JP7354367B1 - fire engine - Google Patents

Abstract

[Challenge] Increase the convenience of fire vehicles such as water spray robots. SOLUTION: A fire engine according to an embodiment includes a vehicle body, a first coupling part provided on the vehicle body and capable of coupling with a second coupling part attached to a hose, and a first coupling part that connects the hose from the vehicle body. The vehicle includes a communication device that receives a detachment command to detach, and a detachment device that detaches the hose from the vehicle body in response to the communication device receiving the detachment command. [Selection diagram] Figure 5

Description

TECHNICAL FIELD The present invention relates to a firefighting vehicle used for firefighting and the like.

In conventional firefighting activities, it has been common practice to station firefighters near the nozzle of a fire hose, and to have the firefighters spray water onto the target to extinguish the fire. In recent years, with the development of robot technology, self-propelled water spraying robots are being developed (for example, see Patent Document 1). A fire hose is connected to this type of water spray robot, and water and extinguishing agent supplied through the hose are discharged from a nozzle.

In firefighting operations using water cannon robots, fire fighters remotely operate the water cannon robots at a certain distance from the fire extinguishing target. This is expected to reduce the number of injuries and fatalities for firefighters.

Special Publication No. 2020-531060

Water spray robots as described above are currently extremely expensive. Therefore, if some kind of accident occurs during firefighting, it is necessary to evacuate the water spray robot. During such an evacuation, the fire hose must be dragged along, but in this state the water spray robot may not be able to demonstrate sufficient maneuverability. Additionally, the fire hose may get caught on structures at the site, making it difficult for the water spray robot to move.

In such a case, if a firefighter goes to disconnect the fire hose, the firefighter will be at risk. Also, if the water spray robot cannot be evacuated, an expensive robot will be lost.

The present invention is based on such circumstances, and an object of one aspect of the present invention is to improve the convenience of fire vehicles such as water spray robots.

A fire engine according to one embodiment includes a vehicle body, a first coupling part provided on the vehicle body and capable of coupling with a second coupling part attached to a hose, and a detachment command for detaching the hose from the vehicle body. and a detachment device that detaches the hose from the vehicle body in response to the communication device receiving the detachment command.

For example, the communication device receives the withdrawal command transmitted from a remote controller via wireless communication.

For example, the first coupling portion includes a plurality of first hooks that protrude in the axial direction and are arranged in the circumferential direction, and a plurality of first recesses that are respectively formed between the adjacent first hooks. and can be coupled to the second coupling portion having a plurality of second hooks having the same shape as the plurality of first hooks and a plurality of second recesses having the same shape as the plurality of first recesses; When the part and the second connecting part are connected, the first hook is inserted into the second recess, the second hook is inserted into the first recess, and the first hook and the second hook are connected to each other. is engaged. In this case, the detachment device detaches the hose from the vehicle body by rotating the second coupling portion in the circumferential direction to disengage the first hook and the second hook. It's okay.

The detachment device includes a pin that can be inserted into a gap formed between the first hook and the second hook when the first coupling part and the second coupling part are coupled, and a pin that is inserted into the gap. The rotation mechanism may include a rotation mechanism that rotates the pin in the circumferential direction and releases the engagement between the first hook and the second hook.

The detachment device may further include an insertion/removal mechanism for inserting/removing the pin into/from the gap.

The detachment device includes a pin that can be inserted into a gap formed between the first hook and the second hook when the first coupling part and the second coupling part are coupled, and a pin that can be inserted into the gap. an insertion/removal mechanism for removing the pin, wherein the pin has a tapered portion whose width in the circumferential direction gradually decreases toward the tip from a larger value to a smaller value than the width of the gap in the circumferential direction. Good too. In this case, when the pin is inserted into the gap formed between the first hook and the second hook by the insertion/removal mechanism, the tapered portion connects the first hook and the second hook. The engagement between the first hook and the second hook is released by separating them in the circumferential direction.

The detachment device may include a plurality of pins arranged at intervals in the circumferential direction.

The coupling between the first coupling part and the second coupling part can be released by rotating the second coupling part in a releasing direction, and the detachment device is configured to release the coupling between the first coupling part and the second coupling part. The device may include a pair of rotating bodies that sandwich the two coupling parts, and a rotation mechanism that rotates the pair of rotating bodies. In this case, the detachment device rotates the second coupling part in the release direction by the pair of rotating bodies to release the coupling between the first coupling part and the second coupling part, thereby disengaging the hose from the hose. may be separated from the vehicle body.

The fire engine may further include a medium having a third coupling part that can be coupled to the first coupling part and a fourth coupling part that can be coupled to the second coupling part. In this case, the detachment device may detach the hose from the vehicle body by disengaging the first coupling portion from the third coupling portion.

The detachment device rotates a sleeve attachable to the outer peripheral surface of the medium and the sleeve attached to the outer circumferential surface in the release direction, and disconnects the first coupling part and the third coupling part. It may also include a rotation mechanism for releasing.

The outer circumferential surface of the medium may have a convex portion, and the inner circumferential surface of the sleeve may have a concave portion that engages with the convex portion.

The first coupling part has a first flange, the third coupling part has a second flange, and the detachment device includes a clamp that can clamp the first flange and the second flange that are in contact with each other. and a drive mechanism that drives the clamp between a first state in which the first flange and the second flange are held, and a second state in which the first flange and the second flange are opened. It's okay. In this case, the detachment device moves the clamp from the first state to the second state by the drive mechanism, and releases the coupling between the first coupling part and the second coupling part, thereby disengaging the hose. may be separated from the vehicle body.

According to the present invention, it is possible to improve the convenience of fire vehicles such as water spray robots.

FIG. 1 is a diagram schematically showing the configuration of a water spraying robot according to a first embodiment. FIG. 2 is a block diagram showing some of the control elements of the water spraying robot according to the first embodiment. FIG. 3 is a schematic partial cross-sectional view of a configuration applicable to the first coupling portion according to the first embodiment. FIG. 4 is a side view showing a portion of the first coupling part and the second coupling part coupled to each other. FIG. 5 is a diagram schematically showing a configuration applicable to the detachment device according to the first embodiment. FIG. 6 is a perspective view showing an example of a configuration applicable to the retaining ring and pin according to the first embodiment. FIG. 7 is a diagram for explaining a method for releasing the coupling between the first coupling portion and the second coupling portion using the detachment device according to the first embodiment. FIG. 8 is a diagram schematically showing the configuration of a water spraying robot according to the second embodiment. FIG. 9 is a diagram schematically showing the configuration of a water spraying robot according to the third embodiment. FIG. 10 is a schematic rear view of the water spraying robot according to the third embodiment. FIG. 11 is a schematic three-view diagram of a shape applicable to the pin according to the third embodiment. FIG. 12 is a diagram for explaining a method for releasing the coupling between the first coupling portion and the second coupling portion using the detachment device according to the third embodiment. FIG. 13 is a diagram schematically showing the configuration of a water spraying robot according to the fourth embodiment. FIG. 14 is a schematic perspective view showing an example of the medium according to the fourth embodiment. FIG. 15 is a schematic perspective view showing an example of a sleeve according to the fourth embodiment. FIG. 16 is a schematic perspective view showing a state in which the sleeve shown in FIG. 15 is attached to the medium shown in FIG. 14. FIG. 17 is a diagram schematically showing the configuration of a water spraying robot according to the fifth embodiment. FIG. 18 is a schematic perspective view showing a part of the detachment device and the second coupling portion according to the fifth embodiment. FIG. 19 is a diagram schematically showing the configuration of a water spraying robot according to the sixth embodiment. FIG. 20 is a diagram schematically showing the configuration of a water spraying robot according to the sixth embodiment.

Some embodiments will be described with reference to the drawings.
In each embodiment, a water spray system including a self-propelled water spray robot, which is an example of a fire vehicle, is disclosed. However, the configurations disclosed in each embodiment, particularly the configurations related to detachment of the fire hose, can be applied not only to water spray robots but also to other types of fire vehicles such as pump trucks.

[First embodiment]
FIG. 1 is a diagram schematically showing the configuration of a water spraying robot 1 according to the first embodiment. The water spraying robot 1 includes a vehicle body 2, a traveling mechanism 3, a nozzle 4, and a first coupling portion 5A (connection port). The water spraying robot 1 can be operated from a remote location using, for example, a remote controller RC. The traveling mechanism 3 is, for example, a pair of caterpillars. As another example, the traveling mechanism 3 may be a plurality of wheels.

A second joint 5B provided at the end of the fire hose H is coupled to the first joint 5A. The second coupling portion 5B can also be called a coupling fitting, a joint, or the like. The fire hose H supplies water sent from a water supply source to the vehicle body 2. The water supplied to the vehicle body 2 can be discharged from the nozzle 4.

The water spraying robot 1 may further include a drain valve V (electromagnetic valve). The drain valve V is provided, for example, in the vehicle body 2, and is connected to a flow path from the first coupling portion 5A to the nozzle 4. By opening the drain valve V, water in the flow path is drained.

FIG. 2 is a block diagram showing some of the control elements of the water spraying robot 1. As shown in FIG. The water spraying robot 1 includes a control device 10, a power source 11, a communication device 12, and a water spraying device 13.

The power source 11 is, for example, an engine or a battery. The power from the power source 11 is used to drive various parts of the water spraying robot 1, such as the traveling mechanism 3 and the water spraying device 13. The communication device 12 communicates with the above-mentioned remote controller RC, for example, wirelessly.

The water spraying device 13 sprays water supplied via the first coupling portion 5A from the nozzle 4. In one example, the water spray device 13 sprays water using the internal pressure of the fire hose H. As another example, the water discharging device 13 may include a pump, and the pump may discharge pressurized water.

The water spraying robot 1 further includes a detachment device 6 for detaching the fire hose H from the vehicle body 2. A configuration applicable to the detachment device 6 will be described later.

The control device 10 includes a processor and a memory, and controls the traveling mechanism 3, the power source 11, the communication device 12, the water spray device 13, the drain valve V, and the detachment device 6. For example, in causing the water spraying robot 1 to travel, the control device 10 drives the travel mechanism 3 based on a travel signal sent from the remote controller RC. This traveling signal may include information indicating the traveling direction and traveling speed of the water spraying robot 1.

The water spraying robot 1 may further include a camera, a temperature sensor, and the like. In this case, the image taken by the camera and the temperature detected by the temperature sensor may be transmitted to the remote controller RC or the like via the communication device 12 and displayed on the display. The display may be provided by the remote controller RC or by other equipment.

FIG. 3 is a schematic partial cross-sectional view of a configuration applicable to the first coupling portion 5A. The first coupling portion 5A includes a first cylindrical portion 51 and a second cylindrical portion 52 provided on the outer peripheral surface of the first cylindrical portion 51. In this embodiment, the direction parallel to the axis AX of the first coupling part 5A (the axis of the first cylindrical part 51 and the second cylindrical part 52) is the axial direction DX, the direction away from the axis AX is the radial direction DR, and the axis AX The circumferential direction centered on is called the circumferential direction Dθ.

The inside of the first cylindrical portion 51 constitutes a flow path through which water flows. An annular sealing material 53 is provided at the end 51 a of the first cylindrical portion 51 .

The second cylindrical portion 52 has a plurality of hooks 54 that protrude from the end 51a of the first cylindrical portion 51 in the axial direction DX. These hooks 54 are arranged at regular intervals in the circumferential direction Dθ. A recess 55 is formed between adjacent hooks 54. These recesses 55, like the hooks 54, are arranged at regular intervals in the circumferential direction Dθ.

The hook 54 has a first side surface 541 and a second side surface 542 in the circumferential direction Dθ. The second side surface 542 is inclined with respect to the axial direction DX. Thereby, the width of the hook 54 in the circumferential direction Dθ becomes smaller toward the tip.

The first side surface 541 is provided with a claw portion 56 projecting in the circumferential direction Dθ and a recess 57 located closer to the base of the hook 54 than the claw portion 56 is. A ball plunger 58 is provided on the second side surface 542. For example, the ball plunger 58 includes a hole provided in the second side surface 542, a ball accommodated in the hole, and an elastic body that biases the ball toward the outside of the hole. A portion of the ball protrudes from the second side 542.

The configuration of the second coupling portion 5B is similar to that of the first coupling portion 5A. That is, the second joint part 5B includes a plurality of hooks 54 (second hooks) having the same shape as the hooks 54 (first hooks) of the first joint part 5A, and a recess 55 (first recess) of the first joint part 5A. and a plurality of recesses 55 (second recesses) having the same shape.

FIG. 4 is a side view showing a part of the first coupling part 5A and the second coupling part 5B coupled to each other. When coupling the first coupling part 5A and the second coupling part 5B, the second coupling part 5B is pressed against the first coupling part 5A with their axes AX aligned. At this time, each hook 54 of the second joint part 5B is inserted into the recess 55 of the first joint part 5A, and each hook 54 of the first joint part 5A is inserted into the recess 55 of the second joint part 5B.

When the second joint portion 5B is pushed into the first joint portion 5A to the maximum extent, both ball plungers 58 come into contact and press each other, and the second joint portion 5B rotates slightly in the circumferential direction Dθ. At this time, both claw portions 56 are engaged and prevented from coming off in the axial direction DX.

Once the first coupling portion 5A and the second coupling portion 5B are coupled, the coupled state is maintained by the biasing force of the ball plunger 58. When releasing the connection between the first connection part 5A and the second connection part 5B, the second connection part 5B is moved in the circumferential direction Dθ (released) relative to the first connection part 5A against the urging force of the ball plunger 58. direction DL). As a result, the engagement of each claw portion 56 is released.

Next, the detachment device 6 according to this embodiment will be explained.
FIG. 5 is a diagram schematically showing a configuration applicable to the detachment device 6. In this figure, a first coupling part 5A and a second coupling part 5B are coupled. In this state, the respective axes AX of the first coupling portion 5A and the second coupling portion 5B coincide with each other.

The detachment device 6 according to this embodiment includes a rotation mechanism 110, an arm 120, a retaining ring 130, at least one pin 140, and an insertion/removal mechanism 150.

The rotation mechanism 110 is provided, for example, in the vehicle body 2. One end of the arm 120 is connected to the rotation mechanism 110, and the other end is connected to the retaining ring 130. In the example of FIG. 5, two arms 120 are provided. However, the number of arms 120 is not limited to two, and may be three or more.

The retaining ring 130 surrounds the first coupling part 5A and the second coupling part 5B. A pin 140 is provided on the retaining ring 130. The insertion/removal mechanism 150 holds one end of the pin 140, for example.

The rotation mechanism 110 includes, for example, a motor, and uses the power of the motor to rotate the arm 120 and the retaining ring 130 in the circumferential direction Dθ. The rotation mechanism 110 may rotate the arm 120 and the retaining ring 130 by other powers such as magnetic, hydraulic, or pneumatic power.

The insertion/removal mechanism 150 moves the pin 140 along the radial direction DR. The power for moving the pin 140 is not particularly limited, but in one example, a motor, magnetism, hydraulic pressure, or pneumatic pressure may be used.

FIG. 6 is a perspective view showing an example of a configuration that can be applied to the retaining ring 130 and the pin 140. In the illustrated example, retaining ring 130 retains three pins 140.

The retaining ring 130 is composed of three arc-shaped fragments 131, 132, 133. These fragments 131, 132, 133 have, for example, the same shape, and their ends are connected to each other. The arm 120 shown in FIG. 5 is provided for each of the fragments 131, 132, 133, for example, and connects the fragments 131, 132, 133 to the rotation mechanism 110.

A holding portion 134 protruding in the radial direction DR is provided at the center of each fragment 131, 132, 133 in the circumferential direction Dθ. Each holding portion 134 has a through hole 135 that penetrates in the radial direction DR.

Each pin 140 is inserted into a through hole 135. That is, the three pins 140 shown in FIG. 6 are arranged at intervals of 120° in the circumferential direction Dθ. In the example of FIG. 6, an insertion/removal mechanism 150 is provided for each of the three holding parts 134. The insertion/removal mechanism 150 moves the pin 140 along the through hole 135. As a result, the amount of protrusion of each pin 140 from the inner circumferential surface of the retaining ring 130 varies.

FIG. 7 is a diagram for explaining a method for releasing the coupling between the first coupling portion 5A and the second coupling portion 5B using the detachment device 6. As shown in FIG. The pin 140 can be inserted into the gap formed between the hook 54 of the first coupling part 5A and the hook 54 of the second coupling part 5B when the first coupling part 5A and the second coupling part 5B are coupled. .

Specifically, as shown in the example of FIG. 7, the pin 140 is inserted into the recess 57 of the hook 54 of the first coupling portion 5A. With the pin 140 inserted into the recess 57 in this manner, the rotation mechanism 110 rotates the retaining ring 130 in the release direction DL. At this time, the pin 140 pushes the hook 54 of the second coupling part 5B in the release direction DL. The release direction DL is a direction in the circumferential direction Dθ in which the hook 54 of the second joint portion 5B that is engaged with the hook 54 of the first joint portion 5A is separated from the hook 54 of the first joint portion 5A. Note that the first coupling portion 5A is fixed to the vehicle body 2 and does not rotate in the circumferential direction Dθ.

When the hook 54 of the second coupling part 5B is pushed by the pin 140, the ball plungers 58 of the first coupling part 5A and the second coupling part 5B, which are in contact with each other, are pushed against the force, and these ball plungers 58 The gap G between the hooks 54 in the circumferential direction Dθ, which had been caused by this, is reduced. Along with this, the engagement between the claws 56 of the first coupling part 5A and the second coupling part 5B is released, and as a result, the coupling between the first coupling part 5A and the second coupling part 5B is released, and the fire hose H separates from the vehicle body 2.

In addition, although the case where the pin 140 is inserted into the recess 57 of the hook 54 of the 1st connection part 5A was illustrated here, the pin 140 may be inserted into the recess 57 of the hook 54 of the 2nd connection part 5B. Even in this case, the coupling between the first coupling portion 5A and the second coupling portion 5B can be released by moving the pin 140 in the release direction DL.

The release operation by the release device 6 can be executed by operating the remote controller RC. That is, when it becomes necessary to detach the fire hose H from the vehicle body 2, an operator such as a firefighter sends a detachment command to the vehicle body 2 using the remote controller RC. When the communication device 12 receives this detachment command, the control device 10 starts the detachment operation by the detachment device 6.

Specifically, first, the control device 10 opens the drain valve V to reduce the water in the flow path including the insides of the first joint portion 5A and the second joint portion 5B. Note that the drain valve V may be opened in response to a command separate from the withdrawal command being transmitted from the remote controller RC to the vehicle main body 2.

After opening the drain valve V, the control device 10 drives the insertion/removal mechanism 150 to insert each pin 140 into the recess 57. Further, the control device 10 drives the rotation mechanism 110 to rotate the retaining ring 130 in the release direction DL. Thereby, the coupling between the first coupling part 5A and the second coupling part 5B is released.

Note that the pin 140 may be inserted into the recess 57 before the detachment command is sent, for example, immediately after the first coupling part 5A and the second coupling part 5B are coupled. Further, the pin 140 may be automatically pulled out from the recess 57 by the insertion/removal mechanism 150 after the first coupling part 5A and the second coupling part 5B are uncoupled.

According to the present embodiment described above, the fire hose H can be detached from the vehicle body 2 even when the water spray robot 1 is located away from the operator. Thereby, for example, when some kind of accident occurs during firefighting, the fire hose H can be detached and the water spray robot 1 can be quickly evacuated.

When a plurality of pins 140 are arranged distributed in the circumferential direction Dθ as in the example of FIG. 6, the release operation by these pins 140 can be smoothly executed.

In this embodiment, the case where the detachment device 6 includes the insertion/removal mechanism 150 is illustrated. As another example, the detachment device 6 may not include the insertion/removal mechanism 150. In this case, the pin 140 may be inserted into the recess 57 of the first coupling portion 5A in advance.

The second to sixth embodiments will be disclosed below. In these embodiments, the configuration not mentioned in particular and the flow of operating the detachment device 6 based on a detachment command are the same as in the first embodiment.

[Second embodiment]
FIG. 8 is a diagram schematically showing the configuration of the water spraying robot 1 according to the second embodiment. In the example shown in this figure, the intermediary tool 7 is arranged between the first coupling part 5A and the fire hose H. The medium 7 has a third coupling part 5C that can be coupled to the first coupling part 5A, and a fourth coupling part 5D that can be coupled to the second coupling part 5B. A flow path for connecting the flow path of the fire hose H and the flow path of the vehicle body 2 is provided inside the intermediary device 7.

The third coupling portion 5C has the same structure as the first coupling portion 5A shown in FIG. The second coupling part 5B and the fourth coupling part 5D may have the same structure as the first coupling part 5A shown in FIG. 3, or may have other types of structures.

As another type of structure mentioned above, a structure of a so-called Machino metal fitting can be applied to the second joint portion 5B and the fourth joint portion 5D. This type of metal fitting is composed of a male metal fitting and a female metal fitting. The male metal fitting includes a first cylindrical portion having a first claw portion at the tip thereof, and a release ring (push ring) through which the first cylindrical portion is passed. The female fitting has a second cylindrical part into which the first cylindrical part is inserted, and a second claw part that engages with the first claw part. The second claw portion is biased toward the first cylindrical portion. When the release ring is pushed between the first claw part and the second claw part in the engaged state, the connection between the male metal fitting and the female metal fitting is released. For example, one of the second coupling part 5B and the fourth coupling part 5D is a male metal fitting, and the other is a female metal fitting.

The configuration and effects of the detachment device 6 are similar to those in the first embodiment. However, in this embodiment, the detachment device 6 releases the coupling between the first coupling portion 5A and the third coupling portion 5C. Thereby, the fire hose H is detached from the vehicle body 2 together with the intermediate tool 7.

[Third embodiment]
FIG. 9 is a diagram schematically showing the configuration of a water spraying robot 1 according to the third embodiment. In this embodiment, the detachment device 6 includes an insertion/removal mechanism 310 and a pin 320. The insertion/removal mechanism 310 is provided in the vehicle body 2 near the first coupling portion 5A, and holds one end of the pin 320.

The insertion/removal mechanism 310 moves the pin 320 along the radial direction DR. The power for the insertion/removal mechanism 310 to move the pin 320 is not particularly limited, but in one example, a motor, magnetism, hydraulic pressure, or pneumatic pressure may be used.

FIG. 10 is a schematic rear view of the water spraying robot 1. In the example shown in this figure, three sets of insertion/removal mechanisms 310 and pins 320 are arranged around the first coupling portion 5A at regular intervals in the circumferential direction Dθ. The detachment device 6 is not limited to this example, and may include one, two, or four or more sets of insertion/removal mechanisms 310 and pins 320.

FIG. 11 is a schematic three-view diagram of a shape that can be applied to the pin 320. 11(a) is a front view of the pin 320 viewed parallel to the axial direction DX, FIG. 11(b) is a top view of the pin 320 viewed parallel to the radial direction DR, and FIG. 11(c) is a top view of the pin 320 viewed parallel to the radial direction DR. FIG. 3 is a side view of the pin 320 viewed parallel to the circumferential direction Dθ.

As shown in FIG. 11(a), the pin 320 has an elongated shape in the radial direction DR. Further, the pin 320 has a tapered portion 322 whose width in the circumferential direction Dθ gradually decreases toward the tip 321. The maximum width of the tapered portion 322 is W1. As shown in FIGS. 11(b) and 11(c), the pin 320 has a width W2 smaller than the width W1 in the axial direction DX.

FIG. 12 is a diagram for explaining a method for releasing the coupling between the first coupling portion 5A and the second coupling portion 5B using the detachment device 6. The pin 320 can be inserted into the gap formed between the hook 54 of the first coupling part 5A and the hook 54 of the second coupling part 5B when the first coupling part 5A and the second coupling part 5B are coupled. . Specifically, as shown in the example of FIG. 12, the pin 320 is inserted into the recess 57 of the hook 54 of the first coupling portion 5A.

The depression 57 has a width Wa in the circumferential direction Dθ and a width Wb in the axial direction DX. The width Wa is larger than the width of the tip 321 of the pin 320 shown in FIG. 11, and smaller than the width W1. That is, the tapered portion 322 of the pin 320 has a shape in which the width in the circumferential direction Dθ gradually decreases toward the tip 321 from a value larger than the width Wa to a smaller value. Note that the width Wb is larger than the width W2 of the pin 320 in the axial direction DX.

To release the coupling between the first coupling portion 5A and the second coupling portion 5B, the insertion/removal mechanism 310 moves the pin 320 toward the axis AX. With this movement, the pin 320 is inserted into the recess 57 from the tip 321. The deeper the pin 320 is inserted into the recess 57, the more strongly the hook 54 of the second coupling part 5B is pushed in the release direction DL by the tapered part 322. As a result, the hooks 54 of the first joint portion 5A and the second joint portion 5B that are engaged with each other are separated in the circumferential direction Dθ, and the claw portions 56 of the first joint portion 5A and the second joint portion 5B are engaged with each other. is canceled. As a result, the first joint portion 5A and the second joint portion 5B are uncoupled, and the fire hose H is detached from the vehicle body 2.

In this way, with the configuration of this embodiment, the connection between the first coupling portion 5A and the second coupling portion 5B can be released without rotating the pin 320 in the circumferential direction Dθ. Therefore, compared to the first embodiment, the configuration of the detachment device 6 can be simplified.

Note that the pin 320 may be inserted into the recess 57 of the hook 54 of the second coupling portion 5B. Even in this case, the coupling between the first coupling portion 5A and the second coupling portion 5B can be released.

Moreover, the detachment device 6 according to the present embodiment can also be used to release the connection between the third coupling part 5C and the first coupling part 5A of the medium 7 disclosed in the second embodiment.

[Fourth embodiment]
FIG. 13 is a diagram schematically showing the configuration of a water spraying robot 1 according to the fourth embodiment. In this embodiment, the detachment device 6 includes a rotation mechanism 410, an arm 420, and a sleeve 430.

Further, a mediating device 7 is arranged between the first coupling portion 5A and the fire hose H. The medium 7 has a third coupling part 5C that can be coupled to the first coupling part 5A, and a fourth coupling part 5D that can be coupled to the second coupling part 5B. The second coupling part 5B, the third coupling part 5C, and the fourth coupling part 5D have the same structure as the first coupling part 5A shown in FIG. 3. However, the second joint portion 5B and the fourth joint portion 5D may have other types of structures such as the above-mentioned Machino metal fittings.

The rotation mechanism 410 is provided in the vehicle body 2, for example. One end of the arm 420 is connected to the rotation mechanism 410, and the other end is connected to the sleeve 430. In the example of FIG. 13, two arms 420 are provided. However, the number of arms 420 is not limited to two, and may be three or more. The sleeve 430 is attached to the outer peripheral surface of the medium 7.

Rotating mechanism 410 rotates arm 420 and sleeve 430 in the circumferential direction Dθ. The power for the rotation mechanism 410 to rotate the arm 420 and the sleeve 430 is not particularly limited, but in one example, a motor, magnetism, hydraulic pressure, or air pressure may be used.

FIG. 14 is a schematic perspective view showing an example of the medium 7. As shown in FIG. FIG. 15 is a schematic perspective view showing an example of the sleeve 430. FIG. 16 is a schematic perspective view showing a state in which the sleeve 430 shown in FIG. 15 is attached to the medium 7 shown in FIG. 14.

As shown in FIG. 14, the third coupling part 5C and the fourth coupling part 5D have a hook 54 and a recess 55 having the same shape as the first coupling part 5A shown in FIG. In FIG. 14, illustration of the ball plunger 58 and the like is omitted.

The intermediate part 7 has an intermediate part 70 located between the third joint part 5C and the fourth joint part 5D in the axial direction DX. The intermediate portion 70 has a pair of protrusions 71 that protrude in the radial direction DR from its outer peripheral surface. In the example of FIG. 14, a pair of convex portions 71 are provided at positions directly facing each other about the axis AX. These convex portions 71 extend long in the axial direction DX.

As shown in FIG. 15, the sleeve 430 has a cylindrical portion 431 and a pair of convex portions 432. The pair of convex portions 432 are provided at positions facing each other centering on the axis AX, and protrude from the outer circumferential surface of the cylindrical portion 431 in the radial direction DR. The inner circumferential surface of the sleeve 430 has a recess 433 at the position of each protrusion 432 .

As shown in FIG. 16, the sleeve 430 is attached to the intermediate section 70. At this time, the pair of convex portions 71 of the intermediate portion 70 fit into the pair of concave portions 433 of the sleeve 430. As a result, the convex portion 71 and the concave portion 433 engage with each other, and the sleeve 430 is fixed to the intermediate device 7 in the circumferential direction Dθ.

When detaching the fire hose H from the vehicle body 2 in response to the detachment command, the detachment device 6 causes the rotation mechanism 410 to rotate the sleeve 430 in the release direction DL. At this time, the third coupling part 5C rotates in the release direction DL with respect to the first coupling part 5A, and the coupling between the first coupling part 5A and the third coupling part 5C is released. Thereby, the fire hose H is detached from the vehicle body 2 together with the intermediate tool 7. With the structure shown in FIGS. 14 to 16, the intermediary tool 7 after the coupling is released easily falls out of the sleeve 430 by being pulled in the axial direction DX.

Note that the structure for attaching the sleeve 430 to the medium 7 is not limited to the examples shown in FIGS. 14 to 16. For example, the number of protrusions 71 and recesses 433 is not limited to two, and may be one or three or more. The convex portion 71 and the concave portion 433 do not need to have a rectangular shape in a cross section perpendicular to the axis AX as shown in FIGS. 14 to 16, but may have a semicircular shape in the cross section, etc. Various embodiments may be applied.

The configurations of the first coupling part 5A and the third coupling part 5C are not limited to those shown in FIGS. 2 and 14, as long as the coupling can be released by relatively rotating them. For example, one of the first coupling part 5A and the third coupling part 5C may be a male metal fitting with a male thread, and the other may be a female metal fitting with a female thread.

[Fifth embodiment]
FIG. 17 is a diagram schematically showing the configuration of a water spraying robot 1 according to the fifth embodiment. In this embodiment, the detachment device 6 includes a rotating mechanism 510, shafts 520, 530, rollers 540, 550, and a rotating body 560.

The rotation mechanism 510 is provided in the vehicle body 2. One end of the shaft 520 is supported by the rotation mechanism 510, and a roller 540 is attached to the other end. One end of the shaft 530 is connected to the vehicle body 2, and a roller 550 is attached to the other end.

The rotating body 560 is an annular belt made of, for example, rubber, and is stretched around the rollers 540 and 550. The rotating body 560 is in contact with the second coupling part 5B coupled to the first coupling part 5A.

The rotation mechanism 510 includes, for example, a motor, and rotates the shaft 520 and the roller 540 by the power of the motor. Rotation mechanism 510 may rotate shaft 520 and roller 540 using other power such as magnetic, hydraulic, or pneumatic power.

FIG. 18 is a schematic perspective view showing a part of the detachment device 6 and the second coupling portion 5B according to the present embodiment. The second coupling portion 5B has the same structure as the first coupling portion 5A shown in FIG.

In the example of FIG. 18, a pair of rotating bodies 560 are disposed, each spanning rollers 540 and 550, and a second coupling portion 5B is disposed between these rotating bodies 560. That is, the pair of rotating bodies 560 sandwich the second coupling portion 5B. The rotation axes of the rollers 540 and 550 are parallel to the axial direction DX. Although not shown in FIG. 18, the above-described shaft 520 is attached to each roller 540, and the above-described shaft 530 is attached to each roller 550. Furthermore, the above-mentioned rotation mechanism 510 is provided for each shaft 520, respectively.

Each rotating body 560 is in contact with, for example, the outer circumferential surface of the second cylindrical portion 52 located on the base side of the hook 54. It is preferable that the rotating body 560 does not overlap the recess 55 as much as possible.

When detaching the fire hose H from the vehicle body 2 in response to the detachment command, the detachment device 6 causes the rotation mechanism 510 to rotate the rotating body 560 in the direction indicated by the broken line arrow. At this time, the second coupling part 5B rotates in the release direction DL with respect to the first coupling part 5A, and the coupling between the first coupling part 5A and the second coupling part 5B is released. Thereby, the fire hose H separates from the vehicle body 2.

Although FIG. 18 illustrates the case where the detachment device 6 includes a pair of rotating bodies 560, the number of rotating bodies 560 included in the detachment device 6 may be one or three or more.

The rotating body 560 is not limited to an annular belt. As another example, the rotating body 560 may be a disc-shaped tire.

Moreover, the detachment device 6 according to the present embodiment can also be used to release the connection between the third coupling part 5C and the first coupling part 5A of the medium 7 disclosed in the second embodiment.

The configurations of the first coupling part 5A and the second coupling part 5B are not limited to those shown in FIGS. 2 and 18, as long as the coupling can be released by relatively rotating them. For example, one of the first coupling portion 5A and the second coupling portion 5B may be a male fitting with a male thread, and the other may be a female fitting with a female thread.

[Sixth embodiment]
19 and 20 are diagrams schematically showing the configuration of a water spraying robot 1 according to the sixth embodiment. In this embodiment, the detachment device 6 includes a drive mechanism 610, an arm 620, and a clamp 630.

Further, a mediating device 7 is arranged between the first coupling portion 5A and the fire hose H. The medium 7 has a third coupling part 5C that can be coupled to the first coupling part 5A, and a fourth coupling part 5D that can be coupled to the second coupling part 5B.

The first coupling portion 5A has a first flange F1 that projects in the radial direction DR. The third coupling portion 5C has a second flange F2 that projects in the radial direction DR. The second joint portion 5B and the fourth joint portion 5D have the same structure as the first joint portion 5A shown in FIG. 3, for example. The second coupling portion 5B and the fourth coupling portion 5D may have other types of structures such as the above-mentioned Machino metal fittings.

In the example of FIG. 19, the first flange F1 and the second flange F2 are in contact with each other in the axial direction DX. Furthermore, the second coupling part 5B and the fourth coupling part 5D are coupled. On the other hand, in the example of FIG. 20, the first flange F1 and the second flange F2 are spaced apart.

The drive mechanism 610 is provided in the vehicle body 2. One end of arm 620 is held by drive mechanism 610, and the other end is connected to clamp 630. In the examples shown in FIGS. 19 and 20, two sets of arms 620 and clamps 630 are provided that face each other with the axis AX in between. However, the drive mechanism 610 may include three or more sets of arms 620 and clamps 630.

Each clamp 630 has a shape capable of clamping the first flange F1 and the second flange F2 that are in contact with each other in the axial direction DX. Specifically, each clamp 630 has a first portion 631 and a second portion 632 facing each other in the axial direction DX, and a third portion 633 connecting the first portion 631 and the second portion 632. .

The drive mechanism 610 operates in a first state S1 in which the first flange F1 and the second flange F2 are held between each other as shown in FIG. 19, and in a second state in which the first flange F1 and the second flange F2 are opened as shown in FIG. Each clamp 630 is driven between S2 and S2.

In the first state S1 shown in FIG. 19, the first portion 631 is in contact with the side surface of the first flange F1 on the vehicle body 2 side, and the second portion 632 is in contact with the side surface of the second flange F2 on the fourth joint portion 5D side. comes into contact. Further, each end of the first flange F1 and the second flange F2 in the radial direction DR contacts the third portion 633. Thereby, the first coupling part 5A and the third coupling part 5C are connected.

When detaching the fire hose H from the vehicle body 2 in response to the detachment command, the drive mechanism 610 shifts each clamp 630 to the second state S2. Specifically, the drive mechanism 610 separates the pair of clamps 630 in the radial direction DR by sending out each arm 620 in the radial direction DR as shown in FIG. The power of the drive mechanism 610 for realizing such operation is not particularly limited, but in one example, a motor, magnetism, hydraulic pressure, or pneumatic pressure may be used.

In the second state S2, each clamp 630 is separated from the first flange F1 and the second flange F2. Thereby, the fire hose H is detached from the vehicle body 2 together with the intermediate tool 7.

In addition, when connecting the intermediate tool 7 to the vehicle main body 2 again, each clamp 630 is moved to the first state S1 by the drive mechanism 610 with the first flange F1 and the second flange F2 abutted against each other. At this time, a command for operating the drive mechanism 610 may be transmitted from the remote controller RC, or may be input by operating a button provided on the vehicle body 2. Alternatively, the state may be shifted to the first state S1 by manually moving each clamp 630.

Note that the detachment device 6 according to the present embodiment can also be used when directly connecting the first coupling part 5A and the second coupling part 5B without using the intermediary tool 7. In this case, the second flange F2 may be provided on the second coupling portion 5B.

If the configuration of the clamp 630 can be transitioned between a first state S1 in which the first flange F1 and the second flange F2 are held, and a second state S2 in which the first flange F1 and the second flange F2 are opened, The present invention is not limited to those illustrated in FIGS. 19 and 20.

For example, the clamp 630 may have a structure in which the distance between the first portion 631 and the second portion 632 in the axial direction DX can be changed. In this case, the drive mechanism 610 moves the clamp 630 to the first state S1 by shortening the distance between the first part 631 and the second part 632, and moves the clamp 630 to the second state S2 by increasing this distance. let

Each of the above embodiments does not limit the scope of the present invention to the configuration disclosed in the embodiment. The present invention can be implemented by modifying the configuration disclosed in each embodiment into various aspects. The configurations disclosed in each embodiment can be combined as appropriate.

DESCRIPTION OF SYMBOLS 1...Water spray robot, 2...Vehicle body, 3...Traveling mechanism, 4...Nozzle, 5A...First coupling part, 5B...Second coupling part, 5C...Third coupling part, 5C...Third coupling part, 5D...Third coupling part 4 coupling part, 6... detachment device, 7... medium, 10... control device, 11... power source, 12... communication device, 13... water spray device,
54... Hook, 58... Ball plunger, 110, 410, 510... Rotating mechanism, 150, 310... Insertion/removal mechanism, 320... Pin, 322... Taper part, 430... Sleeve, 560... Rotating body, 610... Drive mechanism, 630...clamp, AX...axis, DX...axial direction, DR...radial direction, Dθ...circumferential direction, DL...release direction, F1...first flange, F2...second flange, H...fire hose, RC...remote controller .

Claims (8)

The vehicle body,
a first coupling part provided on the vehicle body and capable of coupling with a second coupling part attached to the hose;
a communication device that receives a detachment command to detach the hose from the vehicle body;
a detachment device that detaches the hose from the vehicle body in response to the communication device receiving the detachment command;
Equipped with
The first joint part is
a plurality of first hooks protruding in the axial direction and arranged in the circumferential direction;
a plurality of first recesses each formed between adjacent first hooks;
and can be combined with the second coupling portion having a plurality of second hooks having the same shape as the plurality of first hooks and a plurality of second recesses having the same shape as the plurality of first recesses,
When the first coupling portion and the second coupling portion are coupled, the first hook is inserted into the second recess, the second hook is inserted into the first recess, and the first hook and the second hook are inserted into the first recess. engages with the second hook,
The detachment device is
a pin that can be inserted into a gap formed between the first hook and the second hook when the first coupling part and the second coupling part are coupled;
a rotation mechanism that rotates the pin inserted into the gap in the circumferential direction to release the engagement between the first hook and the second hook;
A fire engine equipped with The detachment device further includes an insertion/removal mechanism for inserting/removing the pin into/from the gap.
The fire vehicle according to claim 1 . The vehicle body,
a first coupling part provided on the vehicle body and capable of coupling with a second coupling part attached to the hose;
a communication device that receives a detachment command to detach the hose from the vehicle body;
a detachment device that detaches the hose from the vehicle body in response to the communication device receiving the detachment command;
Equipped with
The first joint part is
a plurality of first hooks protruding in the axial direction and arranged in the circumferential direction;
a plurality of first recesses each formed between adjacent first hooks;
and can be combined with the second coupling portion having a plurality of second hooks having the same shape as the plurality of first hooks and a plurality of second recesses having the same shape as the plurality of first recesses,
When the first coupling portion and the second coupling portion are coupled, the first hook is inserted into the second recess, the second hook is inserted into the first recess, and the first hook and the second hook are inserted into the first recess. engages with the second hook,
The detachment device is
a pin that can be inserted into a gap formed between the first hook and the second hook when the first coupling part and the second coupling part are coupled;
an insertion/removal mechanism for inserting and removing the pin into the gap;
Equipped with
The pin has a tapered portion whose width in the circumferential direction gradually decreases toward the tip from a value larger than the width of the gap in the circumferential direction,
When the insertion/removal mechanism inserts the pin into the gap formed between the first hook and the second hook, the tapered portion separates the first hook and the second hook in the circumferential direction. and the first hook and the second hook are disengaged from each other. The detachment device includes a plurality of pins arranged at intervals in the circumferential direction.
A fire vehicle according to any one of claims 1 to 3 . The vehicle body,
a first coupling part provided on the vehicle body and capable of coupling with a second coupling part attached to the hose;
a communication device that receives a detachment command to detach the hose from the vehicle body;
a detachment device that detaches the hose from the vehicle body in response to the communication device receiving the detachment command;
Equipped with
The coupling between the first coupling part and the second coupling part can be released by rotating the second coupling part in a releasing direction,
The detachment device is
a pair of rotating bodies sandwiching the second coupling part coupled to the first coupling part;
a rotation mechanism that rotates the pair of rotating bodies;
Equipped with
The detachment device rotates the second coupling portion in the release direction by the pair of rotating bodies, and releases the coupling between the first coupling portion and the second coupling portion, thereby removing the hose from the vehicle body. A fire engine is released from the The vehicle body,
a first coupling part provided on the vehicle body and capable of coupling with a second coupling part attached to the hose;
a medium having a third coupling part that can be coupled to the first coupling part and a fourth coupling part that can be coupled to the second coupling part;
a communication device that receives a detachment command to detach the hose from the vehicle body;
a detachment device that detaches the hose from the vehicle body by disengaging the first coupling portion and the third coupling portion in response to the communication device receiving the detachment command;
Equipped with
The coupling between the first coupling part and the third coupling part can be released by rotating the third coupling part in a releasing direction,
The detachment device is
a sleeve that can be attached to the outer peripheral surface of the medium;
a rotation mechanism that rotates the sleeve attached to the outer circumferential surface in the release direction to release the coupling between the first coupling portion and the third coupling portion;
A fire engine equipped with The outer circumferential surface of the medium has a convex portion,
The inner peripheral surface of the sleeve has a recess that engages with the protrusion.
The fire vehicle according to claim 6 . The communication device receives the withdrawal command transmitted by wireless communication from a remote controller.
A fire engine according to any one of claims 1, 3, 5 and 6.

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