JPH06229114A - Hybrid robot - Google Patents

Abstract

PURPOSE:To supplement a fire prevention system and effectively assist fire fighting activities of buildings like a fire fighting assist from the outside of an external wall in case of fire, guard and monitor activities by use of a gondola unit which can be used for maintenance purpose usual time. CONSTITUTION:This system is composed of a gondola unit 8 suspended and supported along the external wall face of a building 1 at the uppermost floor unit 3 transferably installed at the uppermost floor of the multistoried building 1, a replaceable maintenance unit 10 mounting on the gondola unit 8, and a fire fighting unit 11. In the maintenance unit 10, maintenance devices for ordinary time are mounted and in the fire fighting unit 11, a clamping device to hold the rail 2 equipped on the external wall of building 1 and a fire monitor 23, and a fire fighting device 24 are installed respectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hybrid robot using a building gondola that is movable along the outer wall of a building.

[0002]

2. Description of the Related Art Conventionally, when cleaning and maintaining the outer wall surface of a building, especially in a recent high-rise building, a gondola is hung from a roof unit such as a roof car installed on the roof by a wire to perform the above-mentioned various operations. It is supposed to be done. However, as a gondola system for fire response, there is only a rescue device using a gondola that the Fire Service Agency has researched and developed, there is no system that can be accessed from the outer wall side, and fire prevention, fire detection, There was nothing that comprehensively supported fire fighting activities such as fire extinguishing and rescue support, and could perform maintenance work such as cleaning during normal times.

[0003]

[Problems to be Solved by the Invention] When a fire occurs in a building, conventional ladder cars do not reach a sufficient height, and general gondola for maintenance does not have the equipment necessary for fire fighting activities, and passengers are at risk. Is. The rescue-type gondola device can rescue personnel, but fire prevention,
There is no fire detection function, and there is a problem that it cannot be used for other purposes during normal times.

The present invention has been conceived in view of the above, and a gondola unit that can be used for maintenance in normal times is used to support fire extinguishing activities, security, monitoring activities, etc. from the outside of the outer wall in the event of a fire. It is an object of the present invention to provide a hybrid robot capable of complementing the above and effectively supporting fire fighting activities.

[0005]

In order to achieve the above object, a hybrid robot according to the present invention comprises a roof unit 3 movably provided on the roof of a high-rise building 1.
It consists of a gondola unit 8 suspended and supported along the outer wall surface of the building 1, a maintenance unit 10 and a fire response unit 11 which can be mounted on the gondola unit 8, and the maintenance unit 10 is normally operated. Maintenance equipment is provided, and the fire response unit 11 includes a gripping device for gripping the rail 2 provided on the outer wall surface of the building 1, and a fire monitoring device 23.
And a fire extinguishing support device 24 are provided.

[0006]

[Operation] During normal maintenance work, the maintenance unit 10 is mounted on the gondola unit 8 to perform normal maintenance work such as cleaning the outer wall surface. When a fire occurs, the fire response unit 11 is mounted, and the fire monitoring device 23 and the fire extinguishing support device 24 monitor the fire and assist the fire extinguishing.

[0007]

EXAMPLES Examples of the present invention will be described with reference to the drawings. In the figure, 1 is a high-rise building, 2 is a rail laid along the inside of the outer peripheral wall of the roof of this building 1, 3 is a roof unit that is movably engaged with this rail 2, and is drawn into the rail 2. A line portion 2a is provided. As shown in FIG. 2, the rooftop unit 3 has an arm 4 and a winch 5 that can be moved up and down.
And a gondola unit 8 is suspended and supported by a pair of wires 7 wound around a pulley 6 at the tip of the arm 4. On the outer wall surface of the building 1, a pair of guide rails 9 are provided laterally with a space therebetween. The rooftop unit 3 is provided with a pair of auxiliary guide rails 3a at the same intervals as the guide rails 9. A maintenance unit 10 and a fire response unit 11 are detachably mounted on the gondola unit 8.

The maintenance unit 10 is shown in FIG.
As shown in FIG. 3, it comprises a cleaning head 12, a fresh water injection nozzle 13, a fresh water tank 14, a dirty water tank 15, a control panel 16 and the like.

The fire response unit 11 is configured as shown in FIGS. 2 and 3, and has a machine casing 17.
A pair of first gripping devices 18a, 18a are provided on both sides of 7 so as to be engageable with and disengageable from the pair of guide rails 5, 5 and capable of being gripped by an actuator (not shown). A lateral movement device 19 is provided below the machine frame 17. The lateral movement device 19 is provided below the machine frame 17 with a movable frame 20 that is movably engaged in the lateral direction, and the movable frame 2 with respect to the machine frame 17.
A driving device 21 such as a motor 21a for moving 0, a chain 21b, and a pair of second members provided at both ends of the moving frame 20.
It is composed of gripping devices 22a and 22b. The distance between the pair of second gripping devices 22a and 22b of the lateral moving device 19 is equal to the distance between the two guide rails 6 and 6, so that the guide rails can be engaged and gripped with the guide rails spaced apart from each other. Has become.

The fire response unit 11 is equipped with a fire monitoring device 23 and a fire extinguishing support device 24 in addition to the lateral movement device 19. Although not shown, the fire monitoring device 23 is a control panel, a monitoring device including a TV camera, a temperature / fire detector, a wind direction / speed indicator, a speaker, a microphone, a self-injection nozzle, a water tank, an evacuation machine for evacuation, It consists of a compressor and communication device. Fire extinguishing support device 2
Reference numeral 4 includes a glass cutting machine, a nozzle pedestal and the like. The above two devices 23 and 24 receive commands from a center operator 26 at a disaster prevention center 25 installed at a remote place as shown in FIG. And remotely controlled.

In the above structure, during normal maintenance work, the gondola unit 8 is equipped with the maintenance unit 10, and the maintenance unit 10 carries out maintenance work such as cleaning of the outer wall surface.

In the event of a fire, the roof lead-in wire 2a
Then, the maintenance unit 10 is replaced with the fire response unit 11. This remounting is done automatically. Then, the gondola unit 8 equipped with the fire response unit 11 is suspended along the outer wall surface. At this time,
The first gripping devices 18a and 18b of the fire response unit 11 are engaged with the pair of guide rails 9 and 9 on the outer wall surface via the auxiliary guide rail 3a. Gondola unit 10 in this state
Hang up to the specified position and carry out fire response work.

As the fire response work, a monitoring work, a fire extinguishing support work, and the like are performed by a command from the disaster prevention center and an operation. In the monitoring work, the vehicle moves unmanned based on the dispatch command from the disaster prevention center 25 to the movement target point from the time when the fire alarm signal is emitted from the alarm device in the building. At this time, when a sudden failure occurs in the route during the movement, for example, a jet fire, the route is changed autonomously. In addition, the disaster prevention center 2 from the time when a fire warning is received.
The screen of the monitor monitor 27 of No. 5 is switched to the fire response screen and displays the location of the abnormality, the reason for the abnormality, the movement target point and route, and the current position of the robot. When the movement target point is reached, the fire monitoring device 23 performs the monitoring work based on the instruction from the disaster prevention center operator 26 and transfers the information to the disaster prevention center 25. In the event of a sudden failure during surveillance activities, an emergency retreat will be carried out.

The lateral movement of the fire response unit 11 is performed by operating the lateral movement device 19. That is, the first gripping device 18a, 18b of the fire handling unit 11 is held in the gripped state, and the moving frame 20 of the lateral moving device 19 is moved in the direction in which the moving frame 20 is to be moved horizontally, and then the moving frame 20 is opposed to this. The guide rails 6 and 6 to the second gripping devices 22a and 2
2b, and then the first gripping device 18a, 18b
Is released, the machine frame 17 is moved laterally, and the guide rail 6 is gripped again. Rooftop unit 2 at this time
Also follows this and moves. The up-and-down movement of the fire response unit 11 depends on the gripping devices 18a, 18b and 22a, 22b.
Is loosened and suspended by the rooftop unit 2 and then suspended.

In the fire extinguishing support work, when the fire brigade arrives, the fire extinguisher information is provided to the fire extinguisher,
After that, the disaster prevention center operation 26 enters the command of the fire department manager and makes a hole in the window glass with the glass cutting device or performs activities such as rescue of the victim.

[0016]

According to the present invention, with a gondola unit used for maintenance during normal times, in the event of a fire, it is effective from the outside of the outer wall to complement the fire prevention system of the building such as fire extinguishing support, security and monitoring activities, and effective fire fighting activities. Can provide assistance.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention showing a state in which a fire countermeasure unit is mounted on a gondola unit.

FIG. 2 is a view on arrow A in FIG.

FIG. 3 is a view on arrow B of FIG.

FIG. 4 is an explanatory view showing how the fire countermeasure unit and the maintenance unit are mounted differently from the gondola unit.

FIG. 5 is a schematic side view showing a maintenance unit.

FIG. 6 is a perspective view showing a disaster prevention center.

[Explanation of symbols]

1 ... Building, 2 ... Rail, 2a ... Lead-in wire part,
3 ... Rooftop unit, 3a ... Auxiliary guide rail, 4 ... Arm, 5 ... Winch, 6 ... Pulley, 7 ... Wire, 8 ... Gondola unit, 9 ... Guide rail, 10 ... Maintenance unit, 11 ... Fire response unit, 12 ... Cleaning head,
13 ... Fresh water injection nozzle, 14 ... Fresh water tank, 15 ... Waste water tank, 16 ... Control panel, 17 ... Machine frame, 18a, 18b,
22a, 22b ... Gripping device, 23 ... Fire monitoring device, 24
... Fire extinguishing support device, 25 ... Disaster prevention center, 26 ... Center operator.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kazunari Nakai 1200 Manda, Hiratsuka-shi, Kanagawa Komatsu Ltd. Research Laboratory

Claims (1)

[Claims] 1. A gondola unit 8 suspended and supported along an outer wall surface of the building 1 by a rooftop unit 3 movably provided on a rooftop of a high-rise building 1, and can be mounted on the gondola unit 8 differently. Consisting of a maintenance unit 10 and a fire response unit 11
The maintenance unit 10 is provided with normal maintenance equipment, and the fire response unit 11 is provided with a holding device for holding the rail 2 provided on the outer wall surface of the building 1, a fire monitoring device 23, and a fire extinguishing support device 24. A hybrid robot characterized by having and.