JP2019042426A - Fire-fighting hose vehicle - Google Patents

Abstract

To provide a fire-fighting hose vehicle equipped with a fire hose, including power-assist driving force for transporting the fire hose to a fire-fighting site, and capable of resolving physical/psychological burdens of firefighters caused by throttle operation by dispensing with any throttle operation by the firefighters (towing persons) for adjusting the power-assist driving force during power-assist travel of a fire-fighting hose vehicle that can adjust the power-assist driving force during the power-assist travel.SOLUTION: A fire-fighting hose vehicle includes power-assist driving force by driving force of an electric motor, causes a contact-type linear displacement sensor attached to a shaft constituting a pull to detect and output tensile force applied to the pull that is provided at the fire-fighting hose vehicle capable of adjusting the power-assist driving force during the power-assist travel, and adjusts the electric-motor driving force by output data.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a fire hose car loaded with a fire hose and transporting the hose to a fire extinguishing work site, and more particularly to a fire hose car equipped with an electric assist driving force.

  As is well known, the basic configuration of a fire hose car (hereinafter also referred to as “hose car”) includes a rectangular parallelepiped main body having a loading platform on which a fire hose (hereinafter also referred to as “hose”) is loaded and the front (front) of the main body. The hose car is mounted on the fire truck with the hose loaded in a fire place, with a puller provided on the back (rear) and a pair of left and right wheels provided on the left and right sides of the main body. After being transported to the vicinity and lowered, the firefighter pulls and moves the hose car to the fire extinguishing work site.

  In general, hose cars are made mainly of stainless steel and aluminum pipes and plates, and the hose to be loaded is quite heavy, so the total weight of the hose car and hose is very heavy ( Usually, firefighters who are proficient in towing a hose car by training travel to a fire extinguishing work site without problems on a flat road.

  However, if the fire place is at the end of a tough road where fire trucks cannot pass and the hose car is unloaded from the fire truck to the fire extinguishing work site, the fire extinguishing work site is not a hill. If an uphill road continues on the top or in the middle of a mountain, the physical burden of firefighters and firewood may become so great that arrival at the fire fighting work site may be delayed.

  In view of such circumstances, a hose car provided with an electric motor and a battery has been proposed for a long time (see Patent Document 1), and a two-wheeled walking type that uses a pair of wheels to improve the weight increase associated with the attachment. A hose car has been proposed (see Patent Document 2).

  Furthermore, in recent years, from the viewpoints of weight reduction of hose cars, reliability of electric motors and batteries, driving stability, etc., normal driving only by human power (driving on long roads and driving on flat roads) and human power and electric motors. A hose car that can switch between assist driving (long-distance driving or driving on an uphill road) and adjusting the driving force (rotational torque of the electric motor) during assist driving. Have also been proposed (see Patent Document 3 and Patent Document 4).

JP-A-10-101269 JP 2003-144571 A JP 2005-143964 A Japanese Patent Laying-Open No. 2015-128484

  Patent Document 3 discloses a fire-fighting equipment transport vehicle capable of a normal operation that travels only by human power and an assist operation that travels by the driving force of human power and a motor, the transport vehicle including a main body having a loading portion, A puller provided on the main body, a pair of left and right wheels provided on the main body, a wheel-in motor incorporated in each of the two wheels, a controller for controlling the wheel-in motor, and a controller connected to the controller A fire-fighting equipment carrier vehicle (hereinafter referred to as “first publicly known vehicle”) having a throttle that is turned off during the normal operation and turned on during the assist operation, and a throttle grip that is turned by a fireman during the assist operation provided in the puller. "Hose Car").

  Patent Document 3 discloses the throttle grip “... The throttle grip 52 controls the current supplied to the motor 12. By adjusting the rotation angle of the grip 52, for example, 0 to 0 is provided. It is possible to allow a current necessary for the rotation of 170 RPM to flow.

  In Patent Document 4, a main body having a loading platform for loading a fire hose, a puller provided in front of the main body, a pair of left and right wheels provided in the main body, and an electric motor incorporated in each of the wheels. An electrically assisted fire hose car with electric assist composed of a motor and a throttle composed of a potentiometer provided in a puller for controlling the rotational torque of the electric motor, wherein the throttle is a fire hose car with electric assist by a fireman A fire hose car (hereinafter referred to as “second known hose car”), which is a slide type throttle that controls turning on / off of electric power to the electric motor and controlling rotational torque by a forward / backward sliding operation along the traveling direction of Say).

  In addition, Patent Document 4 describes the slide type throttle as "... the grip part of the slide type throttle is freely mounted around the connecting shaft part of the puller, so that when traveling on an uneven road surface. The wrist of the operator holding the sliding throttle can easily cope with the vibration and roll of the fire hose car with electric assist.

  In both the first known hose car and the second known hose car, the firefighters grip the handle during normal driving only by human power, and the firefighters operate the throttle during assist driving by human power and motor driving force (first The first known hose car is used to adjust the assist driving force (rotational torque of the electric motor) by rotating the throttle grip, and the second known hose car is a sliding front / rear sliding operation.

  As described above, the assisted traveling is performed when the hose car is lowered from the fire engine to the fire extinguishing work site when the mileage is very long or when the uphill road continues even if the distance is short. Even in such a case, the firefighters travel hard to arrive at the fire extinguishing work site as soon as possible for early fire extinguishing, so the firefighter's physical body caused by the operation of the throttle during assisting driving・ It can be estimated that the mental burden is large.

  This invention makes it a technical subject to provide the hose car which can reduce the physical and mental burden of the firefighter at the time of assist driving | running | working as much as possible.

  In order to solve the above-mentioned problems, the present inventors have conducted trial and error design, prototyping, and experimentation on the type of throttle and the location where the assist driving force is adjusted in a hose car having an assist driving force by an electric motor and a battery. In order to drastically solve the problem in the process of being repeated, it is possible to adjust the assist driving force without requiring a throttle operation by a fireman during assist traveling in the first known hose car or the second known hose car. I thought that technical means had to be adopted.

  Then, the inventors of the present invention estimate that if the change of the tensile force applied to the puller of the hose car during assist traveling is detected and the assist driving force is adjusted based on the detected data, the throttle operation by the firefighter is not required. The present invention has been completed as a result of research to obtain an idea and to realize the idea.

  The above problems can be solved by the present invention as follows.

  That is, the present invention, as shown in FIGS. 1 to 4 below, includes a cargo bed 2 on which a fire hose is loaded, a battery box 3 in which a battery serving as a power source for the electric motor is stored, and a control board for controlling the electric motor. A substantially rectangular parallelepiped main body 1 having a control box 4 in which the main body 1 is stored, a puller 5 provided on the front (front) of the main body 1, and a pair of left and right provided on the left and right sides of the main body 1. It consists of wheels 6 and 6 and each electric motor built into each of the pair of wheels, and can switch between normal running only by human power and assist running by joint driving force of human power and electric motor. In a fire hose car that can adjust the driving force of the electric motor during assist travel, a contact-type linear displacement sensor is attached to the rear end of the shaft 51 constituting the puller 5. -71 is installed with the rear end of the shaft in contact with the front end of the sensor, and the shaft 51 can be moved forward and rearward by a distance within the effective stroke distance of the sensor 71. Tensile force is configured so that a change amount (displacement) of the distance that the shaft 51 moves by a pulling force applied to the puller 5 is detected and output by the sensor 71 and the driving force of the electric motor can be adjusted with the output data. A fire hose car having an electric assist driving force provided with a force detection unit.

  Further, according to the present invention, the tensile force detector is fixed by welding to the rear end portion of the shaft 51 constituting the puller 5 as shown in FIG. A sliding shaft 72 that slides in the pulling direction (forward) and controls expansion and contraction of the tip of the displacement sensor 71; a sliding shaft holder 73 that guides the sliding of the sliding shaft 72; A compression coil spring 74 that is attached to the periphery and restricts sliding of the slide shaft 72, and that is attached to the rear end portion of the slide shaft 72 to prevent the slide shaft 72 from coming off and the coil spring 74 A set collar 75 that prevents the holder 73 from coming off, a puller base 53 that supports the entire puller and accommodates the displacement sensor 71, fixes the base 53 and the holder 73, and the coil spring 7 A fire hose car equipped with an electrically assisted driving force composed of a cylinder 76 that covers the shaft and the like and a shaft rotation restricting tool 78 that prevents the sliding shaft 72 from rotating in the holder 73. is there.

  According to the fire hose car according to the present invention configured as described above, the rear end portion of the shaft 51 constituting the puller 5 and the front end portion of the contact-type linear displacement sensor 71 are placed in contact with each other, and The shaft 51 is structured to be able to move forward and backward by a distance within the effective stroke distance of the sensor, and the sensor detects the amount of change in the distance that the shaft 51 moves due to the tensile force applied to the puller 5 during assist traveling. -Since it is possible to adjust the driving force of the electric motor (rotational torque of the electric motor) with the output data, the firefighter who is pulling the hose car can use the first known hose car or the second known hose car during assist running. Since the throttle operation that is seen is not required, the physical and mental burden caused by the throttle operation during assist driving is eliminated. .

  Further, it is possible to always hold firmly with both hands without releasing one hand from the steering wheel during assist traveling, and it is also possible to pull by a plurality of people as necessary.

  Furthermore, the present invention provides a puller in a hose car that can be switched between normal driving only by conventional human power and assist driving by joint driving force of human power and electric motor, and that performs driving operation of the electric motor by throttle operation during assist driving. If the electric motor control circuit is changed by adding the tensile force detection unit in the present invention and remodeling the pulling handle in the present invention, the above-mentioned effect can be obtained. Therefore, the cost required for the remodeling, attachment and change, and the effect obtained. The performance is excellent.

FIG. 1 is a perspective view of a fire hose car according to an embodiment of the present invention. FIG. 2 is a schematic side view of a fire hose car according to an embodiment of the present invention. FIG. 3 is a schematic front view of a fire hose car according to an embodiment of the present invention. FIG. 4 is a schematic plan view of a fire hose car according to an embodiment of the present invention. FIGS. 5 (a) and 5 (b) are partially omitted vertical cross-sectional views illustrating the configuration of the tensile force detection unit in the fire hose car according to the embodiment of the present invention, respectively, and FIG. 5 shows a state where the puller 5 is not pulled, and (b) shows a state where the puller 5 is pulled forward by the tow person. FIG. 6C is a partially omitted perspective enlarged explanatory view showing the shape and mounting state of the shaft rotation restricting tool used in the tensile force detecting portion in the fire hose car according to the embodiment of the present invention. d) is a partially omitted side enlarged explanatory view showing the configuration and movement of the shaft rotation restricting tool. FIG. 7 is a block explanatory diagram showing a drive and control mechanism of a fire hose car according to an embodiment of the present invention.

  The structure and material of the main body 1 having the loading platform 2, loading platform lid 21, battery box 3 and control box 4 in the fire hose car shown in FIGS. 1 to 4 are the same as those of the well-known fire hose car, and are made of stainless steel. Steel and aluminum pipe materials and flat plate materials are used, and each frame of the loading platform 2 and its lid 21 is made of stainless steel (SUS304) and aluminum (A6063-T5) square pipes (tube materials). Each panel uses a flat plate made of stainless steel (SUS304). A pair of left and right wheels 6 and 6 provided on the left and right sides of the main body 1 and each electric motor (not shown) incorporated in each of them are used in a fire hose car having a known electric assist driving force. This is the same as that which is called “in-wheel motor” by those skilled in the art.

  The structure and operation of the emergency stop switch 31 and the fuse holder 32 provided on the upper surface of the battery box 3 and the operation mode changeover switch 41 and the power switch 42 provided on the upper surface of the control box 4 also have a known electric assist driving force. This is the same as that used for fire hose cars.

  As shown in FIG. 4, the puller 5 has a T-shape in a plan view and is provided with a horizontal and orthogonal handle 52 at the tip of the shaft 51 constituting the puller 5, and slides at the rear end. A shaft 72 is provided. The shaft 51 and the handle 52 are stainless steel (SUS304) round pipes (tube materials), and the sliding shaft 72 is a stainless steel (SUS304) round bar fixed to the shaft 51 by welding and the rear of the shaft 51. It has a hook-shaped convex portion 721 protruding from the end face. The slide shaft holder 73 and the cylinder 76 are made of aluminum (A6061-T6), the set collar 75 is made of steel, and the pull base 53 and the shaft rotation restricting tool 78 are made of stainless steel (SUS304). It is molded into the required shape by drawing and casting. As the compression coil spring 74, a commercially available product made of stainless steel (SUS304-WPB) is used.

  The shaft 51, the sliding shaft 72, the sliding shaft holder 73, the set collar 75, the cylinder 76, and the pull base 53 are positioned in a straight line, and constitute the pull 5 as a whole. The puller base portion 53 is pivotally attached to a puller connecting portion 9 made of stainless steel (SUS304) provided in the main body 1.

  The contact-type linear displacement sensor 71 housed in the puller base 53 is a commercially available product (for example, “LP-10FBS-3”, product symbol, Green Sokki Co., Ltd. ) Is used.

  5A and 5B, the relationship between the sliding shaft 72 and the displacement sensor 71 in the tensile force detection unit 7 will be described in detail.

  FIG. 5A shows a state in which the puller 5 is not pulled by the puller. In this state, the sliding shaft 72 is urged by the compression coil spring 74 and slides backward to slide the sliding shaft 72. The distal end portion of the displacement sensor 71 is pressed by the rear end portion, and the distal end portion is contracted, and the displacement sensor 71 detects that the puller 5 is not pulled by the contraction of the distal end portion, in other words, It is detected that no tensile force is applied to the puller 5. In this case, the position of the slide shaft 72 is regulated by the convex portion 721 pressing against the tip of the slide shaft holder 73.

  FIG. 5B shows a state where the puller 5 is pulled forward by the puller. In this state, the compression coil spring 74 is contracted and the sliding shaft 72 is pulled forward (tensile force). ), And the distal end of the displacement sensor 71 is loosened by the compression coil spring 711 provided at the distal end, and the displacement sensor 71 is extended by the extension of the distal end. The amount of force with which the puller 5 is pulled is detected, in other words, the pulling force applied to the puller is detected. In this case, the position of the slide shaft 72 is regulated by pressing a set collar (shaft stopper) fixed to the rear end portion against the rear end of the slide shaft holder 73. Note that the end surface of the rear end portion of the sliding shaft 72 and the end surface of the front end portion of the displacement sensor 71 are always in contact with each other.

  An arrow L in FIG. 5B indicates the movable range of the sliding shaft 72.

  6C and 6D, the relationship between the shaft 51, the convex portion 721 of the sliding shaft 72, and the shaft rotation restricting tool 78 in the tensile force detector 7 will be described in detail.

  As shown in FIGS. 6C and 6D, the shaft rotation restricting tool 78 has two ring-shaped parts 782 and 783 engaged by a hinge-shaped part 781, and the ring-shaped part 782 is connected to the shaft 51. The ring-shaped part 783 is fitted to the front end of the sliding shaft holder 73 and fixed with the bolt 784 after the fitting. At the time of fitting, the ring-shaped components 782 and 783 are both partially opened by a mechanism (not shown) similar to the bracelet or handcuff opening mechanism.

  The arrow L in FIG.6 (d) has shown the movable range of the axis | shaft 51 and the sliding axis | shaft 72 welded to this.

  The rotation operation of the shaft 51 and the sliding shaft 72 welded to the shaft 51 is not restricted by the shaft rotation restricting tool 78, and the shaft 51 and the sliding shaft 72 move only in the front / rear direction. Therefore, the accurate contact state between the end surface of the rear end portion of the sliding shaft 72 and the end surface of the distal end portion of the displacement sensor 71 can be maintained, so that stable and accurate detection data can be obtained.

  The drive / control mechanism of the fire hose car shown in FIGS. 1 to 6 will be described in detail with reference to a block explanatory diagram shown in FIG.

  When the puller 5 is pulled forward by the puller, the shaft 51 and the slide shaft 72 move forward (tensile direction: traveling direction), and the displacement sensor 71 pushed in by the rear end portion of the slide shaft 72. The tip of the sensor is extended by the force of the compression coil spring 711 provided at the tip, and the displacement sensor 71 outputs a voltage level signal corresponding to the amount of extension and sends it to the control board, and the CPU mounted on the control board. Based on the voltage level signal sent by the control software, the amount of tensile force applied to the puller 5 is calculated and sent to the ESC (Electronic Speed Controller) as a speed command signal, and the ESC is sent to the speed. Each electric motor (in-wheel motor) built in the wheels 6 and 6 is controlled by the command signal, and it is controlled by human power and driving force of the electric motor. Assist traveling is performed.

  If the pulling speed of the puller 5 is reduced by the puller reducing the traveling speed during the assist traveling, the shaft 51 and the sliding shaft 72 are moved rearward by the force of the compression coil spring 74, and the tip of the displacement sensor 71 is contracted. The displacement sensor 71 outputs a voltage level signal corresponding to the amount of contraction and sends it to the control board. Based on the voltage level signal sent by the control software of the CPU mounted on the control board, the displacement sensor 71 outputs the voltage level signal. The amount of applied tensile force is calculated and sent to the ESC as a speed command signal. The ESC loosens the acceleration of each electric motor (in-wheel motor) built into the wheels 6 and 6 by the sent speed command signal. Control to decelerate.

  When the pulling force of the puller is further reduced and the pulling force completely disappears, the shaft 51 and the sliding shaft 72 are moved further rearward by the force of the compression coil spring 74, and the rear end of the sliding shaft 72 is The tip of the displacement sensor 71 is pressed and the tip is completely contracted, and the displacement sensor outputs a voltage level signal at this time and sends it to the control board, which is sent by the control software of the CPU mounted on the control board. Based on the received voltage level signal, the output of the speed command signal sent to the ESC is stopped, the electric motor (in-wheel motor) stops driving, and the wheels 6 and 6 become free.

  Further, when the brake operating lever 8 provided on the handle 52 is operated by the tow person during the assist traveling, a brake switch built in the lever is operated to send a brake ON signal to the control board and is mounted on the control board. Based on the brake ON signal sent by the CPU control software, the speed command signal output sent to the ESC is forcibly stopped, the electric motor (in-wheel motor) stops driving, and the wheels 6 and 6 are free. It becomes the state of. The wheels 6 and 6 are physically stopped by a disc brake as usual.

  In addition, in case the power supply current value to the ESC rises above a certain value or falls below a certain value, the CPU mounted on the control board detects the amount of current flowing to the motor with a current detection sensor. Is controlled to stop the output of the speed command signal to the ESC.

  If necessary, a speed command signal to be sent to the ESC, a feedback pulse signal indicating the rotational speed of the motor from the electric motor (in-wheel motor) and an acceleration sensor are added to the voltage level signal output from the displacement sensor 71. A speed command signal can also be obtained by adding the acceleration signal obtained by the installation and calculating with the control software of the CPU mounted on the control board.

  The embodiment of the present invention as described above was implemented according to the following specifications.

  First, “LP-10FBS-3” (product symbol, effective stroke: 10 mm ± 0.5 mm, manufactured by Green Sokki Co., Ltd.) is used for the contact type linear displacement sensor 71, and the shaft 51 constituting the puller 5 is used. The movable range (the distances L in FIGS. 5 (b) and 6 (d)) of the sliding shaft 72 fixed to the end by welding was set to 8 mm.

  Next, a lithium battery “URB1270” (product symbol, average voltage 25.6 V: 12.8 V × 2 (series), capacity: 7.5 Ah) is used for the battery, and the in-wheel motor is used for the wheel 6 with the built-in electric motor. (Specifications: 170 W / 24, torque = 10 N / m or more, KV value = 10.4, tire specifications: outer diameter 290 mm, width 90 mm, 6PR) were used.

  The fire hose car that implements the embodiments of the present invention according to the above specifications is equivalent to the running speed and continuous running time during the assist running of the fire hose car with electric assist driving force currently in practical use in Japan. It has the ability.

  According to the present invention, various effects as described in the above-mentioned [Effects of the invention] can be obtained, and in particular, the physical and mental burden caused by the throttle operation at the time of assisting the firefighter (tower) can be reduced. An excellent effect that it can be eliminated can be obtained at low cost.

  Therefore, it can be said that the industrial applicability of the present invention is great.

DESCRIPTION OF SYMBOLS 1 Main body 2 Carriage 3 Battery box 4 Control box 5 Puller 6 Electric motor built-in wheel 7 Tensile force detection part 8 Brake operation lever 9 Puller connection part 10 Stand 21 Cargo lid 22 Frame 23 Panel 31 Emergency stop switch 32 Fuse holder 41 Operation mode changeover switch 42 Power switch 51 Shaft constituting shaft 52 Handle 53 Pulling base 61 Wheel cover 71 Contact linear displacement sensor 72 Sliding shaft 73 Sliding shaft holder 74 Compression coil spring 75 of sliding shaft holder Set collar 76 Cylinder 78 Shaft rotation restricting tool 711 Displacement sensor compression coil spring 721 Sliding shaft convex part 781 Hinge-shaped part 782 Ring-shaped part 783 Ring-shaped part 784 Bolt

Claims (2)

A substantially rectangular parallelepiped main body having a loading platform for loading a fire hose, a battery box storing a battery as a power source for the electric motor, and a control box storing a control board for controlling the electric motor, and a front surface of the main body Is composed of a pull handle provided on the left and right sides of the main body, and a pair of left and right wheels provided on the left and right sides of the main body, and each electric motor incorporated in each of the pair of wheels. In a fire hose car that can switch between driving and assist driving jointly with driving force of human power and electric motor and that can adjust the driving force of electric motor during assist driving, at the rear end of the shaft that constitutes the puller A contact type linear displacement sensor is installed with the rear end of the shaft and the tip of the sensor in contact with each other, and the shaft is connected to the sensor. It is possible to move forward and backward by a distance within the effective stroke distance of-, and the change amount of the distance that the axis moves due to the tensile force applied to the puller during assist traveling is detected and output by the sensor. A hose car for fire fighting equipped with an electric assist driving force, characterized by comprising a tensile force detector configured to adjust the driving force of the electric motor. The tensile force detection unit is fixed to the rear end of the shaft constituting the puller by welding, and slides in the pulling direction (forward) by the tensile force applied to the puller during assist traveling, and the front end of the displacement sensor A sliding shaft that controls expansion and contraction of the sliding shaft, a sliding shaft holder that guides sliding of the sliding shaft, a compression coil spring that is attached around the holder and restricts sliding of the sliding shaft, and a sliding A set collar that is attached to the rear end of the shaft to prevent the sliding shaft from coming off and prevents the coil spring from coming off from the holder, and a pull that supports the entire puller and houses the displacement sensor. It is composed of a hand base part, a cylinder that fixes the base part and the holder and covers the coil spring, and a shaft rotation restricting tool that prevents the sliding shaft from rotating in the holder. Billing Hosuka for fire having an electric assist driving force of 1, wherein.

Images