JP2004188581A - Rescue robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a compact rescue robot capable of clearing obstacles such as gaps and steps without falling down and performing rescue work efficiently by advancing into a collapsed house through a small clearance. <P>SOLUTION: This rescue robot 1 is composed of a vehicle body, left and right caterpillar devices attached rotatably to both side parts of the vehicle body and protruding outward from upper and lower parts and end parts of the vehicle body, a driving device for driving the left and right caterpillar devices through radio control or a cord, a balance weight 6 attached to the vehicle body to slide and move in the forward and backward directions, and a balance weight moving device for sliding and moving the balance weight 6 in the forward and backward directions through radio control or a cord. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

  The present invention relates to a rescue robot used when entering a house or the like collapsed due to an earthquake or the like and searching for a person under a building with a micro camera.

  A conventional rescue robot is formed in a box shape running on an endless track, and is configured to mount an auxiliary arm to clear a gap obstacle and a step obstacle, and to overcome the obstacle by the operation of the auxiliary arm.

  The conventional rescue robot has a disadvantage that it is large and can be used only in a portion having a larger space in consideration of the operation range of the auxiliary arm.

  In view of the above-mentioned conventional drawbacks, the present invention can clear gap obstacles and step obstacles without falling even if it is miniaturized, enter a collapsed house through a small gap, and perform rescue work efficiently The aim is to provide a rescue robot that can.

The above and other objects and novel features of the present invention will become more completely apparent when the following description is read in conjunction with the accompanying drawings.
However, the drawings are merely for explanation and do not limit the technical scope of the present invention.

  In order to achieve the above object, the present invention provides a vehicle body, left and right endless track devices rotatably mounted on both sides of the vehicle body and protruding outward from upper and lower portions and ends of the vehicle body, And a balance weight slidably mounted on the vehicle body in the front-rear direction, and the balance weight is slid in the front-rear direction via the radio control or the cord. The rescue robot is composed of the balance weight moving device.

  As is clear from the above description, the following effects can be obtained in the present invention.

(1) A vehicle body, left and right endless track devices rotatably mounted on both sides of the vehicle body and protruding outward from upper and lower portions and ends of the vehicle body, and the left and right endless track devices are radio-controlled or corded. A balance weight attached to the vehicle body so as to be slidable in the front-rear direction, and a balance weight moving device that slides the balance weight in the front-rear direction via a radio control or a cord. Therefore, even when the size of the vehicle body is reduced, it is possible to travel without falling down by changing the position of its own weight when traveling on the portion having the uneven portion.
Therefore, rescue work can be performed efficiently.

(2) According to the above (1), the position of the weight of the vehicle body can be changed by the balance weight that slides in the front-rear direction of the vehicle body.
Therefore, it is possible to smoothly travel and enter the inside of a collapsed house or the like without protruding outside the vehicle body unlike the conventional auxiliary arm.

(3) According to the above (1), the structure is simple and relatively easy to manufacture, and even if the vehicle falls, the vehicle is overturned by the right and left endless track devices projecting outward from the upper and lower parts and the end of the vehicle body. It can be run as before.

(4) Claim 2 has the same effect as (1) to (3).

(5) According to the third aspect, it is possible to prevent or prevent the vehicle from tipping over, and it is possible to reliably prevent an accident that the vehicle cannot travel.

(5) According to claim 4, the support rod moving device is operated in a place where there is a concave portion in the front and rear part of the traveling direction which is smaller than the longitudinal dimension of the vehicle body and is at least half the longitudinal dimension of the vehicle body. By projecting the support rod in the traveling direction, the support rod can be supported by the tip of the support rod on the ground or the like ahead of the concave portion.
Therefore, it is possible to easily run on the concave portion.

  Hereinafter, the present invention will be described in detail with reference to the best mode for carrying out the invention shown in the drawings.

  In the first embodiment for carrying out the present invention shown in FIGS. 1 to 8, reference numeral 1 denotes a rescue robot of the present invention for miniaturization and prevention of overturning. 2 endless track devices 3 and 3 rotatably mounted on both sides of the vehicle body 2 and projecting outward from upper and lower portions and ends of the vehicle body 2, and the left and right endless track devices 3 and 3 are controlled by radio control 4. A driving device 5 for driving, a balance weight 6 attached to the vehicle body 2 so as to be slidable in the front-rear direction, a balance weight moving device 7 for sliding the balance weight 6 in the front-rear direction by the radio control 4, And a battery 8 attached to the battery.

  The vehicle body 2 is a thin box-shaped vehicle body 10 having concave portions 9, 9 serving as guide rails formed on both sides, and is fixed so as to protrude upward from both ends of the vehicle body 10 near the front and rear portions. It is composed of a pair of axle support legs 11, 11, 11, 11.

  The left and right endless track devices 3, 3 are attached to axles 12, 12, 12, 12, which are fixed to the two pairs of axle support legs 11, 11, 11, 11, respectively, and to the axles 12, 12, 12, 12, An infinite number of pulleys 13, 13, 13, 13, such as sprockets and timing pulleys, which are rotatably mounted, and caterpillars, timing belts, etc., which are stretched over the pulleys 13, 13, 13, 13, at the front and rear portions on both sides. Tracks 14 and 14 are provided.

  The driving device 5 is fixed between the pulleys 13, 13 of the axle 12, 12, either forward or rearward of the axles 12, 12, 12, 12, and the axle support legs 11, 11. Radio gears 4 attached to the vehicle body 10 such that the internal gears 15, 15 whose support legs 11, 11 are open, and the pinions 17, 17 fixed to the drive shafts 16, 16 engage with the internal gears 15, 15. And a forward / reverse rotation motor 18 connected to the battery 8 which can rotate forward and backward respectively.

  The balance weight 6 travels in the balance weight body 19 formed to be slidable in the body body 10 and the concave portions 9, 9 serving as guide rails of the body body 10 at both ends of the balance weight body 19. It is composed of a plurality of rollers 20.

  The balance weight moving device 7 has a screw hole 21 formed substantially in the center of the balance weight 6 so as to penetrate in the front-rear direction, and both ends of the vehicle body 10 are screwed into the screw hole 21. A screw rod 22 rotatably supported at a position near both ends, a gear 23 fixed at a position near one end of the screw rod 22, and a pinion 25 fixed to the gear 23 and the drive shaft 24 mesh with each other. As described above, it is constituted by a forward / reverse rotation motor 26 for moving the balance weight connected to the battery 8 which can be rotated forward / reversely by the radio control 4 attached to the vehicle body 10.

The rescue robot 1 having the above-described configuration has a micro camera 27 installed on the vehicle body 2 and makes the endless tracks 14, 14 rotate forward and reverse to enter the interior of a collapsed house or the like.
At this time, when there is an uneven portion as shown in FIG. 8 on the traveling path, the balance weight 6 is moved so that the center of gravity of the vehicle body 2 is located forward or backward in the flat portion.
When climbing on an inclined surface or traveling on a flat portion by climbing, the balance weight 6 is positioned so that the center of gravity of the vehicle body 2 is located forward.
When traveling downhill or downhill from a flat surface, the balance weight 6 is positioned so that the center of gravity of the vehicle body 2 is located rearward.
By such traveling, the downsized rescue robot 1 can efficiently prevent a fall accident, and even if it falls, it can travel in a fall state.
<< Different forms for carrying out the invention >>

  Next, different modes for carrying out the present invention shown in FIGS. 9 to 32 will be described. In the description of these different embodiments for carrying out the present invention, the same components as those in the first embodiment for carrying out the present invention are denoted by the same reference numerals, and redundant description will be omitted. I do.

  The second embodiment for carrying out the present invention shown in FIGS. 9 and 10 is different from the first embodiment for carrying out the present invention mainly in that it is operated from a remote place via a cord 28. In the rescue robot 1A configured as described above, the same operation as that of the first embodiment for carrying out the present invention is used in that the drive device 5A and the balance weight moving device 7A are used. The effect is obtained.

  The third embodiment for carrying out the present invention shown in FIGS. 11 to 14 is different from the first embodiment for carrying out the present invention mainly in that servomotors 29, 29 are directly attached to axle 12. The drive device 5B having the drive shafts 30 and 30 and the balance weight moving device 7B for directly rotating the screw rod 22 forward and reverse by the servomotor 31 are used. The same operational effects as those of the first embodiment for carrying out the present invention can also be obtained in a rescue robot 1B constituted by using the first embodiment.

  The fourth embodiment for carrying out the present invention shown in FIGS. 15 to 17 is different from the first embodiment for carrying out the present invention mainly in that the left and right pulleys 13, 13, and 13, A pair of left and right endless track devices 3A having auxiliary pulleys 32, 32, 32, 32 interposed therebetween that project the lower positions of the endless tracks 14, 14 downward, and a pair of left and right pulleys 13 of the left and right endless track devices 3A, A point in which a semi-circular or substantially conical anti-rolling member 33, 33, 33, 33 whose central portion, which is prevented or overturned so that the roll-over state cannot be maintained, protrudes outward, is attached to 13, 13, 13. Therefore, the rescue robot 1C having the above-described configuration can obtain the same operation and effects as those of the first embodiment for carrying out the present invention, further improve the running performance, and run sideways. To become ability can be reliably prevented.

  The fifth embodiment for carrying out the present invention shown in FIGS. 18 to 20 is different from the fourth embodiment for carrying out the present invention mainly in that the central portion is outward on both sides of the vehicle body 2. In the rescue robot 1D configured as described above, the same operation and effect as those of the fourth embodiment for implementing the present invention can be obtained in that the angle-shaped anti-rolling state preventing members 33A, 33A protruding from the robot are attached. .

  The sixth embodiment for carrying out the present invention shown in FIGS. 21 and 22 is different from the fourth embodiment for carrying out the present invention mainly in that the left and right pulleys 13, 13 and 13, 13 In the point that the left and right endless track devices 3B are provided with auxiliary pulleys 32, 32, 32, 32, 32, 32, 32, 32 that project the upper and lower positions of the endless tracks 14, 14 vertically. With the rescue robot 1E configured as described above, the same operation and effect as those of the fourth embodiment for carrying out the present invention can be obtained, and the rescue robot 1E can travel in the falling state.

  The seventh embodiment for carrying out the present invention shown in FIGS. 23 to 25 differs from the fourth embodiment for carrying out the present invention mainly in that both sides of a central portion and a front-rear portion of the vehicle body 2 are provided. Auxiliary pulleys 32, 32, 32, 32, 32, 32 for projecting the endless tracks 14, 14 downward at the lower portion, auxiliary pulleys 32, 32 at the lower portions on both sides of the central portion, and auxiliary portions at the lower portions on both sides of the front and rear portions. Intermediate auxiliary pulleys 32, 32, 32, 32 located below the lower surfaces of the auxiliary pulleys 32, 32, 32, 32, 32, 32 provided between the pulleys 32, 32, 32, 32 In addition to using the left and right endless track devices 3C, the slender forward / reverse rotation motors 18A, 18A are arranged in a parallel state, and the balance weight 6 is set so as to partially project from the front and rear portions of the vehicle body 2. To Same effect as the fourth embodiment for even in the rescue robot 1F which forms carrying out the present invention is obtained.

  The eighth embodiment for carrying out the present invention shown in FIGS. 26 to 29 differs from the fourth embodiment for carrying out the present invention mainly in that it projects in the front-rear direction from a substantially central portion of the vehicle body 2. A support rod 35 slidably attached to the vehicle body 2 via mounting brackets 34, 34 so that the support rod 35 can be moved forward and backward. And a pinion 37 meshing with the rack 36 is attached to a drive shaft 38 and a forward / reverse rotation motor 39 attached to the vehicle body 2 at a substantially central portion thereof. In this respect, the rescue robot 1G configured as described above can obtain the same operation and effects as those of the fourth embodiment for carrying out the present invention, and When there is a recessed portion 41 in the front and rear portions that is smaller than the front-rear dimension of the vehicle body 2 and is at least half the front-rear dimension of the vehicle body 2, the support rod moving device 40 is operated to move the support rod 35 in the traveling direction. By protruding, the tip of the support rod 35 is supported on the ground or the like ahead of the concave portion 41 and can easily travel on the concave portion 41.

  The ninth embodiment for carrying out the present invention shown in FIGS. 30 to 32 is different from the eighth embodiment for carrying out the present invention mainly in that it comes into contact with both ends of a rod-shaped support rod 35A. Rollers 42, 42 that roll on the surface are attached, and a chain 44 fixed to substantially the center of the support rod 35A and wrapped around sprockets 43, 43 attached to the front and rear portions of the vehicle body 2, and the chain 44 Either one of the front and rear sprockets 43, 43 or one of the drive sprockets 45 that meshes with the chain 44 that is not attached to the support rod 35A. In the embodiment for carrying out the present invention, the drive sprocket 45 is rotated forward or backward. A rescue robot configured in this manner is provided with a support rod moving device 40A including a forward / reverse rotation motor 39A. Even in the Tsu preparative 1H same effect as the eighth mode for carrying out the present invention is obtained.

  In the ninth embodiment for carrying out the present invention and the eighth embodiment for carrying out the present invention, one support rod 35, 35A is projected from a substantially central portion of the vehicle body 2 in the front-rear direction. Although the present invention has been described, the present invention is not limited to this, and a support rod configured using two support rods including a support rod projecting forward of the vehicle body 2 and a support rod projecting backward of the vehicle body 2 is used. A rod moving device may be used.

FIG. 1 is a plan view of a first preferred embodiment for carrying out the present invention. 1 is a side view of a first preferred embodiment for carrying out the present invention. FIG. 1 is a front view of a first preferred embodiment for carrying out the present invention. FIG. 4 is a sectional view taken along line 4-4 in FIG. 1. FIG. 5 is a sectional view taken along line 5-5 in FIG. 1. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view of a first embodiment of a driving device for carrying out the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view of a first preferred embodiment of a balance weight moving device for carrying out the present invention. BRIEF DESCRIPTION OF THE DRAWINGS The schematic explanatory drawing of the driving | running state of the best 1st form for implementing this invention. FIG. 4 is a plan view of a second embodiment for carrying out the present invention. The side view of the 2nd form for carrying out the present invention. FIG. 9 is a plan view of a third embodiment for carrying out the present invention. The side view of the 3rd form for carrying out the present invention. FIG. 9 is an explanatory diagram of a driving device according to a third embodiment for carrying out the present invention. FIG. 9 is an explanatory view of a balance weight moving device according to a third embodiment for carrying out the present invention. FIG. 9 is a plan view of a fourth embodiment for carrying out the present invention. The side view of the 4th form for carrying out the present invention. The front view of the 4th form for carrying out the present invention. FIG. 13 is a plan view of a fifth embodiment for carrying out the present invention. The side view of the 5th form for carrying out the present invention. The front view of the 5th form for carrying out the present invention. FIG. 14 is a plan view of a sixth embodiment for implementing the present invention. The side view of the 6th form for carrying out the present invention. FIG. 14 is a schematic plan view of a seventh embodiment for carrying out the present invention. The side view of the 7th form for carrying out the present invention. The schematic front view of the 7th form for carrying out the present invention. The top view of the 8th form for carrying out the present invention. The side view of the 8th form for carrying out the present invention. The front view of the 8th form for carrying out the present invention. The schematic explanatory drawing of the running state of the 8th form for carrying out the present invention. FIG. 19 is a plan view of a ninth embodiment for implementing the present invention. The side view of the 9th form for carrying out the present invention. FIG. 21 is an explanatory view of a ninth embodiment of a support rod moving device for carrying out the present invention.

Explanation of reference numerals

1, 1A to 1H: rescue robot,
2: body,
3, 3A: endless track device,
4: RC
5, 5A, 5B: driving device,
6: Balance weight,
7, 7A, 7B: balance weight moving device,
8: battery, 9: recess,
10: body, 11: axle support leg,
12: axle, 13: pulley,
14: Endless track, 15: Internal gear,
16: drive shaft, 17: pinion,
18, 18A: forward / reverse rotation motor,
19: Balance weight body,
20: roller, 21: screw hole,
22: screw rod, 23: gear,
24: drive shaft, 25: pinion,
26: forward / reverse rotation motor for moving balance weight
27: micro camera, 28: cord,
29: servo motor, 30: drive shaft,
31: servo motor, 32: auxiliary pulley,
33, 33A: rollover prevention member,
34: mounting bracket, 35, 35A: support rod,
36: Rack, 37: Pinion,
38: drive shaft, 39, 39A: forward / reverse rotation motor,
40, 40A: Support rod moving device,
41: recess, 42: roller,
43: Sprocket, 44: Chain,
45: Drive sprocket.

Claims (4)

A vehicle body, left and right endless track devices rotatably mounted on both sides of the vehicle body and projecting outward from upper and lower portions and ends of the body, and the left and right endless track devices via a radio control or a cord. A driving device for driving, a balance weight attached to the vehicle body so as to be slidable in the front-rear direction, and a balance weight moving device for sliding the balance weight in the front-rear direction via a radio control or a cord. Rescue robot. A body comprising a thin box-shaped body body, two pairs of axle support legs fixed so as to protrude upward from both ends near the front and rear portions of the body body, and two pairs of axle support legs of the body rotate A left and right endless track device protruding outwardly from upper and lower portions and an end of the vehicle body, a drive device for driving the left and right endless track devices via a radio control or a cord, and a vehicle body of the vehicle body A balance weight slidably mounted in the main body so as to be slidable in the front-rear direction, and a screw hole formed substantially in a central portion of the balance weight for sliding the balance weight in the front-rear direction; A screw rod arranged so that its axis is located in the front-rear direction at the approximate center of the vehicle body, a drive motor that rotates the screw rod forward and reverse, and a radio control or cord Rescue robot, characterized in that comprising a balance weight moving device and an operating mechanism for driving through. A roll-over state preventing member is provided on both sides of the vehicle body or on the outer side surfaces of the left and right endless track devices so that the roll-over state is prevented from being maintained or the center portion of the vehicle body protruding outward is prevented. Item 3. The rescue robot according to any one of Items 1 and 2. A support rod slidably mounted on the vehicle body so as to be able to protrude from a substantially central portion of the vehicle body in the front-rear direction, and is mounted on the vehicle body so that the support rod can be protruded forward or backward. 4. The rescue robot according to claim 1, further comprising a supporting rod moving device.

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