JP2005334355A - Small running carriage and small running robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a small running carriage, which is small, lightweight, and movable by humans, and constantly allows its four wheels to stably run even on unleveled roads such as rough roads or through narrow places with grounded, and a small running robot with it. <P>SOLUTION: The small running carriage body is divided into three parts, such as a left frame part 12, a right frame part 13, and a central frame part 11. The split left frame part 12 and a right frame part 13 are respectively equipped with a front wheel 1, a rear wheel 2, a running device 3, a hinge connecting means 15 to connect the frame parts 11-13 at their rear ends so that they can tilt one another, and a balance-shaped connecting means 14 to connect at their front ends. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a small traveling cart that can always travel on an uneven road surface with four wheels in contact with the ground, and a small traveling robot using the small traveling cart.

  For example, if a conventional traveling carriage is a wheel type, four wheels are attached to the carriage frame, and each is driven to travel. Therefore, when the road surface is not flat or when one wheel rides on an obstacle, the three wheels come into contact with each other and the one wheel is floating. In addition, when attempting to get over the stepped portion diagonally, the three wheels are supported with the first wheel riding on the stepped portion. When the three-wheel support is used in this way, the stability of the carriage is significantly impaired depending on the position of the center of gravity of the carriage.

Therefore, in order to always keep the four wheels in contact with the ground, an independent suspension system using a spring is usually employed. However, the independent suspension system increases the cost, and the adoption of the independent suspension system becomes extremely difficult when there is a size limitation, particularly a height limitation.
On the other hand, there has been proposed an apparatus in which a driven wheel is attached to an eccentric shaft without using an independent suspension system and the four wheels are always grounded (for example, see Patent Document 1).

JP 10-338145 A

However, in the cart structure as shown in Patent Document 1, it is impossible to make a four-wheel drive, and therefore it is not possible to make a small turn in a narrow place.
In small traveling carts used for fire fighting activities and earthquake disaster activities, it is necessary to be able to move freely and stably in a narrow place with irregularities. It is also important from the point of speed that it can be transported by hand near the place.

  The present invention has been made in view of the problems as described above, and is small and light and can be transported by human power, and is stable in a state where the four wheels are always in contact with ground even on uneven road surfaces with unevenness or narrow places. It is an object of the present invention to provide a small traveling cart that can travel and a small traveling robot using the small traveling cart.

  In order to solve the above problems, a small traveling vehicle according to the present invention divides a vehicle body into three parts, a left and right frame part and a central frame part, and each of the divided left and right frame parts includes a front wheel, a rear wheel, and a traveling object. The apparatus further includes a hinge coupling means for coupling the rear end portions so that the respective frame portions can be tilted with each other, and a balance-like coupling means for coupling the front end portions.

  The small traveling cart according to the present invention divides the vehicle body into three parts, a left and right frame part and a central frame part, and each of the divided left and right frame parts includes a front wheel, a rear wheel, and a traveling device, It comprises shaft coupling means for coupling the respective frame portions at the axial center position of the rear wheel so as to be tiltable with each other, and a balance-like coupling means for coupling the front end portions.

  Further, the small traveling cart of the present invention is characterized in that the central frame portion is equipped with a monitoring camera, the central frame portion is used as a loading platform, and a crawler is used in place of the wheels.

A small traveling robot according to the present invention includes the small traveling carriage according to any one of claims 1 to 5 and a work device mounted on the central foot frame, and is a remote control type or an autonomous traveling type. The working device is a fire extinguishing device or a projectile projection device.
In addition, the projecting object projection device includes an inner cylinder into which the projecting object is placed, and the inner cylinder moves in a direction opposite to the projecting direction when projecting the projecting object, and acts on the central frame portion by colliding with the ground. It has a mechanism to reduce the force.

  According to the present invention, the vehicle body is divided into the left and right frame parts and the central frame part, and the hinge connecting means is provided at the rear end part so that each frame part tilts with respect to each other, and the balance-like connecting means is provided at the front end part. Since it is provided, it is possible to travel with the four wheels always in contact with a road surface such as unevenness, a stepped portion, or a narrow place. Moreover, since it can be reduced in size and weight, it can be easily transported to the site manually.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

Embodiment 1 FIG.
Embodiment 1 of the present invention is shown in FIGS. FIG. 1 is a plan view of a small traveling robot provided with a small traveling carriage in the first embodiment, FIG. 2 is a front view of the small traveling carriage in FIG. 1, FIG. 3 is a cross-sectional view taken along line AA in FIG. FIG. 5 is a front view when the front wheel on one side of the traveling vehicle rides on an obstacle, and FIG. 5 is a front view when the rear wheel on one side of the small traveling vehicle rides on the obstacle. FIG. 6 is an external view of the remote control unit, and FIG. 7 is an explanatory diagram of a monocular monitor.
This small traveling robot has, for example, a fire extinguishing device 31 mounted as a working device on the small traveling carriage 10 and is remotely controlled by a remote controller 32. A monitoring camera 9 is provided at the front of the small traveling vehicle 10. 33 is a control cable, 34 is a nozzle of the fire extinguishing device 31, 35 is a fire extinguisher tank, and 36 is a solenoid valve.

  The small traveling cart 10 includes four wheels, a front wheel 1 and a rear wheel 2, and the vehicle body is divided into three parts in the width direction. The central frame portion 11 corresponding to the divided central portion is a portion corresponding to a loading platform on which a working device such as a fire extinguishing device 31 is mounted. It is attached. As shown in FIG. 2, the front end portions of these frame portions 11 to 13 are connected by a balance-like connecting means 14, and the rear end portions are connected by a hinge connecting means 15 as shown in FIG. Yes.

The balance-like connecting means 14 is fitted into a balance arm 17 pivotally attached to a front end portion of the central frame portion 11 by a shaft 16 and elongated holes 18 provided at both ends of the balance arm 17. It is comprised from the pin 19 provided in each front end part of the left and right flame | frame parts 12 and 13. As shown in FIG. Reference numeral 20 denotes a stopper for restricting the movement of the balance arm 17.
The central frame portion 11 is always held at the average height of the left and right frame portions 12 and 13 by such a balance-like connecting means 14.

The hinge coupling means 15 includes a connecting rod 21 attached to the rear end portion of the central frame portion 11 at a right angle in the traveling direction of the carriage, and the rear ends of the left and right frame portions 12 and 13 via the sliding bearings 22. It is comprised from the bearing holder 23 hold | maintained by a part.
Accordingly, each of the frame portions 11 to 13 can rotate (that is, tilt) independently in the vertical direction around the connecting rod 21.

Next, the structure of the traveling device 3 of the wheels 1 and 2 attached to the left and right frame parts 12 and 13 will be described with reference to FIG.
In this example, the traveling device 3 has the same configuration so that each wheel can be driven independently, and each traveling device 3 is symmetrical with respect to the center line of the carriage, so that the right frame portion 13 represents the traveling device 3 as a representative. Describe the configuration.
For example, a large belt pulley is attached to each of the front wheel 1 and the rear wheel 2, and the axle is supported by a bearing on the frame portion. A small belt pulley is attached to the output shaft of the speed reducer 5 driven by the electric motor 4, and the rotation of the electric motor 4 is decelerated by connecting the large belt pulley and the belt 6 to the wheels 1 and 2, respectively. Transmit independently.
Reference numeral 7 denotes an amplifier that controls electric power supplied to the electric motor 4, and the amplifier 7 is controlled by a remote controller 32. Here, the amplifier 7 is connected by the remote cable 34, but it may be a wireless radio control. 8 is a battery.

In FIG. 6, 37a and 37b are travel levers, the left travel lever 37a controls the left travel device, and the right travel lever 37b controls the right travel device. Reference numeral 38 denotes a fire extinguishing agent spraying start switch provided on the controller holding handle 39.
The surveillance camera 9 shown in FIG. 1 has three units for the front, left, and right, and these cameras 9 photograph three directions, and the images are monocular of the operator as shown in FIG. The image is displayed on the monitor 40. The small traveling vehicle 10 is operated while viewing this image, the position considered to be most effective is determined, and the fire extinguishing agent spraying start switch 38 is pressed to perform the fire extinguishing work. One monitoring camera 9 may be provided, and this may be configured to be able to swing in the vertical and horizontal directions.

Next, the operation and driving operation of the small traveling robot provided with the small traveling carriage 10 will be described.
If one of the aforementioned travel levers 37a, 37b is tilted forward, the wheels 1 and 2 rotate in the forward direction, and if tilted backward, the wheels 1 and 2 rotate in the reverse direction. Further, at the neutral position, the wheels 1 and 2 are stopped. Therefore, if the levers 37a and 37b are tilted forward or backward by the same amount to move the carriage 10 forward and backward, the inclination of both levers is changed, for example, when the left travel lever 37a is tilted more than the right travel lever 37b, the right electric motor The rotational speed of 4 decreases from the left, and the carriage 10 turns to the right. Similarly, when the right travel lever 37b is tilted more than the left travel lever 37a, the rotational speed of the left electric motor 4 is decreased from the right and the carriage 10 turns to the left.
When the right traveling lever 37b is moved backward and the left traveling lever 37a is moved forward in opposite directions, the right wheel rotates backward, the left wheel rotates forward, and the carriage 10 turns right on the spot ( (Shinjuku turning). On the other hand, if you defeat it, it turns left.

  As shown in FIG. 4, when the left front wheel 1 rides on the obstacle 100 as shown in FIG. 4, the connecting rod of the hinge means 15 with the left frame portion 12 provided at the rear end portion, as shown in FIG. The left frame portion 12 is inclined with respect to the traveling direction because it rotates upward about the center 21. At the same time, in the balance-like connecting means 14 provided at the front end portion of the vehicle body frame, the pin 19 at the front end portion of the left frame portion 12 lifts the balance arm 17 around the shaft 16 and lifts the central frame portion 11 right. Pull up to the average height with the right frame 13 to maintain stability. After the front wheel 1 passes over the obstacle 100 and then the rear wheel 2 rides on the obstacle 100 as shown in FIG. 5, the entire carriage is tilted, but the four wheels remain grounded due to the action of the balance arm 17. It is possible to get over the obstacle 100 while maintaining a stable state.

Therefore, the small traveling vehicle 10 according to the first embodiment can always travel with the four wheels in contact with the ground even on uneven road surfaces with unevenness or steps, and has excellent traveling stability. In addition, since it is small and lightweight and can be reduced in height, it can be transported by hand near the place of use, and can easily enter a narrow place where people cannot enter.
Further, by remotely maneuvering while detecting the front with the monitoring camera 9, it is possible to easily enter a place where the line of sight is not clear.
Further, by using this small traveling cart 10 and mounting a work device such as a fire extinguisher 31 or a manipulator on the central frame portion 11, it is effective for fire extinguishing work or earthquake disaster relief activities.

Embodiment 2. FIG.
FIG. 8 shows a second embodiment of the present invention, and is a plan view of a small traveling robot, and FIG. 9 is a front view of the small traveling carriage of FIG.
In the second embodiment, shaft coupling means 24a and 24b for coupling at the axial center position of the rear wheel 2 are provided so that the respective frame portions 11 to 13 tilt. These shaft coupling means 24a and 24b are arranged so that the side surfaces of the center frame portion 11 and the left frame portion 12 and the side surfaces of the center frame portion 11 and the right frame portion 13 are concentric with the axis of the rear wheel 2. In the position, it is configured to be coupled so as to be rotatable by respective shafts. Further, the front end portions of the respective frame portions 11 to 13 are coupled by a balance-like connecting means 14 having the same configuration as that of the first embodiment (see FIG. 9). Other configurations are the same as those of the first embodiment.

  FIG. 10 shows a comparison of the inclination of the vehicle body when one side of the front wheel 1 of the small traveling carriage 10 according to the first and second embodiments gets over the obstacle 100. However, each small traveling vehicle is a case where the wheel base is 360 mm, the wheel outer diameter is 280 mm, and the obstacle height is 100 mm. In FIG. 10, the upper diagram is the case of the first embodiment, the lower diagram is the case of the second embodiment, (a) is a front view of the small traveling carriage, (b) is a side view, and (c) is the side view. It is a rear view.

In the case of the first embodiment, since the hinge coupling means 15 is provided at the rear end of each frame portion 11 to 13, the vehicle body is slightly inclined, but all four wheels are grounded, and the vehicle body frame is assembled and disassembled. There is a merit that it is easy.
On the other hand, in the case of the second embodiment, since the shaft coupling means 24a and 24b for coupling the frame portions 11 to 13 are provided at the axial center position of the rear wheel 2, the body frame is assembled and disassembled as in the first embodiment. Although not as easy as the one, there are advantages that all four wheels are grounded and the vehicle body does not tilt.

Embodiment 3 FIG.
FIG. 11 is a perspective view of a small traveling robot showing Embodiment 3 of the present invention. 12 is a plan view of the small traveling vehicle of FIG. 11, FIG. 13 is a front view, FIG. 14 is a side view, FIG. 15 is a cross-sectional view taken along line BB of FIG. , (B) shows the state at the time of fire extinguishing bullet projection.
In the third embodiment, the small traveling carriage 10 described above is used, and a fire extinguishing projecting device 41 that projects, for example, a fire extinguishing bullet 42 is provided as a projectile. The fire extinguisher projecting device 41 is mounted on the central frame portion 11. Here, a storage container 43 for individually storing four fire extinguishing bullets 42 is accommodated in a recess 44 provided in the central frame portion 11. The configuration of the small traveling vehicle 10 of the third embodiment is the same as that of the first embodiment described above, and has the same operations and effects.

The inside of the fire bomb 42 is filled with a fire extinguisher (not shown), and a lower part thereof is filled with a propellant (not shown). Reference numeral 45 denotes a detonation electric wire connection terminal for a propellant, which is connected to the detonation terminal 46 of the containment vessel 43 by an electric wire 47.
Reference numeral 48 denotes an inner cylinder into which the fire extinguishing bullet 42 is inserted. The inner cylinder 48 is loaded into the storage container 43 through a spring 49 that biases upward. In addition, an adjustment member 50 is provided below the inner cylinder 48 so as to accommodate fire extinguishing bullets 42 having various heights, and a bottom 51 is provided below the adjustment member 50. That is, the inner cylinder 48 is formed in a bottomed cylinder.
A hole through which the inner cylinder 48 passes is provided at the bottom of the storage container 43, and a spring 49 that biases the inner cylinder 48 upward is interposed between the bottom of the storage container 43 and the flange at the upper end of the inner cylinder 48. Yes.
52 is a rubber plate whose inner diameter is designed to be the same as or slightly smaller than the outer diameter of the fire bomb 42, and the fire bomb 42 jumps out of the storage container 43 during transportation of the storage container 43 or traveling on a rough road of a small traveling carriage. It is something that will not be done.
Accordingly, the inner diameter of the opening of the rubber plate 52 is set to an inner diameter dimension that is somewhat resistant when the fire extinguishing bullet 42 is inserted into the inner cylinder 48 but does not significantly affect when the fire extinguishing bullet 42 is projected. Instead of this rubber plate, it is also possible to use a mechanism that suppresses the projection of a projectile such as a fire bomb while releasing the storage container 43 or traveling the small traveling carriage 10 and releases it immediately before the projection.
A pressing member 53 for the rubber plate 52 also serves as an upper limit stopper for the inner cylinder 48.

As shown in FIGS. 11 and 15, the fire-extinguishing projecting device 41 has four fire-extinguishing bullets 42 inserted into the storage container 43 through the opening of the rubber plate 52, and then the initiation wire connection terminal 45 and the storage container 43. The initiation terminal 46 is connected by an electric wire 47. After the small traveling cart 10 is installed near the site and the storage container 43 containing the above-described fire extinguishing bomb is loaded on the central frame portion 11 of the small traveling cart 10, the remote controller 32 is connected to the connector 54a provided in the storage container 43. A connector 54b on the initiation cable side of the control cable 33 is connected.
When the small trolley 10 travels and arrives at the destination, the projection button 38 of the remote controller 32 is pressed to project the fire extinguishing bullet 42.

As shown in FIG. 15, by pressing the projection button 38, a propellant (not shown) at the bottom of the fire bomb 42 ignites, and the fire bomb 42 tears the detonation electric wire 47 upward by the pressure of the generated gas. On the other hand, the inner cylinder 48 descends against the spring 49, and the bottom 51 of the inner cylinder 48 contacts the ground.
Thus, most of the reaction force at the time of projecting a fire bullet, energy due to the inner cylinder 48 moving in the direction opposite to the fire bullet projecting direction, and the inner cylinder 48 collide with an obstacle such as the ground, for example, Since the deformation energy is dissipated and dissipated due to deformation or the like, the reaction force at the time of fire extinguishing projectile hardly acts on the storage container 43 and the central frame portion 11 on which the storage container 43 is mounted.
The reaction force at the time of extinguishing a fire bullet partly acts on the containment vessel 43 via a spring 49, but this spring 49 is a weak spring that supports the fire extinguishing bullet during traveling of a small traveling carriage, The force acting on the storage container 43 through the spring 49 until the inner cylinder 48 contacts the ground is minute compared to the pressure of the generated gas.

  Therefore, the central frame portion 11 may be manufactured so as to be able to load the load due to the mass of the containment vessel 43 and the fire extinguishing bullet 42, and there is no need to consider a large load such as a reaction force at the time of projection. Can be reduced in weight and size.

  As described above, according to the third embodiment, the inner cylinder that puts the projectile into the storage container is provided, and the bottom surface of the inner cylinder is set to be substantially the same as the bottom surface of the storage container at the normal time. When reaction force is applied to the inner cylinder, the inner cylinder moves in the direction opposite to the projecting direction of the projectile, energy resulting from the movement of the inner cylinder, and deformation energy that deforms by colliding with an obstacle such as the inner cylinder 48, for example, the ground. When the reaction force disappears, the inner cylinder is restored to its original state by the spring force, etc., so the reaction force when projecting the projectile hardly acts on the containment vessel. Therefore, the design strength of the mounting structure of the containment vessel itself and the loading platform and its vehicle body (frame) can be kept low, and the overall structure of the vehicle body can be reduced in weight and size. The effect as a small traveling vehicle is the same as that of the first embodiment.

Embodiment 4 FIG.
FIG. 16 is a perspective view of a small traveling robot showing Embodiment 4 of the present invention. The small traveling robot according to the fourth embodiment is obtained by equipping the small traveling cart 10 illustrated in the second embodiment with the fire extinguishing projecting device 41 illustrated in the third embodiment. In other words, the small traveling vehicle 10 includes shaft coupling means 24a and 24b that are coupled at the axial center position of the rear wheel 2 so that the frame portions 11 to 13 tilt with respect to each other (however, the shaft coupling means 24b on the left frame portion 12 side). Are not shown).

Embodiment 5 FIG.
FIG. 17 is a perspective view of a small traveling cart showing Embodiment 5 of the present invention. (A) of the figure is the wheel-type small traveling vehicle shown in Embodiments 1 to 4, and (b) is a crawler-type small traveling vehicle. In FIG. 17, 60 is a crawler. The wheels 1 and 2 are provided with toothed grooves with which crawler teeth are engaged so that the crawler 60 can also be used.
The structure of the vehicle body (three-part structure, etc.) is as described above, and the present invention is applicable not only to the wheel type but also to the crawler type.

The top view of the small traveling robot provided with the small traveling cart by Embodiment 1 of this invention. The front view of the small traveling trolley | bogie of FIG. AA sectional drawing of FIG. The front view when one front wheel of a small traveling trolley rides on an obstacle. The front view when one rear wheel of a small traveling trolley rides on an obstacle. The external view of a remote control part. Explanatory drawing of a monocular monitor. The top view of the small traveling robot provided with the small traveling cart by Embodiment 2 of this invention. The front view of the small traveling trolley | bogie of FIG. The comparison figure of the inclination of the vehicle body when the one side of the front wheel of the small traveling trolley | bogie of Embodiment 1 and 2 gets over an obstruction. The perspective view of the small traveling robot which shows Embodiment 3 of this invention. The top view of the small traveling trolley | bogie of FIG. The front view of the small traveling trolley | bogie of FIG. The side view of the small traveling vehicle of FIG. BB sectional drawing of FIG. The perspective view of the small traveling robot which shows Embodiment 4 of this invention. The perspective view of the small traveling vehicle which shows Embodiment 5 of this invention.

Explanation of symbols

1 front wheel, 2 rear wheel, 3 traveling device, 4 electric motor, 5 speed reducer, 6 belt, 7 amplifier, 8 battery, 9 monitoring camera, 10 small traveling cart, 11 center frame, 12 left frame, 13 right frame Part, 14 balance-like connecting means, 15 hinge connecting means, 16 shafts, 17 balance arms, 18 long holes, 19 pins, 20 stoppers, 21 connecting rods, 22 slide bearings, 23 bearing holders, 24a, 24b shaft connecting means, 31 Fire extinguisher, 32 Remote controller, 33 Control cable, 34 Nozzle, 35 Fire extinguisher tank, 36 Solenoid valve, 37a, 37b Travel lever, 38 Fire extinguishing agent spray start switch (projection button), 39 Controller holding handle, 40 Monocular monitor, 41 fire extinguishing bullet projection device, 42 fire extinguishing bullet, 43 containment vessel, 44 recess, 45 explosive wire connection terminal, 46 Explosion terminal, 47 electric wire, 48 inner cylinder, 49 spring, 50 adjustment member, 51 bottom, 52 rubber plate, 53 holding member, 54a, 54b connector, 60 crawler, 100 obstacle.

Claims (8)

  The vehicle body is divided into three parts, a left and right frame part and a central frame part. Each of the divided left and right frame parts includes a front wheel, a rear wheel, and a traveling device, and each frame part can be tilted with respect to each other. A small traveling cart comprising hinge coupling means for coupling the front end and a balance-shaped coupling means for coupling the front end portion.   The vehicle body is divided into three parts, a left and right frame part and a central frame part. Each of the divided left and right frame parts includes a front wheel, a rear wheel, and a traveling device, and each frame part can be tilted with respect to the rear wheel. A small traveling cart comprising shaft coupling means for coupling at an axial center position and a balance-like coupling means for coupling a front end portion.   The small traveling vehicle according to claim 1 or 2, wherein a monitoring camera is installed in the central frame portion.   The small traveling cart according to any one of claims 1 to 3, wherein the central frame portion is a loading platform.   The small traveling cart according to any one of claims 1 to 4, wherein a crawler is used instead of the wheel.   A small traveling robot comprising the small traveling carriage according to any one of claims 1 to 5 and a work device mounted on the central foot frame, wherein the small traveling robot is a remote control type or an autonomous traveling type.   The small traveling robot according to claim 6, wherein the work device is a fire extinguisher or a projectile projection device. The projectile projecting device includes an inner cylinder into which a projectile is placed, and the inner cylinder moves in a direction opposite to the projecting direction when projecting the projectile, and generates a reaction force acting on the central frame portion by colliding with the ground. The small traveling robot according to claim 7, further comprising a mechanism for reducing the weight.

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