JP2576008Y2 - Rescue robot rescue platform - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rescue robot operated by remote control or the like, and further relates to a rescue table attached to the rescue robot.

[0002]

2. Description of the Related Art Rescue robots are used for transporting and rescuing a rescued person at a fire site or the like instead of entering an operator on site. Such a rescue vehicle is composed of a traveling vehicle that can travel freely and a rescue platform on which the rescuer is placed.

As shown in FIG. 5, a rescue table 50 includes a guide rail 51 attached to an upper part of a vehicle body 62 of a traveling vehicle 61 so as to extend in the front-rear direction, a table frame 52 for loading a person to be rescued, and A rear guide roller 5 attached to the rear portion of the base frame 52 and the middle portion in the front-rear direction
3 and an intermediate portion guide roller 54. The guide rail 51 has a U-shaped cross section, and is formed to extend obliquely downward from an intermediate portion to a front portion of the vehicle body 62. Also, both guide rollers 5
The rolls 3 and 54 roll on the rail surface 51 a of the guide rail 51 thus formed, and slide the base frame 52 along the guide rail 51. The guide rollers 53 and 54 are prevented from coming off from the guide rail 51 by the upper surface portion 51c of the U-shaped cross section of the guide rail 51.

In such a rescue table 50, when the intermediate guide roller 54 is located near the front end of the guide rail 51 as shown in the figure, the base frame 52 is inclined forward and downward and the front end of the base frame 52 is inclined. Is grounded. Then, in this state, the traveling carriage 61 is driven to approach a rescue target person (not shown), and the rescue target person is easily placed on the platform frame 52.
It can be pulled up.

[0005]

However, in such a rescue table 50, when the front end of the base frame 52 is in contact with the ground, the intermediate guide roller 54 and the rear guide roller 53 are both guided by the guide rail 51 as shown in the figure. Vertical movement is prevented. For this reason, when the traveling vehicle 61 is traveling, when the front end of the platform frame 52 gets over the unevenness on the ground, the platform frame 52 cannot escape in the vertical direction (A direction in the drawing), and There is a problem in that there is a possibility that the vehicle 50 may be damaged or the traveling of the traveling vehicle 61 may be hindered.

Further, if the vertical movement of the base frame is prevented in this way, when the ground below the traveling vehicle 61 is higher than the ground below the front end of the base frame 52, the base frame 52 The front end may be lifted off the ground, which may make it impossible to load the rescued person smoothly.

[0007] The present invention has been made in view of such a problem, and an object of the present invention is to provide a rescue table that allows a traveling vehicle to run smoothly with the front end of the platform frame grounded. The purpose is.

[0008]

In order to achieve the above object, in the rescue table of the present invention, an intermediate guide roller is provided near the front end of the guide rail with the front end of the base frame grounded. A swing permitting portion is provided for detaching from the rail surface of the guide rail, and enabling the intermediate guide roller to swing up and down with the rear guide roller as a fulcrum together with the base frame.

[0009]

In such a rescue table, when the traveling carriage is to be run with the front end of the base frame grounded, the base frame is slid forward to ground the front end of the base frame. Is pushed forward, and the intermediate guide roller is lifted (separated) from the rail surface near the front end of the guide rail and moved to the vertical intermediate portion of the swing allowable space. Thus, the weight of the base frame is supported only by the front end portion and the rear guide roller of the base frame. And if the traveling carriage is run in such a state, when the front end of the platform frame gets over the unevenness of the ground, the intermediate guide roller moves up and down with the rear guide roller as a fulcrum in the swing allowable space together with the platform frame. Swings to absorb the irregularities. Therefore, there is no possibility that an excessive load is applied to the rescue table or the traveling of the traveling vehicle is hindered. In addition, the front end of the base frame moves up and down following the unevenness of the ground, so that the ground state can always be maintained.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 2 shows a rescue robot 20 having a rescue table according to the present invention. The rescue robot 20 is configured based on a crawler type traveling vehicle 21. A control unit 23 having a built-in control device for receiving a remote control signal and a control device for controlling the entire rescue robot 20 based on the remote control signal is mounted at the rear center of the vehicle body 22 of the traveling vehicle 21. Note that a television camera 24 is mounted on the upper part of the control unit 23, and images taken by the television camera 24 can be monitored by a remote control device (not shown) located away from the rescue robot 20. it can.

Further, booms 25, 25 which can be telescopically extended and retracted are attached to the rear right and left of the rear of the vehicle body 22 (however, a part of the boom on the left side of the vehicle body is omitted in the figure for convenience of explanation). doing.). At the end of each boom 25, a slave manipulator arm 26 is attached.

Further, a rescue board 10 according to the present invention is attached from the rear to the front of the vehicle body 22. Less than,
The rescue table 10 will be described with reference to FIG. As shown in FIG. 1 (A), the rescue table 10 includes the guide rail 1.
1, a base frame 12, a rear guide roller 13, and an intermediate guide roller 14.

The guide rails 11 are attached to the left and right sides of the vehicle body 22 in a pair. The guide rails 11 extend straight forward from the rear part of the vehicle body 22 to the middle part in the front-rear direction, and further diagonally from the middle part to the front part in the front-rear direction. It is bent so as to extend downward. The guide rail 11 has a U-shaped cross section as shown in FIG. 3, and rolls the guide rollers 13 and 14 on its rail surface 11a (lower surface). 14
Is guided in the front-back direction. Further, the ceiling surface 11c prevents the guide rollers 13, 14 from moving upward (so-called movement exceeding backlash), and prevents the guide rollers 13, 14 from coming off the guide rail 11.

However, near the front end of the guide rail 11, the ceiling surface 11c extends substantially horizontally with respect to the rail surface 11a extending straight obliquely downward. Therefore, in the vicinity of the front end, the rail surface 11a is moved from the ceiling surface 11c to the ceiling surface 11c.
A swing allowable space S having a height up to other parts is formed. This portion is the "oscillation permitting portion" in the claims.

The table frame 12 is a table on which a person to be rescued (not shown) is loaded, and is formed in a rectangular shape in plan view. Handrails 15 are attached to left and right side edges of the base frame 12 so that the loaded rescue target does not fall. Further, front end rollers 16 are attached to the left and right of the front end of the base frame 12.

The rear guide roller 13 is connected to the base frame 12.
The intermediate guide rollers 14 are attached to the lower left and right sides of the intermediate portion of the base frame 12 in the front-rear direction. Each of the guide rollers 13 and 14 is rollingly guided by the guide rail 11 as described above, and slides the base frame 12 along the guide rail 11. The slide drive of the base frame 12 is performed by the hydraulic cylinder 1 attached between the vehicle body 22 and the lower front part of the base frame 12 as shown in FIG.
7 is performed by the expansion / contraction operation.

The rescue robot 20 configured as described above
Is remotely controlled by an operator operating the above-described remote control device while watching the monitor. For example, when a predetermined pedal is operated, the traveling vehicle 21 travels and the boom 25 operates. Further, when the master manipulator arm is operated, the slave manipulator operates. Further, by operating a predetermined switch, the hydraulic cylinder 17 expands and contracts, and the rescue table 10 slides with respect to the vehicle body 22.

Here, when the rescue table 10 is slid forward, the intermediate guide roller 14 is guided from the intermediate section of the guide rail 11 by the front section, and the base frame 12 is inclined forward and downward. When the intermediate guide roller 14 is located near the front end of the guide rail 11 in this manner, the front roller 16 attached to the front end of the base frame 12 comes into contact with the ground. The roller 14 is the rail surface 1 of the guide rail 11
1a. ).

In the rescue robot 10, the hydraulic cylinder 17 is extended so that the rescue table 10 is further pushed forward after the front end roller 16 is grounded. As a result, FIG.
As shown in (B) and FIG. 4, the intermediate portion guide roller 14 can be separated from the rail surface 11a of the guide rail 11, and can be positioned at the vertical intermediate portion in the swing allowable space S. In this state, the base frame 12
Is supported by the rear guide roller 13 and the front end roller 16.

When the traveling carriage 21 is run in a state where the front end roller 16 is grounded and the intermediate guide roller 14 is floated in the swing allowable space S as shown in FIG.
When the front end roller 16 gets over the unevenness of the ground as shown by a chain line in FIG.
2 together with the rear guide roller 13 as a fulcrum. Therefore, the unevenness is absorbed by the vertical swing, so that an excessive load is not applied to the rescue board 10 and the smooth running of the traveling vehicle 21 is not hindered. Further, since the vertical swing of the base frame 12 is allowed in this manner, the front end roller 16, that is, the front end of the base frame 12 moves following the unevenness of the ground and constantly maintains the ground contact state. Therefore, for example, the rescue target person who cannot get up is set to the slave manipulator 26.
Can be easily pulled up onto the base frame 12.

The platform frame 12 on which the person to be rescued is placed is horizontally pulled up on the traveling carriage 21 by reducing the operation of the hydraulic cylinder 17. The rescue target can be rescued from a fire spot or the like by running the traveling cart 21.

[0022]

As described above, in the rescue table according to the present invention, the intermediate guide roller is separated from the rail surface of the guide rail while the front end of the base frame is grounded.
In addition, it is allowed to swing up and down with the rear guide roller as a fulcrum together with the base frame. Therefore, if this rescue table is used, when the front end of the table frame gets over the unevenness on the ground, the unevenness is absorbed by the vertical movement of the intermediate guide roller and the base frame, and an excessive load is applied to the entire rescue table. It is possible to reliably prevent the vehicle from catching or hindering smooth traveling of the traveling vehicle.

Also, by allowing the base frame to move up and down in this manner, the front end of the base frame moves following the unevenness of the ground and maintains the ground contact state. For this reason, if the rescue table is used for a rescue robot, the rescuer can be easily lifted on the stand frame regardless of the unevenness of the ground, and the rescue operation can be quickly performed.

[Brief description of the drawings]

FIGS. 1A and 1B are side views of a rescue table according to the present invention.

FIG. 2 is a side view of a rescue robot provided with the rescue table.

FIG. 3 is a sectional view taken along line III-III in FIG.

FIG. 4 is a sectional view taken along the line IV-IV in FIG.

FIG. 5 is a side view of a conventional rescue table.

[Explanation of symbols]

 Reference Signs List 10 rescue table 11 guide rail 11a rail surface 12 frame 13 rear guide roller 14 intermediate guide roller 20 rescue robot 21 traveling trolley S swingable space

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Toshihisa Ishizuka 1-3-5 Otemachi, Chiyoda-ku, Tokyo Inside the Tokyo Fire Department (72) Inventor Tatsuya Hayakawa 414-1 Higashimine Sugawa, Shinjimura, Tone-gun, Gunma Prefecture (56) References JP-A-5-58216 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B60P 1/43 B60P 3/00 B25J 5/00 A61G 3/00 502 A61G 1/02 B61D 23/00 B60R 3/02 E01C 9/08

Claims (1)

(57) [Scope of request for utility model registration] 1. A rescue robot for carrying a rescue subject or the like on a freely movable traveling vehicle, wherein the guide is attached to the traveling vehicle and extends obliquely downward toward a front portion of the traveling vehicle. A rail, a base frame for loading the rescue target, etc.,
A rear guide roller and an intermediate guide roller are attached to a rear portion and a front-rear direction intermediate portion of the base frame, and roll on the rail surface of the guide rail to slide the base frame along the guide rail. A rescue table that allows the traveling vehicle to travel in a state in which the intermediate guide roller is located near the front end of the guide rail and the front end of the platform frame inclined forward and downward is grounded, In the vicinity of the front end of the guide rail, the intermediate guide roller is separated from the rail surface in a state where the front end of the base frame is in contact with the ground, and the intermediate guide roller is moved together with the base frame with the rear guide roller. A rescue platform for a rescue robot, wherein a rescue robot is provided with a swing permitting portion for swinging up and down freely as a fulcrum.