Assisting robot

Abstract

To provide an assisting robot that can improve work efficiency and safety.SOLUTION: An assisting robot 1 comprises: a base 2 that is fixed to a pillar 90 as a framework of a structure; a capture mechanism 3 that captures an assisting rope R; and a length adjustment mechanism 4 that adjusts a length of the captured assisting rope R. Out of these, the capture mechanism 3 is composed of, for example, a fixed arm 31 that is fixed to the base 2, and a moving arm 32 that faces the fixed arm 31 and slidably attached to the base 2, and the assisting rope R is sandwiched between the fixed arm 31 and the moving arm 32.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a kamikaze robot that catches a kamikaze rope and guides a load during a lifting operation. [Background technology]

[0002] Conventionally, when transporting construction materials or the like with a crane, a kaishaku rope is often attached to the suspended load in order to rotate the load or fine-tune its position. The task of rotating the load or fine-tuning its position is performed by the slinger holding it down with the kaishaku rope or by hand (see Patent Document 1 for details of the kaishaku rope). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-3152 Summary of the Invention [Problem to be solved by the invention]

[0004] However, slingers are not necessarily guaranteed to be working on stable footing, such as on top of materials or standing on a horse, which limits the speed of work and makes it difficult to avoid unexpectedly approaching loads, creating problems in terms of work efficiency and safety.

[0005] Therefore, an object of the present invention is to provide a kamikaze robot that can improve work efficiency and safety. [Means for solving the problem]

[0006] In order to achieve the above-mentioned objective, the execution robot of the present invention is characterized by having a base portion fixed to the framework of a structure, a capture mechanism for capturing the execution rope, and a length adjustment mechanism for adjusting the length of the captured execution rope. [Effects of the Invention]

[0007] In this way, the kaishaku robot of the present invention is characterized by having a base part that is fixed to the framework of a structure, a capture mechanism that captures the kaishaku rope, and a length adjustment mechanism that adjusts the length of the captured kaishaku rope. With this configuration, the kaishaku robot can achieve improved work efficiency and safety. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a plan view of a kamikaze robot according to a first embodiment. [Figure 2] FIG. 1 is a side view of the kamikaze robot of the first embodiment. [Figure 3] FIG. 10 is a perspective view of a kamikaze robot according to a second embodiment. [Figure 4] FIG. 10 is a plan view of the kaishaku robot of the second embodiment in an open state. [Figure 5] FIG. 10 is a plan view of the kaishaku robot of the second embodiment in a closed state. [Figure 6] FIG. 10 is a plan view of the kamikaze robot of the third embodiment. [Figure 7] 10A and 10B are plan views of a modified example of the kamikaze robot of the third embodiment, in which (a) shows the state before bending and (b) shows the state after bending. [Figure 8] 10 is a flowchart illustrating a workflow using the execution robot of the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the components described in the following embodiments are merely examples and are not intended to limit the technical scope of the present invention to those. Below, Example 1 will describe a case where a sliding arm is provided, Example 2 will describe a case where a two-stage rotating cylindrical portion is provided, and Example 3 will describe a case where a pivoting folding arm is provided. [Example]

[0010] (Kaishaku robot with sliding arm) In this embodiment, a kaishaku robot 1 equipped with a sliding arm (32) will be described with reference to FIGS. 1 and 2.

[0011] (composition) First, the overall configuration of the kaishaku robot 1 equipped with a sliding arm of this embodiment will be described using Figures 1 and 2. As shown in Figures 1 and 2, the kaishaku robot 1 of this embodiment comprises a base 2 that is fixed to the framework of a structure, a capture mechanism 3 that captures the kaishaku rope R, and a length adjustment mechanism 4 that adjusts the length of the captured kaishaku rope R. Furthermore, although not shown, the kaishaku robot 1 also comprises a motor, a transmitter / receiver, a control unit, etc.

[0012] The base portion 2 is composed of a first L-shaped portion 21 bent into an L shape and a second L-shaped portion 22 bent into a similar L shape. The first L-shaped portion 21 and the second L-shaped portion 22 are fitted together in a nested manner and fixed to a pillar 90 serving as a frame by a jack 21a and a pad 22a. As will be described later, the vicinity of the tip of the second L-shaped portion 22 also serves as a fixed arm 31.

[0013] The capture mechanism 3 is composed of a fixed arm 31 fixed to the base portion 2 and a movable arm 32 opposed to the fixed arm 31 and slidably attached to the base portion 2. The fixed arm 31 is at the open tip side of the second L-shaped portion 22, and does not move relative to the base portion 2, but is fixed in position. That is, the fixed arm 31 in this embodiment is configured as a part of the base portion 2. However, the fixed arm 31 may also be a member independent of the base portion 2.

[0014] On the other hand, the moving arm 32 is configured to slide along the outer surface of the fixed arm 31 (the second L-shaped portion 22 of the base portion 2). Specifically, for example, it can be configured to move along a rail installed on the outer surface of the fixed arm 31. The portion near the tip of the moving arm 32 is bent back in a U-shape so that the execution rope R can be hooked onto it.

[0015] That is, the capture mechanism 3 of this embodiment moves the moving arm 32 at an appropriate timing to capture the kamikaze rope R by pinching it between the fixed arm 31 and the moving arm 32.

[0016] The length adjustment mechanism 4 is composed of a rotating roller 41 attached to the tip of the fixed arm 31 and a rotating roller 42 attached to the tip of the moving arm 32. An electric motor (not shown) is attached to at least one of the two rotating rollers 41, 42 so that it can rotate.

[0017] Therefore, for example, by rotating the electric motor in the forward direction, the rotating rollers 41, 42 rotate in the forward direction to wind up the kaishaku rope R, and by rotating the electric motor in the reverse direction, the rotating rollers 41, 42 rotate in the reverse direction to pay out the kaishaku rope R. This makes it possible to adjust the length of the kaishaku rope R (the length of the portion that is free and not in contact with other objects).

[0018] Furthermore, the rotating rollers 41, 42 can be configured to pay out the dismemberment rope R when a strong tensile torque exceeding the allowable value is applied from the dismemberment rope R. In other words, a predetermined amount of tensile force is transmitted from the dismemberment rope R to the pillar 90, which is the frame to which the dismemberment robot 1 is fixed, and if this force becomes excessive, there is a risk of partial damage to the pillar 90. Therefore, by determining the allowable tensile force in advance according to the strength of the frame and releasing it if a tensile force greater than this is applied, it is possible to prevent excessive stress from occurring on the frame side.

[0019] Of the operations of the base unit 2, the capture mechanism 3, and the length adjustment mechanism 4 described above in this embodiment, a remote control device (not shown) can be further provided that can remotely control (wired or wirelessly connected) the operations of the capture mechanism 3 and the length adjustment mechanism 4. This remote control device can be carried and operated by, for example, a rigger or a crane operator, allowing for efficient work.

[0020] (procedure) Next, a description will be given of a work procedure using the kamikaze robot 1 of this embodiment. In the following, a case will be described in which the kamikaze robot 1 is fixed to a pillar 90 that is a framework of a structure under construction.

[0021] 1) First, the base portion 2 of the kamikaze robot 1 is fixed to the pillar 90 of the structure. That is, the pillar 90 is grasped by the first L-shaped portion 21 and the second L-shaped portion 22, and the jack 21a is extended to fix the pillar 90 between the pad 22a.

[0022] 2) The catching mechanism 3 of the kaishaku robot 1 catches the kaishaku rope R. That is, when the kaishaku rope R comes into contact with the moving arm 32 in the extended state, the moving arm 32 is slid and pulled in.

[0023] 3) The kaishakunin rope R is sandwiched and fixed between the rotating roller 41 of the fixed arm 31 and the rotating roller 42 of the moving arm 32.

[0024] 4) The length of the kamikaze rope R is adjusted by the length adjustment mechanism 4 of the kamikaze robot 1. For example, the kamikaze rope R is wound up by rotating at least one of the rotating roller 41 and / or the rotating roller 42.

[0025] (effect) Next, the effects achieved by the execution robot 1 of this embodiment will be listed and explained.

[0026] (1) As described above, the execution robot 1 of this embodiment comprises a base 2 fixed to a pillar 90 that serves as the framework of a structure, a capture mechanism 3 that captures the execution rope R, and a length adjustment mechanism 4 that adjusts the length of the captured execution rope R. With this configuration, the execution robot 1 can achieve improved work efficiency and safety. Furthermore, if the slinger does not need to pull the execution rope R, the risk of contact can be reduced.

[0027] (2) The capture mechanism 3 of this embodiment is composed of a fixed arm 31 fixed to the base portion 2 and a movable arm 32 facing the fixed arm 31 and slidably attached to the base portion 2. The execution rope R is sandwiched between the fixed arm 31 and the movable arm 32, so that the execution rope R can be reliably captured despite its simple structure.

[0028] (5) Furthermore, the length adjustment mechanism 4 is composed of rotating rollers 41, 42 that are attached to the fixed arm 31 and / or the movable arm 32 and rotate, and the rotating rollers 41, 42 feed the execution rope R in the forward / reverse direction. Therefore, despite its simple structure, the length of the execution rope R can be reliably adjusted.

[0029] (9) Furthermore, since a remote control device capable of remotely operating the capture mechanism 3 and / or the length adjustment mechanism 4 is further provided, the rigger or crane operator can operate the capture mechanism 3 and / or the length adjustment mechanism 4 from a distance, thereby enhancing safety and improving work efficiency. Additionally, at the construction site, the rigger not only performs tasks such as slinging and unslinging materials, but also bolting and other setup tasks. Meanwhile, without the rigger, the crane cannot perform the next task, resulting in long waiting times. Therefore, by having the operator operate the execution robot 1 using the remote control device, the workload of the rigger can be reduced and the operator's waiting time can be utilized more effectively. This also contributes to the efficiency of the entire construction site.

[0030] (11) Furthermore, the length adjustment mechanism 4 is designed to unwind the execution rope R when a tensile torque exceeding the allowable value acts on the execution rope R, so that excessive stress is not generated in the structure's frame. [Example]

[0031] (Kaishaku robot with a two-stage rotating cylinder) In this embodiment, a kaishaku robot 1A having two stages of rotary cylindrical parts (23, 24) will be described with reference to FIGS. 3 to 5.

[0032] (composition) First, the overall configuration of the kamikaze robot 1A of this embodiment, which is equipped with two-stage rotating drums, will be described using Figures 3 to 5. As shown in Figures 3 to 5, the kamikaze robot 1A of this embodiment is equipped with a base 2 fixed to a pillar 90 that serves as the framework of a structure, a capture mechanism 3 that captures the kamikaze rope R, and a length adjustment mechanism 4 that adjusts the length of the captured kamikaze rope R. Furthermore, the kamikaze robot 1A is equipped with a motor, a transmitter / receiver, a control unit, etc., although not shown.

[0033] The base part 2 is configured as a two-stage rotating cylindrical part consisting of an upper first cylindrical part 23 and a lower second cylindrical part 24. These cylindrical parts 23, 24 are partially separated and can open and close to embrace a pillar 90 (framework). Then, with the base part 2 embracing the pillar 90, it is pressed and fixed to the pillar 90 by a jack 23a and a pad 23b. Furthermore, as will be described later, these two cylindrical parts 23, 24 are each independently rotatable (length adjustment mechanism 4).

[0034] The capture mechanism 3 is composed of a first hook portion 33 protruding from the side surface of the first cylindrical portion 23 and a second hook portion 34 protruding from the side surface of the second cylindrical portion 24. The beheading rope R is sandwiched between the first hook portion 33 and the second hook portion 34. Of these, the first hook portion 33 is formed in an L-shape or a hooked shape, so that the beheading rope R can be hooked thereon. The second hook portion 34 is also formed in an L-shape or a hooked shape, so that the beheading rope R can be hooked thereon. However, of these, it is preferable that the second hook portion 34 has a shape that can grip the beheading rope R—for example, a V-shape that narrows at the back.

[0035] The length adjustment mechanism 4 is realized by rotating at least one of the first cylindrical portion 23, which is integral with the first hook portion 33, or the second cylindrical portion 24, which is integral with the second hook portion 34, relative to the other. As a specific configuration, for example, rails are concentrically installed inside the first cylindrical portion 23, and a pinion gear and a motor are installed on the first cylindrical portion 23 side, thereby rotating the first cylindrical portion 23. Note that when both cylindrical portions rotate, the length can be quickly adjusted if the first cylindrical portion 23 and the second cylindrical portion 24 rotate in opposite directions.

[0036] (procedure) Next, a working procedure using the kamikaze robot 1A of this embodiment will be described. The following describes a case where the kamikaze robot 1A is fixed to a pillar 90 that is a framework of a structure under construction.

[0037] 1) First, the base portion 2 of the execution robot 1A is fixed to the pillar 90 of the structure. That is, the pillar 90 is embraced by the first cylindrical portion 23 (second cylindrical portion 24) in the open state, and the jack 23a is extended to fix the pillar 90 between it and the pad 23b.

[0038] 2) The catching mechanism 3 of the kaishaku robot 1A catches the kaishaku rope R. That is, the upper first cylindrical portion 23 rotates and stops at a position where the first hook portion 33 faces in the direction in which the beam is to be attached (out of the four directions perpendicular to the pillar 90). The operator then moves the material (suspended load) to a position where the kaishaku rope R comes into contact with the first cylindrical portion 23. The material is moved so that the kaishaku rope R is positioned as close to the first hook portion 33 as possible.

[0039] 3) When the second cylindrical portion 24 at the lower stage rotates and the second hook portion 34 comes into contact with the kamikaze rope R, the kamikaze rope R is gripped by the second hook portion 34.

[0040] 4) The length of the kamikaze rope R is adjusted by the length adjustment mechanism 4 of the kamikaze robot 1A. Specifically, after the kamikaze rope R is gripped by the second hook 34, only the lower second cylindrical portion 24 rotates, causing the kamikaze rope R to move on the cylinder and become caught on the first hook 33. In this state, only the lower second cylindrical portion 24 continues to rotate, causing the kamikaze rope R to be wound up while maintaining tension between the upper first hook 33 and the lower second hook 34.

[0041] (effect) Next, the effects achieved by the execution robot 1A of this embodiment will be listed and explained.

[0042] (1) As described above, the execution robot 1A of this embodiment comprises a base 2 fixed to a pillar 90 that serves as the framework of a structure, a capture mechanism 3 that captures the execution rope R, and a length adjustment mechanism 4 that adjusts the length of the captured execution rope R. With this configuration, the execution robot 1A can achieve improved work efficiency and safety.

[0043] (3) The capture mechanism 3 of this embodiment is composed of a first hook 33 installed on the side of the first cylindrical portion 23 rotatably supported on the base portion 2, and a second hook 34 installed on the side of the second cylindrical portion 24 rotatably supported coaxially with the first cylindrical portion 23 on the base portion 2, and is configured to sandwich the beheading rope R between the first hook 33 and the second hook 34. With this configuration, the beheading rope R can be reliably captured despite the simple structure.

[0044] (6) Furthermore, the length adjustment mechanism 4 is configured by rotating the second cylindrical portion 24 relative to the first cylindrical portion 23, and winds / unwinds the execution rope R around the first cylindrical portion 23 and / or the second cylindrical portion 24. Therefore, despite its simple structure, the length of the execution rope R can be reliably adjusted with a relatively large rotational torque.

[0045] The other configurations and effects are substantially the same as those of the previously described embodiment, and therefore will not be described here. [Example]

[0046] (Kaishaku robot with pivoting folding arm) In this embodiment, a kaishaku robot 1B equipped with pivotable folding arms (35 to 37) and a kaishaku robot 1C equipped with modified arms (36 to 38) will be described with reference to FIGS. 6 and 7.

[0047] (composition) First, the overall configuration of the kamishaku robot 1B equipped with the pivot-type folding arms (35-37) of this embodiment will be described using Figure 6. As shown in Figure 6, the kamishaku robot 1B of this embodiment is equipped with a base 2 fixed to a pillar 90 serving as the framework of a structure, a capture mechanism 3 that captures the kamishaku rope R, and a length adjustment mechanism 4 that adjusts the length of the captured kamishaku rope R. Furthermore, although not shown, the kamishaku robot 1B is equipped with a motor, a transmitter / receiver, a control unit, etc. Of these, the configuration of the base 2 is substantially the same as in Example 1, so a description thereof will be omitted.

[0048] The capture mechanism 3 of this embodiment is composed of a rotating arm 35 on the most proximal side, which is rotatably supported on the base portion 2; a first arm 36 rotatably supported around an axis 35a of the rotating arm 35; and a second arm 37 rotatably supported on the first arm 36. The first arm 36 and the second arm 37 are essentially configured as a center-bend type, so that the execution rope R can be sandwiched (grasped) between them. On the other hand, the rotating arm 35 has a shaft 35a protruding in the axial direction, and the shaft 35a is configured to rotate by an internal motor or the like.

[0049] The length adjustment mechanism 4 is configured by the first arm 36 and the second arm 37 rotating together. That is, when the shaft 35a of the rotating arm 35 closest to the base end is rotated by a rotating means such as a motor, the first arm 36 and the second arm 37 on the tip end side rotate together. When this is done, the rotation of the shaft 35a of the rotating arm 35 causes the kaishaku rope R to be wound / reel out around the first arm 36 and the second arm 37, which have been bent and brought closer to each other.

[0050] Furthermore, a camera 80 is installed near the tip of the base portion 2 (second L-shaped portion 22) in this embodiment, so that it is possible to photograph the positional relationship between the execution rope R and the capture mechanism 3. The image taken by the camera 80 is shown to the slinger and the crane operator.

[0051] (Variation: Folding arm with rotating roller) Here, the configuration of another type of capturing mechanism 3 and length adjusting mechanism 4 will be described with reference to FIGS. 7(a) and 7(b).

[0052] The capture mechanism 3 of this modified example does not have a rotating arm (35), but instead, as shown in Figure 7(a), is equipped with a first arm 36 on the base end side, a second arm 37 on the tip end side, and an intermediate arm 38 located between them. The first arm 36 is rotatably supported by the base part 2, the intermediate arm 38 is rotatably supported by the first arm 36, and the second arm 37 is rotatably supported by the intermediate arm 38. Therefore, the first arm 36 and the second arm 37 can bend to pinch and capture the kamikaze rope R between them.

[0053] The first arm 36 and the second arm 37 are each provided with a rotating roller 43, 44 that rotates around its own axis as the length adjustment mechanism 4. Therefore, as shown in Figure 7(b), the rotating roller 43 of the first arm 36 and the rotating roller 44 of the second arm 37 are positioned parallel to each other, and the length of the kaishaku rope R can be adjusted by rotating the rotating rollers 43, 44 with the kaishaku rope R sandwiched between them.

[0054] (procedure) Next, the work procedure using the kamikaze robot 1B (1C) of this embodiment will be described using the flowchart in Figure 8. In Figure 8, a "ball" in a circle indicates work performed by a slinger, and an "O" in a circle indicates work performed by an operator. Below, we will explain the case where the kamikaze robot 1B (1C) is fixed to a pillar 90, which is the framework of a structure under construction.

[0055] 1) A slinger fixes the execution robot 1B (1C) near the material installation position (step S1). That is, the slinger grips the pillar 90 with the first L-shaped portion 21 and the second L-shaped portion 22, and extends the jack 21a to fix the pillar 90 between the jack 21a and the pad 22a.

[0056] 2) The slinger or operator operates the controller (remote control device) to rotate the arm (35 to 37) of the execution robot 1B (1C) toward the material attachment position (step S2).

[0057] 3) The operator recognizes the position of the execution robot 1B (1C) visually and / or by the camera 80 (step S3).

[0058] 4) The operator operates the crane to move the material to a range where the arms (35 to 37) can catch the execution rope R (step S4).

[0059] 5) The slinger or operator operates the controller (remote control device) to open and close the arms (35 to 37) of the execution robot 1B (1C) to catch the execution rope R (step S5). That is, the execution rope R is sandwiched between the first arm 36 and the second arm 37.

[0060] 6A) The slinger or operator operates the controller (remote control device) to rotate the axis 35a of the rotating arm 35 of the execution robot 1B, thereby rotating the first arm 36 and the second arm 37 and applying tension to the execution rope R to pull the material (step S6).

[0061] 6B) Alternatively, the slinger or operator operates the controller (remote control device) to rotate the rotating rollers 43, 44 of the execution robot 1C, thereby applying tension to the execution rope R and pulling the material (step S6).

[0062] 7) The operator operates the crane to lower the hook by the amount of the scuttle rope R that is wound up, and moves the material to the vicinity of the attachment position (step S7).

[0063] 8) The rigger makes the final fine adjustments and secures the materials (step S8).

[0064] 9) The slinger or operator operates the controller (remote control device) to sweep out and release the execution rope R (step S9).

[0065] (effect) Next, the effects achieved by the execution robots 1B and 1C of this embodiment will be listed and explained.

[0066] (1) As described above, the execution robot 1B (1C) of this embodiment comprises a base 2 fixed to a pillar 90 that serves as the framework of a structure, a capture mechanism 3 that captures the execution rope R, and a length adjustment mechanism 4 that adjusts the length of the captured execution rope R. With this configuration, the execution robot 1B (1C) can achieve improved work efficiency and safety.

[0067] (4) The capture mechanism 3 of this embodiment is configured as a folding mechanism, with a first arm 36 on the base end side and a second arm 37 on the tip end side, and the execution rope R is sandwiched between the first arm 36 and the second arm 37. With this configuration, the execution rope R can be reliably captured despite the simple structure.

[0068] (7) Furthermore, the length adjustment mechanism 4 is configured such that the first arm 36 and the second arm 37 rotate as a unit by rotating the axis 35a of the rotating arm 35 on the base end side, and the execution rope is wound / unwound around the first arm 36 and the second arm 37. Therefore, despite its simple structure, the length of the execution rope R can be reliably adjusted.

[0069] (8) Alternatively, the length adjustment mechanism 4 is composed of rotating rollers 43, 44 attached to the first arm 36 and / or the second arm 37 and rotates, and the rotating rollers 43, 44 feed the execution rope R in the forward / reverse direction, so that the length of the execution rope R can be reliably adjusted despite its simple structure.

[0070] (10) Furthermore, by further providing a camera 80 that photographs the relative positions of the kamikaze rope R and the capture mechanism 3, it becomes easier for the operator to operate the crane and move the material (suspended load) to the attachment position by looking at the image. In other words, the operator can easily move the kamikaze rope R within the gripping range of the arm by looking at the image. It is also possible to provide an operation signal to the crane based on the relative positions of the crane arm and the kamikaze rope R, and move the crane to a specified position.

[0071] The other configurations and effects are substantially the same as those of the above-described embodiment, and therefore will not be described here.

[0072] Although the embodiments of the present invention have been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes that do not deviate from the gist of the present invention are included in the present invention.

[0073] For example, the remote control device was described in Example 1, and the camera 80 was described in Example 3, but this is not limited to this, and the execution robots 1A, 1B, and 1C in Examples 2 and 3 may be equipped with a remote control device, or the execution robots 1 and 1A in Examples 1 and 2 may be equipped with a camera 80.

[0074] Furthermore, in the first embodiment, it was explained that the length adjustment mechanism 4 is configured to unwind the execution rope R when a tensile torque exceeding the allowable value acts on the execution rope R, but this is not limited to this, and the length adjustment mechanism 4 of the execution robots 1A, 1B, and 1C in the second and third embodiments can also be configured in a similar manner. [Explanation of symbols]

[0075] 1, 1A, 1B, 1C: kaishakunin robot; 2: base part; 21: 1st L-shaped part; 22: 2nd L-shaped part; 23: First cylindrical part; 24: Second cylindrical part; 3: Capture mechanism; 31: fixed arm; 32: moving arm; 33: First hook portion; 34: Second hook portion; 35: Rotating arm; 35a: Axis; 36: First arm; 37: Second arm; 38: Middle arm 4:Length adjustment mechanism; 41, 42: rotating roller; 43, 44: rotating roller; 80: Camera; 90: Pillar (framework); R: Execution rope

Claims

1. a base portion fixed to the frame of the structure; A capture mechanism for capturing the beheading rope; a length adjustment mechanism for adjusting the length of the captured execution rope; An execution robot equipped with

2. 2. The kamikaze robot according to claim 1, wherein the capture mechanism is composed of a fixed arm fixed to the base portion and a movable arm opposed to the fixed arm and slidably attached to the base portion, and the kamikaze rope is sandwiched between the fixed arm and the movable arm.

3. 2. The execution robot of claim 1, wherein the capture mechanism is composed of a first hook portion installed on the side of a first cylindrical portion rotatably supported on the base portion, and a second hook portion installed on the side of a second cylindrical portion rotatably supported on the base portion coaxially with the first cylindrical portion, and the execution rope is clamped between the first hook portion and the second hook portion.

4. 2. The kamikaze robot according to claim 1, wherein the capturing mechanism is configured as a folding type, with a first arm at the base end and a second arm at the tip end, and the kamikaze rope is sandwiched between the first arm and the second arm.

5. 3. The KAISHAKU robot according to claim 2, wherein the length adjustment mechanism is composed of a rotating roller attached to the fixed arm and / or the moving arm and rotates, and the rotating roller feeds the KAISHAKU rope in the forward / reverse direction.

6. 4. The kamikaze robot according to claim 3, wherein the length adjustment mechanism is configured by rotating the second cylindrical portion relative to the first cylindrical portion, and winding / releasing the kamikaze rope around the first cylindrical portion and / or the second cylindrical portion.

7. 5. The kaishaku robot according to claim 4, wherein the length adjustment mechanism is configured by the first arm and the second arm rotating together, and winds / unwinds the kaishaku rope around / onto the first arm and the second arm.

8. 5. The KAISHAKU robot according to claim 4, wherein the length adjustment mechanism is composed of a rotating roller attached to the first arm and / or the second arm and rotates, and the rotating roller feeds the KAISHAKU rope in the forward / reverse direction.

9. The KAISHAKU robot according to claim 1 , further comprising a remote control device capable of remotely controlling the capturing mechanism and / or the length adjustment mechanism.

10. The kaishaku robot according to claim 9, further comprising a camera that photographs the relative positions of the kaishaku rope and the capture mechanism.

11. 11. The kamikaze robot according to claim 1, wherein the length adjustment mechanism is configured to pay out the kamikaze rope when a tensile torque exceeding an allowable value acts on the kamikaze rope.

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