a surface. In this lifting device by suction, it is necessary to coordinate the work of vacuuming the inside after the suction surface is brought into close contact with the wall surface, and furthermore, to secure the suction force sufficiently to reduce the weight of the device itself. It must be a supporting force to support and a reaction force when going up and down. Therefore, it is necessary to take a certain amount of time for the ascending and descending operation, and the ascending and descending speed of the ascending and descending device by suction is not sufficient for firefighting activities in the event of a fire that is an emergency. In use, it is necessary to bind the device itself from above with a fall prevention rope in order to ensure safety. It is the firefighters who fix the fall prevention rope above the fire floor, and it is assumed that the firefighters have arrived above the fire floor. Therefore, from the viewpoint of practical use and improvement of convenience, the effectiveness is not high.

[0006] The present invention has been proposed in view of the above,
It is possible to raise and lower the walls of high-rise or high-rise buildings at high speed, so that firefighting and rescue operations can be carried out quickly even when ladder vehicles are not able to respond or evacuation facilities can not demonstrate their capabilities. It is an object of the present invention to provide a lifting robot capable of moving the robot.

[0007]

Means for Solving the Problems In order to achieve the above-mentioned object, the invention according to claim 1 is directed to an ascending / descending robot which moves up and down while holding horizontal members arranged vertically at an interval. A robot main body including two arms, an arm-to-arm joint axis provided between the arms and freely changing the arm posture by rotating, and a distal end on each distal end side of the arms forming both ends of the robot main body A robot control device for commanding each of the arm-to-arm joint axis and the distal joint axis to control the joint angle to a desired angle by providing two grip portions rotatably provided via the joint axis; In response to a command from the robot control device, first, one of the two grippers grips the horizontal member, and in that state, the arm-joint axis and the distal joint axis Each turn Posture of the bot is changed by a change of the robot posture, the other gripper grips the next horizontal portion member, by performing this operation sequentially lift between lateral portions material is characterized by.

According to a second aspect of the present invention, in addition to the configuration of the first aspect, the robot main body comprises three arms, and the central arm has a hollow inside, and When the arms on both sides rotate around the joint axis between the arms, the arms on both sides can pass through the inside of the central arm.

Further, the invention according to claim 3 is characterized in that, in addition to the structure of the invention described in claim 1 or 2, the grip portion has a substantially hook shape. .

A fourth aspect of the present invention is characterized in that, in addition to the configuration of the first or third aspect of the present invention, the robot body includes two arms.

[0011]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a diagram schematically showing the entire configuration of a lifting robot according to the present invention. In the figure, an elevating robot 1 of the present invention is a robot that moves up and down while gripping horizontal members (in the illustrated example, handrails on the porch of each floor of a high-rise apartment) 71, 72, 73 that are arranged vertically at an interval. , Three arms 21, 22, 2
3 and a robot body 20 provided between the arms and having inter-arm joint shafts 25 and 26 that freely change the posture of the arm by rotating, and arms 21 and 23 forming both ends of the robot body 20. Tip joint shaft 2 on each tip
A command is given to each of the two gripping portions 28 and 29 rotatably provided via the joints 4 and 27, the inter-arm joint shafts 25 and 26, and the distal joint shafts 24 and 27, and the joint angles thereof are desired. And a robot control device 3 for controlling the angle to
In response to a command from the robot controller 3, one of the two grippers 28, 29 first grips the horizontal member, and in this state, the inter-arm joint shafts 25, 26 and the distal joint shaft 24. , 27 are rotated to change the posture of the robot 2, and the change in the posture of the robot 2 causes the other gripping portion to grip the next horizontal member, and sequentially perform this operation, so that the horizontal It is characterized by moving up and down between members.

FIG. 2 is a diagram showing the configuration of the robot.
(A) is the front view, FIG.2 (B) is a side view. In the figure, each arm 21, 22, 23 of the robot 2 is 2
The straight frame members 2a are fixed at short intervals to form side frames 2b, and the side frames 2b are opposed to each other and fixed. Arms 21 located at both upper and lower ends,
23, the opposing interval between the side frames is relatively narrow in accordance with the length of the distal joint shafts 24, 27, and in the central arm 22, the side frames are arranged in accordance with the length of the inter-arm joint shafts 25, 26. The facing distance is relatively wide.

An arm 22 and an arm 21 are fixed to the inter-arm joint shaft 25, and a motor M1 is connected thereto via a transmission mechanism such as a belt. The motor M1 is disposed on a coupling member 21a that couples the side frames of the arm 21. When the motor M1 is driven, the inter-arm joint shaft 25 rotates in accordance with the driving, and the arm 21 and the arm 22 are formed. The angle changes arbitrarily. And the central arm 22
Is hollow between the side frames 2b, 2b,
The arm 21 can pass through the internal space of the arm 22 according to the drive of the motor M1.

The other arm joint shaft 26 has an arm 2
2 and the arm 23 are fixed, and the motor M2 is connected via a transmission mechanism such as a belt. The motor M2 is disposed on a coupling member 23a that couples the side frames of the arm 23. When the motor M2 is driven, the inter-arm joint shaft 26 rotates in response to the driving, and the arm 23 and the arm 2 are driven.
The angle formed with 2 changes arbitrarily. And the arm 23
Similarly, the arm 21 can pass through the internal space of the arm 22 in response to the drive of the motor M2.

At the upper end and the lower end of one side frame 2b of the arm 22, attachment portions 51 and 52 are provided.
Depending on the purpose, one or both of the attached parts 51 and 52 may be equipped with tools used for fire fighting activities such as a TV camera for grasping the fire situation, a fire hose, and the like.
Tools used for rescue activities, such as a loudspeaker and a life-saving rope for instructing the rescuer, are fixed or stored, and are moved up and down together with the robot 2.

An arm 21 and a gripping member 28 are fixed to the distal joint shaft 24. The gripping member 28 has a substantially hook-like shape when viewed from the side.
Similarly to 3, the two straight frame members are fixed at a short interval to form a side frame, and the side frames are opposed to each other and fixed. The interval between the side frames is further than that of the arm 21. It becomes narrower and is located between the two side frames of the arm 21.

A motor M3 is connected to the distal joint shaft 24.
Are connected via a transmission mechanism such as a belt. Motor M
3 is a connecting member 28a for connecting the side frames of the grip portion 28 to each other.
When the motor M3 is driven, the distal joint shaft 24 rotates and the angle formed between the arm 22 and the grip 28 changes arbitrarily according to the drive. And the gripper 2
8 can pass through the hollow internal space of the arm 21 in response to the drive of the motor M3.

An arm 23 is attached to the other distal joint shaft 27.
And the gripping member 29 are fixed. The gripping member 29 has a substantially hook-like shape in a side view, similarly to the gripping portion 28 described above, and fixes two linear frame members at short intervals to form a side frame. The space between the side frames is narrower than that of the arm 23 and is located between the two side frames of the arm 23.

A motor M4 is attached to the distal joint shaft 27.
Are connected via a transmission mechanism such as a belt. Motor M
4 is a connecting member 29a for connecting the side frames of the gripper 29 to each other.
When the motor M4 is driven, the distal joint shaft 27 rotates and the angle formed between the arm 23 and the gripper 29 changes arbitrarily according to the drive. And the gripper 2
9 can pass through the hollow internal space of the arm 23 in response to the drive of the motor M4.

Each of the grips 28 and 29 has a back surface 28.
Sensor chambers 41 and 42 are arranged and fixed at b and 29b.
The sensor chambers 41 and 42 contain tilt sensors 43 and 44 and distance sensors 45 and 46, respectively. The tilt sensors 43 and 44 can detect the tilt angles of the grips 28 and 29. By means of 45 and 46, it is possible to detect handrails and obstacles that have entered the inside of the grips 28 and 29. Further, force sensors 47 and 48 are attached to the upper surfaces of the inner peripheral sides of the grips 28 and 29, respectively, so that the contact between the grips 28 and 29 and the handrail and the load at that time can be detected. ing.

Further, each joint shaft 24, 25, 26, 27
Is provided with a rotation angle sensor (not shown), and data from the rotation angle sensor and inclination sensors 43 and 44 are provided.
The current posture of each joint shaft 24 and the like can be grasped from the detected inclination angle data.

The above motors M1, M2, M3 and M4 are:
It is connected to the robot controller 3. The detection signals of the inclination sensors 43 and 44, the distance sensors 45 and 46, the force sensors 47 and 48, and the rotation angle sensors are sent to the robot controller 3. The robot controller 3 is built in the attachment section 52 together with a battery as its driving source, and the robot controller 3 and each motor M1,
Electric cord (not shown) between M2, M3 and M4
Are wired.

The robot controller 3 includes a CPU, a ROM,
A control signal is output to the motors M1, M2, M3, and M4 in accordance with a program stored in the ROM while referring to the various sensor signals.
By driving 1, M2, M3 and M4, each joint axis 2
4, 25, 26, and 27 are controlled to perform a posture control on the robot 2. It is assumed that programs stored in the ROM have been created in various patterns by teaching in advance.

Next, the operation of the lifting robot 1 having the above configuration will be described in order with reference to FIGS.

FIGS. 3, 4, 5 and 6 are diagrams for explaining the operation procedure of the lifting robot. FIG. 3 shows the first and second steps, and FIG. 4 shows the third and fourth steps. , FIG. 5 shows the fifth step and the sixth step, and FIG. 6 shows the seventh step and the eighth step, respectively. Here, a case will be described in which the veranda of a high-rise apartment building is sequentially lifted while holding its handrail.

First, in FIG. 3A, the gripper 29 of the robot 2 grips the handrail 71 on the lower floor, and the gripper 28 grips the handrail 72 on the middle floor. Starting from this initial posture, in (B), the posture is slightly raised as a whole, the gripper 29 is removed from the handrail 71 on the lower floor, and the gripper 29 is lifted. In addition, the start / down of the robot 2, the start / stop of the descent, and the stop are performed by remote control from the ground.
It is received by a receiving unit (not shown) of the robot control device 2 and is performed based on the received signal.

In FIG. 4C, the posture of the robot 2 is entirely swung away from the veranda, and the gripper 29 is pulled out from the handrail 71.

In (D), the arm 21 is swung up, the grip portion 29 and the arm 23 are moved through the hollow internal space of the central arm 22, and the grip portion 29 is raised in the vertical direction.

In FIG. 5E, the posture of the robot 2 is further raised, and the gripper 29 is lifted upward.

In (F), the gripper 29 is moved toward the handrail 73 on the upper floor while the robot 2 is approaching the veranda.

In FIG. 6 (G), the gripper 29 has a handrail 7
The posture of the robot 2 is bent little by little until the robot 3 comes into contact with the robot 3. At this time, the fact that the handrail 73 on the upper floor has entered the grip portion 29 can be confirmed by the distance sensor 46, and the contact between both can be confirmed by the force sensor 48.

In (H), the gripper 29 is slightly rotated to make the gripper 29 securely grip the handrail 73. with this,
The robot 2 returns to the initial posture of FIG. 3A, and thereafter, repeats (A) to (H) to ascend to the target floor. Then, when reaching the target floor, for example, water is blown out from a fire hose previously fixed to one or both of the attachment portions 51 and 52 provided on the side frame of the arm 22, and fire extinguishing activities for that floor are performed. I do.

FIG. 7 is a flowchart showing a control procedure performed by the robot controller. First, in step S1, the vertical direction is recognized based on a detection signal from the inclination sensor 43 of the grip portion 28 that securely grips the handrail 72 on the middle floor (FIG. 3A). In each of the following steps, the posture of each of the arms 21, 22, 23 and the grips 28, 29 can be recognized based on the signal from the tilt sensor 43 and the detection signal from each rotation angle sensor.

In step S2, the posture of the robot 2 is controlled in accordance with a preset trajectory, and the gripper 29 is removed from the lower handrail 71 (FIGS. 3B and 4C).

In step S3, the posture of the robot 2 is controlled according to a preset trajectory, and the gripper 29 is moved to the maximum height (FIGS. 4D, 5E, and 5F).

In step S4, the posture of the robot 2 is controlled in accordance with a preset trajectory, and the gripper 29 is lowered toward the handrail 73 (FIG. 6 (G)).

In step S5, based on the signal from the distance sensor 46, it is confirmed that the handrail 73 has approached the gripper 29 and has entered the gripper 29.

In step S6, the handrail 73 and the grip 2
Slow down to avoid collision with 9.

In step S7, it is confirmed based on the detection signal from the force sensor 48 that the gripper 29 has contacted the handrail 73 (FIG. 6 (H)).

In step S8, based on the detection signal from the force sensor 48, while confirming the load applied to the gripper 29, the gripper 29 is securely provided with the handrail 73.

In the above description, the case where the robot 2 goes up has been described. However, when the robot 2 goes down, the operation can be performed in reverse order, so that the robot 2 can go down from the higher floor without fail.

As described above, in this embodiment, one of the two grippers 28, 29 of the robot 2 grips the railing 72 on the middle floor, and in this state, the other gripper 29, Is set in a free state, and the posture of the robot 2 is changed by rotating each of the arm joint shafts 25 and 26 and the distal joint shafts 24 and 27, and the change in the posture of the robot causes the upper holding unit 29 to move to the upper gripping portion 29. Grip the handrail 73,
By sequentially performing this operation, it is possible to ascend between the handrails (veranda) and descend in the reverse order, so that high-rise or high-rise buildings can be raised and lowered at high speed,
Even when a ladder truck cannot cope, or when the evacuation facility cannot exert its ability, it is possible to quickly reach the target floor. Therefore, a predetermined fire extinguishing activity or rescue activity can be reliably performed on the target floor.

The robot body 20 is connected to three arms 2
1, 22 and 23, the inside of the center arm 22 is hollow, and when the arms 21 and 23 on both sides rotate, the arms 21 and 23 on both sides can pass through the inside of the center arm 22. Therefore, it is not necessary to swing the arm outward, and therefore, the posture of the robot 2 can be controlled while keeping the torque applied to each joint shaft 24, 25, 26, 27 small.

Further, since the inside of each of the arms 21, 22, and 23 is substantially hollow, the robot 2 can be assembled lightweight, and from this point, the joint shafts 24, 25, and 2 can be assembled.
The torque applied to the robots 6 and 27 can be reduced, and the posture control of the robot 2 can be easily performed.

Further, since the gripping portions 28 and 29 have a substantially hook shape and are configured to be hooked on a handrail, a simple configuration and secure gripping can be performed.

In the above embodiment, the robot body 20 is
Although the description has been given of the case where the robot body is constituted by one arm, in the present invention, the robot body may be constituted by two arms or four or more arms. Next, the operation when the robot body is composed of two arms will be described in order with reference to FIGS.

FIGS. 8, 9, 10 and 11 are diagrams for explaining the operation procedure of the lifting robot having two arms. FIG. 8 shows the first step and the second step, and FIG. 9 shows the third step. 10 shows the fifth step and the sixth step, and FIG. 11 shows the seventh step and the eighth step. The robot 2A according to the second embodiment has two arms 21A,
A robot body 20A having a joint arm 22A and an inter-arm joint shaft 25A provided between the arms;
Each of the two arms 21A, 22A of A is provided with two gripping portions 28A, 29A rotatably provided at the distal ends of the two arms 21A, 22A via distal joint shafts 24A, 27A, respectively.

First, in FIG. 8A, the gripper 29A of the robot 2A grips the handrail 71 on the lower floor, and
A is holding the railing 72 on the middle floor. Starting from this initial posture, in (B), the posture is slightly raised as a whole, and the gripper 29A is removed from the handrail 71 on the lower floor.
The gripper 29A is lifted.

In FIG. 9C, the entire robot 2A
Is swung in the direction away from the veranda, and the gripper 29A
From the handrail 71.

In (D), the arm 21A is swung up, and the arm 22A and the gripper 29A are once attracted to the arm 21A.

In FIG. 10E, the arm 22A once attracted is swung up, and the gripper 29A is lifted upward.

In (F), the gripper 29A is moved toward the handrail 73 on the upper floor while the robot 2A is approaching the veranda.

In FIG. 11G, the posture of the robot 2A is gradually bent until the gripper 29A comes into contact with the handrail 73. At this time, the distance between the grip portion 29A and the handrail 73 on the upper floor is confirmed by a distance sensor, and the contact between both is confirmed by a force sensor.

In (H), the gripper 29A is slightly rotated to securely grip the handrail 73. Thus, the robot 2A returns to the initial posture shown in FIG. 7A, and thereafter repeats (A) to (H) to ascend to the target floor. Then, when reaching the target floor, for example, water is blown out from a fire hose previously fixed to one or both of the attached portions provided on the side frames of the arm 21A and the arm 22A, and fire extinguishing activities for that floor are performed. I do.

As described above, in the second embodiment, 2
Since the robot 2A is configured by the two arms 21A and 22A, the robot can be configured to be lighter. Therefore, the torque applied to each of the joint shafts 24A, 25A and 27A can be reduced, and the posture control of the robot 2A can be performed. It can be done easily.

In the above description, the control signal output from the robot controller 3 in accordance with the predetermined program
However, the control signal may be manually output by an operator and the robot 2 may be operated by remote control.

[0057]

Since the present invention has the above-described configuration,
The following effects can be obtained. According to the first aspect of the present invention, of the two grip portions of the robot,
One gripper grips the horizontal member, and in that state, the other gripper is free, and the posture of the robot is changed by rotating each of the joint axis between the arms and the distal joint shaft. The upper and lower horizontal members are gripped by the other gripping part by the change of the above, and by sequentially performing this operation, it is possible to move up and down between the horizontal members, so that a high-rise or high-rise building can be quickly moved. Even when it is possible to go up and down and cannot cope with a ladder truck, or when the evacuation facility cannot exert its ability, it is possible to quickly reach the target floor. Therefore, a predetermined fire extinguishing activity or rescue activity can be reliably performed on the target floor.

According to the second aspect of the present invention, the robot body is composed of three arms, and the inside of the center arm is hollow, and when the arms on both sides rotate, the arms on both sides become the arms on the center. Since the arm can pass through the inside of the robot, it is not necessary to swing the arm to the outside. Therefore, the posture of the robot can be controlled while keeping the torque applied to each joint axis small.

Furthermore, according to the third aspect of the present invention, since the grip portion is formed in a substantially hook shape and is configured to be hooked on the lateral member, a simple configuration and secure grip can be performed.

According to the fourth aspect of the present invention, the robot body is constituted by the two arms, so that the robot can be made lighter, and the torque applied to each joint shaft can be reduced. Therefore, the posture control of the robot can be performed more easily.

[Brief description of the drawings]

FIG. 1 is a diagram schematically showing an entire configuration of a lifting robot according to the present invention.

2A and 2B are diagrams showing a configuration of the robot, FIG. 2A being a front view thereof, and FIG. 2B being a side view thereof.

FIG. 3 is a diagram for explaining an operation procedure of the lifting robot.
The first step and the second step are shown.

FIG. 4 is a diagram illustrating an operation procedure of the lifting robot.
The third step and the fourth step are shown.

FIG. 5 is a diagram illustrating an operation procedure of the lifting robot.
The fifth step and the sixth step are shown.

FIG. 6 is a diagram illustrating an operation procedure of the lifting robot.
The seventh step and the eighth step are shown.

FIG. 7 is a flowchart illustrating a control procedure performed by the robot control device.

FIG. 8 is a diagram for explaining an operation procedure of the lifting robot according to the second embodiment, and shows a first step and a second step.

FIG. 9 is a view for explaining the operation procedure of the lifting robot in the second embodiment, and shows a third step and a fourth step.

FIG. 10 is a diagram for explaining an operation procedure of the lifting robot according to the second embodiment, and shows a fifth step and a sixth step.

FIG. 11 is a diagram illustrating an operation procedure of the lifting robot according to the second embodiment, and illustrates a seventh step and an eighth step.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Elevating robot 2 Robot (3 arms) 2a Frame member 2b Side frame of arm 20 Robot main body 21,22,23 Arm 24,27 Distal joint axis 25,26 Joint axis between arms 28,29 Gripping part 2A Robot (2 arms) 20A Robot main body 21A, 22A Arm 24A, 27A Distal joint axis 25A Joint axis between arms 28A, 29A Grasping part 3 Robot controller 41, 42 Sensor room 43, 44 Tilt sensor 45, 46 Visual sensor 47, 48 Force sensor 51, 52 Additional parts M1, M2, M3, M4 Motor

Continuation of the front page (72) Inventor Haruki Nishi 3- 14-1, Nakahara, Mitaka-shi, Tokyo Japan Fire Service Agency Fire Research Institute (56) References JP-A-62-131886 (JP, A) JP-A-2-172684 ( JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B25J 5/00

Claims (4)

(57) [Claims] 1. An ascending / descending robot that moves up and down while gripping horizontal members arranged vertically one above another at an interval. At least two arms, and an arm posture provided by rotating between the arms so that the arm posture can be freely adjusted. A robot main body having a joint axis between arms to be changed, two gripping portions rotatably provided via distal end side joint axes on respective distal ends of arms forming both ends of the robot main body; A robot controller that commands each of the joint axis and the distal joint axis to control the joint angle thereof to a desired angle. Of these, one gripper grips the horizontal member, and in that state, each of the inter-arm joint axis and the distal joint axis rotates to change the posture of the robot. of Climbing robot lifting unit grasps the next horizontal portion member, by performing this operation sequentially, which elevating between lateral portions material, it is characterized. 2. The robot body comprises three arms, and the center arm is hollow inside, and when the arms on both sides rotate around the joint axis between the arms, the arms on both sides are inside the center arm. The elevating robot according to claim 1, wherein the elevating robot can pass through. 3. The lifting robot according to claim 1, wherein the grip has a substantially hook shape. 4. The lifting robot according to claim 1, wherein the robot main body includes two arms.