JP6558787B1 - Flying object - Google Patents

Abstract

An object is to fix an object appropriately and to control the flight posture of the object. A flying body 100 includes an outer tube and an inner tube housed in the outer tube, and includes a plurality of support columns 21 that can expand and contract in an axial direction, and a frame body 20 that connects an object to a lower portion. A main body 30 having a flight mechanism 31 is provided on the upper portion of the frame body 20. The object is disposed, for example, opposite to the mounting surface 15 for mounting the mounted object 50, the plurality of nested columnar members 11 that can be expanded and contracted, and the mounting surface 15, and for the expansion and contraction of the plurality of columnar members 11. It is the other frame 10 which consists of the pressing surface 17 attached so that the movement to the axial direction was interlocked. Since the object is connected to the lower part of the frame body 20, the object can be appropriately fixed, and the flight posture of the object is controlled by controlling the expansion and contraction of the support column 21. [Selection] Figure 1

Description

  The present disclosure relates to an aircraft, and more particularly to an aircraft that carries an object such as a luggage.

  In recent years, attempts have been made to carry luggage using flying objects such as drones and unmanned aerial vehicles (UAV). For example, Patent Document 1 describes that a loading platform having a substantially rectangular parallelepiped appearance is attached to a lower surface of a main body of a flying object via a connection mechanism. Patent Document 2 describes that an arm for gripping a container is provided on a side portion of a base portion of a flying object.

In general, the flying object is susceptible to wind, and the attitude of the flying object may be tilted during driving, such as when moving forward.
In this regard, for example, Patent Document 3 describes that a mounting portion for mounting a load on a drone has a structure that always holds a predetermined direction (for example, vertically downward), and maintains the position and orientation of the load. To do. Specifically, the mounting portion has a hinge (gimbal), and is configured such that the luggage is bent according to the inclination of the flying object with the hinge as a fulcrum.

JP 2018-39420 A Japanese Patent No. 6084675 Japanese Patent No. 6384013

  As described above, when an object such as a load mounted on a mounting mechanism is transported using a flying object, there is a demand for appropriately fixing the object and controlling the posture of the object during the flight.

  The present disclosure has been made in view of the above points, and an object thereof is to provide a flying object in which an object is fixed and the posture of the object during flight can be controlled. The present invention is not limited to this purpose, and is a function and effect derived from each configuration shown in the embodiment for carrying out the invention described later, and has another function and effect that cannot be obtained by conventional techniques. is there.

A flying body of the present disclosure includes an outer tube and an inner tube housed in the outer tube, and includes a plurality of support columns that can be expanded and contracted in the axial direction. A main body having a flight mechanism, and a control unit for controlling expansion and contraction of the plurality of columns to control the flight posture of the object, the object being mounted for mounting a load It is another frame having a surface .

In the flying body of the present disclosure , each of the other frames further rises from the mounting surface , and includes an outer tube and an inner tube housed in the outer tube, and is capable of extending and contracting in the axial direction. A column member, and a pressing surface that is disposed to face the mounting surface and is movably attached in the axial direction in conjunction with expansion and contraction of the plurality of column members, and the control unit includes the pressing surface. It is preferable to control the expansion and contraction of the plurality of column members in order to sandwich the load with the mounting surface (preferred example 1).
Further, in the flying body of the present disclosure, the object is a vehicle, and a connecting portion for connecting the vehicle to the lower portion of the frame is provided, and a connected portion connected to the connecting portion is connected to the vehicle. It is preferably provided (Preferred Example 2).
Further, in the flying body of the present disclosure, the object has a mounting surface for mounting a mounted object, and rises from the mounting surface, respectively, and an outer tube and an inner tube accommodated in the outer tube, Others consisting of a plurality of column members that can be expanded and contracted in the axial direction, and a pressing surface that is disposed so as to face the mounting surface and is movably attached in the axial direction in conjunction with the expansion and contraction of the plurality of column members A frame and a vehicle connected to a lower part of the other frame, wherein a first connecting part for connecting the other frame is provided at a lower part of the frame, and the other A first connected portion connected to the first connecting portion is provided on the frame body, and a second connecting portion for connecting the vehicle to the lower portion of the other frame body is provided. The vehicle is provided with a second connected portion that is connected to the second connecting portion. And, said control unit preferably further controls the expansion and contraction of the plurality of pillar members to sandwich the payload by said pressing surface and said mounting surface (preferred embodiment 3).

  In addition, the flying body of the present disclosure is configured as a frame-like structure configured to have an attachment portion at an upper portion, and the attachment portion can adjust the vertical position thereof, and connects an object to the lower portion. A frame body, a main body portion that is located above the frame body and has a flight mechanism, and a control unit that controls a vertical position of the attachment portion in order to control a flight posture of the object. To do.

In the flying body of the present disclosure, the object includes a mounting surface for mounting a mounted object, and a pressing surface that is disposed to face the mounting surface and is attached so as to be movable in the vertical direction. It is another frame configured as an object, and it is preferable that the control unit controls an amount of movement of the pressing surface in the vertical direction in order to hold the mounted object between the pressing surface and the mounting surface. Preferred example 4).
Further, in the flying body of the present disclosure, the object is a vehicle, and a connecting portion for connecting the vehicle to the lower portion of the frame is provided, and a connected portion connected to the connecting portion is connected to the vehicle. It is preferable to be provided (Preferred Example 5).
Further, in the flying body of the present disclosure, the object has a mounting surface for mounting the mounted object, and a pressing surface that is disposed to face the mounting surface and is attached so as to be movable in the vertical direction. And a vehicle connected to a lower part of the other frame body, the first connection for connecting the other frame body to the lower part of the frame body. And a second connected portion for connecting the vehicle to a lower portion of the other frame body, wherein a first connected portion connected to the first connection portion is provided to the other frame body. And a second connected part connected to the second connecting part is provided on the vehicle, and the control part further includes the pressing surface and the mounting surface. It is preferable to control the amount of vertical movement of the holding surface in order to hold the load. Have (preferred embodiment 6).

According to the flying object of the present disclosure, the object can be appropriately fixed to the flying object, and the flying posture of the object can be controlled. For this reason, the object can be transported in a stable posture.
Further, according to the preferred examples 1 and 4, the mounted object can be mounted on the mounting surface of the other frame body, and the mounted object can be appropriately attached to the flying object simply by moving the holding surface according to the height of the mounted object. Can be fixed.
According to the preferred examples 2 and 5, the vehicle can be appropriately fixed to the flying body, and the flight posture of the connected vehicle can be controlled.
Further, according to the preferred examples 3 and 6, in addition to the effects of the preferred examples 2 and 5 described above, the loaded object can be mounted on the mounting surface of the other frame, and the pressing surface is set according to the height of the mounted object. By simply moving, the load can be properly fixed to the flying object.

It is a side view of the flying body concerning a first embodiment. It is the top view which looked at the flying body shown in FIG. 1 from the top. FIG. 2 is an external perspective view of the flying body shown in FIG. 1, with the main body having a flying mechanism omitted. It is the top view which looked at the 1st frame from the AA arrow cut surface in FIG. It is a side view for demonstrating the structure of the tubular body used as a 1st support | pillar, a 2nd support | pillar, an upper end connecting rod, a lower end connecting rod, and a leg part. It is a side view for demonstrating the structure of a joint block. It is a side view for demonstrating expansion / contraction control of a 1st support | pillar, (a), (b) is a figure explaining a mode that a 1st support | pillar is expanded-contracted according to the height of a load, respectively. It is a side view for demonstrating the expansion-contraction control of a 2nd support | pillar. It is a side view for demonstrating the expansion-contraction control of a leg part. It is a side view explaining the structure of the flying body which concerns on 2nd embodiment, Comprising: (a) shows the state by which the 2nd frame is attached to the main-body part via the winch, (b) is shown via the winch. The state where the second frame is lowered away from the main body is shown. It is a side view for demonstrating the modification of FIG. 10, Comprising: (a) shows the state in which the 1st frame body is attached to the main-body part via the winch, (b) is 1st via a winch. A state in which the frame is lowered away from the main body is shown. It is a side view explaining the structure of the flying body which concerns on 3rd embodiment. It is the top view which looked at the flying body shown in FIG. 12 from the top. It is a side view which shows the state which mounted the motor vehicle on the flying body shown in FIG. It is a side view explaining the structure of the flying body which concerns on 4th embodiment, Comprising: (a) shows the state which closed the bottom face of the 1st frame, (b) opens the bottom face of the 1st frame. The state in which the load is lowered through the winch is shown. It is a side view explaining the structure which provided the wheel in the leg part as a modification of a flying body, Comprising: (a) shows the state which the flying body landed, (b) shows a 2nd frame body and a 1st through a winch. The state which pulls apart one frame from a main-body part is shown. It is a side view explaining the structure which has a some flight mechanism as a modification of a flying body. It is a side view explaining another composition which has a plurality of flight mechanisms as a modification of a flying object. (A) is a side view explaining the structure of the flying body which provided the support member which supports a mounted object from right and left side surfaces in a 1st frame, (b) is a side view explaining a support member. It is a side view explaining the structure of the flying body which concerns on 5th embodiment. It is a side view explaining the modification of the flying body which concerns on 5th embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Note that each embodiment described below is merely an example, and there is no intention of excluding various modifications and technical applications that are not explicitly described in the following embodiment. Each configuration of the following embodiments can be implemented with various modifications without departing from the spirit thereof, and can be selected as necessary or can be appropriately combined.

  Each drawing is not intended to include only the components shown in the drawings, and may include other components. Hereinafter, in the drawings, the same reference numerals denote the same or similar parts unless otherwise specified.

[First embodiment]
[1. overall structure]
FIG. 1 is a side view illustrating the overall configuration of an aircraft 100 according to the first embodiment, and FIG. 2 is a plan view of the aircraft 100 as viewed from above. The flying body 100 according to the present embodiment carries a load 50 (indicated by a two-dot chain line) mounted on the first frame 10 (corresponding to “another frame” recited in the claims) by flying. Is. In this specification, the luggage 50 is a loaded object that is mounted on the first frame 10 and is a target for transportation. Flying means moving in space three-dimensionally. In the following drawings, the direction of the double arrow X is the left-right direction, the direction of the double arrow Y is the vertical direction, and the direction of the double arrow Z is the depth direction (front-rear direction). Since FIG. 1 shows a state in which the flying object 100 has landed on a horizontal landing surface 105, the vertical direction coincides with the vertical direction, and the front-rear direction and the left-right direction coincide with the horizontal direction.

  The flying body 100 has a first frame 10 having a mounting surface 15 on which the luggage 50 is mounted, and a second frame that is attached to the upper portion of the first frame 10 and controls the flight posture of the first frame 10. A frame body 20 (corresponding to a “frame body” recited in the claims) and a main body section 30 attached to the upper part of the second frame body 20 and having a flight mechanism 31 for flying the flying body 100. Prepare. In addition, a plurality of leg portions 40 project from the lower surface of the first frame 10.

  The first frame 10 functions as a mounting mechanism (that is, a loading platform) for mounting the load 50 on the mounting surface 15 and fixing the mounted load 50 on the mounting surface 15. The first frame 10 is provided with a plurality of first struts 11 (corresponding to “column members” recited in the claims) rising from the upper surface of the mounting surface 15. At the upper end, a pressing surface 17 arranged to face the mounting surface 15 is provided. The first support column 11 is interposed between the mounting surface 15 and the pressing surface 17 and has a function of supporting the pressing surface 17 at a predetermined height. Each first support column 11 is formed of a nested tube body, and can be expanded and contracted in the axial direction of the first support column 11 (that is, the vertical direction). The pressing surface 17 is attached to the mounting surface 15 so as to be movable in the vertical direction in conjunction with the expansion and contraction of the first support column 11. The pressing surface 17 fulfills the function of pressing the load 50 mounted on the mounting surface 15 from above by moving in the vertical direction in conjunction with the expansion and contraction of the first support column 11. In addition, the specific structural example of the 1st support | pillar 11 is mentioned later.

  The second frame body 20 includes a plurality of second support columns 21 (corresponding to “support columns” recited in the claims) rising from the upper surface of the first frame body 10. And the main body 30 is connected via the mounting portion 25. Each second support column 21 is formed of a nested tube body similar to the first support column 11, and can be expanded and contracted in the axial direction (that is, the vertical direction) of the second support column 21. In other words, the second frame 20 is interposed between the first frame 10 and the main body 30, and serves as a posture adjustment mechanism for controlling the flight posture of the first frame 10 by the expansion and contraction of each second support column 21. Function. In addition, the specific structural example of the 2nd support | pillar 21 is mentioned later.

  Each of the plurality of leg portions 40 is attached to the lower end of the first frame 10 at the upper end thereof, and the grounding portion 41 that is grounded when the flying object 100 is landed is connected to the lower end of each leg portion 40. . Each leg part 40 is also comprised by the nested tube body similar to the 1st support | pillar 11, and can be expanded-contracted in the axial direction (namely, up-down direction) of the leg part 40. FIG. By extending or contracting the individual leg portions 40 according to the landform (gradient degree) of the landing point, the plurality of leg portions 40 function as outriggers for stabilizing the landing posture of the flying object 100. A specific configuration example of the leg 40 will be described later.

  The main body 30 includes a flight mechanism 31 for causing the flying object 100 to fly. The flight mechanism 31 shown in FIGS. 1 and 2 is a multi-copter type flight mechanism having a rotary wing 32 at the tip of each of four arms 34 extending radially from a base 33 located at the center. As shown in FIG. 2, the rotary blade 32 is provided on a rotary shaft 35 arranged along the vertical direction, two blades 36 projecting radially from the rotary shaft 35, and an outer periphery of these blades 36. The protection ring 37 is connected to an electric motor driven by a battery (not shown). The driving of the electric motor is not limited to using a battery, and a generator may be used. The generator may be any generator such as a generator using an engine as a power source, a solar generator, or a wind generator. The drive source of the rotary blade 32 is not limited to an electric motor, and any device that can drive the rotary blade 32, such as an internal combustion engine or a jet engine, may be used.

When the rotary wings 32 are respectively driven to rotate by an electric motor (not shown), the blades 36 are rotated around the rotary shaft 35 and the propulsive force of the flying object 100 is generated. This propulsive force is for taking off the flying body 100 from the ground, moving the space 100 in the vertical and horizontal directions, and landing on the ground. Each rotary wing 32 can be rotated in either a clockwise direction or a counterclockwise direction when viewed from above the flying object 100. The multi-copter type flight mechanism 31 itself is a well-known technique. Further, for example, the specific configuration of the rotary blade 32 such as the number of blades 36 provided on the rotary blade 32 and the shape of the blade 36 may be arbitrarily set, and is not limited to the illustrated example. For example, the size of the blade 36 (propeller) of each rotary blade 32 may be larger than that of the blade 36 shown in FIG. Each rotary blade 32 may have a multiple rotor structure in which a plurality of sets of blades 36 are arranged on the same axis, such as a structure in which two sets of blades 36 (propellers) are arranged on the same axis. For example, when each rotor blade 32 has two sets of blades 36 (propellers) arranged on the same axis and is configured as a counter rotating rotor that rotates each set of blades 36 in opposite directions, it is well known. Thus, there is an advantage that counter torque can be offset.
The multi-copter type flight mechanism 31 is not limited to a quad-copter type flight mechanism having four rotor blades 32 as shown in FIGS. 1 and 2, but a tricopter type flight mechanism having three rotor blades 32. Alternatively, a flight mechanism having four or more rotary wings 32 such as a hexacopter type or an octocopter type may be used. As will be described later, the flight mechanism having the rotating wings is not limited to the multicopter type, but may be a tilt rotor type (osprey type) or a helicopter type.
The frame of the flying mechanism 31 (that is, the base 33 and the arm 34) is an assembly-type frame-like structure using a nested tube body similar to the first support column 11 and the second support column 21 and a joint block described later. May be formed. In this case, the frame size of the flight mechanism 31 can be freely changed.
In addition, as for the specific configuration of the flight mechanism 31, such as the size and shape of the base 33 and the arm 34, the number of the rotor blades 32, or the size and shape of the blades 36, a device for improving lift is appropriately used. Of course, it can be done.

  Further, as shown in FIG. 2, a control device 60 (shown by a broken line) that performs various controls including flight control by the flight mechanism 31 is provided in the base portion 33. The control device 60 is a computer that includes a CPU (not shown), a storage device including a ROM and a RAM, an input interface, an output interface, and a bus that interconnects them. The storage device stores various control programs and various data necessary for executing these control programs.

  The control device 60 performs control of the flight mechanism 31 including rotation control of the four rotor blades 32, that is, flight control of the flying object 100, and each first support column 11 of the first frame 10, and the second frame. The expansion / contraction control of each second support column 21 and each leg portion 40 is performed. Flight control is realized by a well-known technique as flight control using a multi-copter type flight mechanism. Details of the expansion / contraction control of the first support column 11, the second support column 21, and the leg 40 will be described later. Each of the flight control and the expansion / contraction control is provided as a software program that is executed using hardware resources of the control device 60. The control device 60 is connected with various peripheral devices necessary for performing flight control and expansion / contraction control including various sensors (not shown), a GPS device (not shown), and a wireless communication device (not shown). Of course, it goes without saying that a transmitter and a receiver capable of communicating with the wireless communication device are also provided in the extension mechanism (described later) of the flight mechanism 31, the first support column 11, the second support column 21, and the leg portion 40 to be controlled. Yes.

  The flight of the flying object 100 may be controlled autonomously or automatically based on current position information and map information that can be acquired by, for example, a well-known GPS function. As another example, the flight of the vehicle 100 may be controlled based on a remote operation performed by a user using a remote controller (not shown).

  Next, more specific configuration examples of the first frame body 10, the second frame body 20, and the leg portion 40 will be described. FIG. 3 is an external perspective view of the flying object 100. For convenience of illustration and explanation, illustration of the main body 30 including the flight mechanism 31 and the luggage 50 is omitted. FIG. 4 is a plan sectional view of the first frame body 10 cut along the line AA in FIG. Also in FIG. 4, the illustration of the luggage 50 is omitted.

  The first frame 10 shown in FIG. 3 has a structure in which four first support columns 11, four upper end connecting rods 12, and four lower end connecting rods 13 are connected by eight joint blocks 14. is there. Specifically, as shown in FIGS. 3 and 4, the four lower end connecting rods 13 are arranged in a rectangular shape in plan view. These four lower end connecting rods 13 are pipes for connecting the lower ends of the four first support columns 11 to each other, and are respectively connected to the four corners of the rectangular frame formed by the four lower end connecting rods 13. 14 is arranged, and the lower end of the first support column 11 is attached to each joint block 14. A mounting surface 15 is provided on the upper surface of a rectangular frame formed by these four lower end connecting rods 13. The mounting surface 15 shown in FIGS. 3 and 4 is a plate member that covers the entire surface of the rectangular frame formed by the lower end connecting rod 13, and is fixed to the four lower end connecting rods 13. The upper surface of the mounting surface 15 serves as a pedestal for mounting the luggage 50. A reinforcing rib (not shown) may be provided on the back surface of the mounting surface 15 so that a heavy object can be mounted.

  A joint block 14 is also attached to the upper ends of the four first struts 11, and the joint blocks 14 at the upper ends of the four first struts 11 are connected to each other by the four upper end connecting rods 12. . These four upper end connecting rods 12 are tubular bodies for connecting the upper ends of the four first support columns 11 to each other, and are arranged in a rectangular shape in plan view like the four lower end connecting rods 13. Is done. A pressing surface 17 is provided on the lower surface of the rectangular frame formed by the four upper end connecting rods 12. The pressing surface 17 shown in FIG. 3 is made of a plate member that covers the entire surface of the rectangular frame formed by the upper end connecting rod 12, and is fixed to the four upper end connecting rods 12. The lower surface of the pressing surface 17 is opposed to the upper surface of the mounting surface 15, and the upper surface of the luggage 50 (see FIG. 1) mounted on the upper surface of the mounting surface 15 is pressed by the lower surface of the pressing surface 17. And the mounting surface 15 can hold the load 50 (see FIG. 1).

  That is, the first frame 10 is configured as a cubic or rectangular parallelepiped frame structure as a whole by the four first support columns 11, the four upper end connecting rods 12, and the four lower end connecting rods 13. The mounting surface 15 is provided on the lower surface portion of the three-dimensional frame, and the pressing surface 17 is provided on the upper surface portion of the three-dimensional frame. The mounting surface 15 and the pressing surface 17 are not limited to a plate member that covers the entire surface of the rectangular frame, and may be formed of a plate member that partially covers the rectangular frame. Further, the mounting surface 15 and the pressing surface 17 are not limited to a plate member that covers the surface with a single sheet, but, for example, a mesh member, a lattice member made of a plurality of square members or plate members arranged to cross each other, or each other It may be a fence-like member made of a plurality of square members or plate members arranged in parallel. In short, the mounting surface 15 and the pressing surface 17 can be configured in any shape, size, and material as long as the baggage 50 can be mounted and the loaded baggage 50 can be pressed from above. Good. As a modification, the mounting surface 15 may be provided on the lower surface of the rectangular frame formed by the four lower end connecting rods 13, and the holding surface 17 is provided on the upper surface of the rectangular frame formed by the four upper end connecting rods 12. May be. Note that the shape of the lower surface portion of the first frame 10 is not limited to a rectangular shape, and may be any shape such as a triangle, a pentagon, a hexagon, and a circle.

  Further, the lower ends of the second columns 21 are respectively attached to the upper surfaces of the joint blocks 14 attached to the upper ends of the four first columns 11. That is, the second frame 20 is configured as a frame-like structure by four second support columns 21 erected at the four corners of the upper surface of the first frame 10 (a planar rectangular frame formed by the upper end connecting rod 12). Is done. The shape of the upper surface portion of the first frame 10 is not limited to a rectangular shape, and may be any shape such as a triangle, a pentagon, a hexagon, and a circle.

  Further, the upper ends of the leg portions 40 are respectively attached to the lower surfaces of the joint blocks 14 attached to the lower ends of the four first support columns 11. That is, the leg portions 40 are attached to the four corners of the lower surface of the first frame 10 (a planar rectangular frame formed by the lower end connecting rod 13). A grounding portion 41 is attached to the lower end of each leg portion 40.

[2. Detailed configuration of nested tube]
Next, the structure of the tube used as the 1st support | pillar 11, the 2nd support | pillar 21, and the leg part 40 is demonstrated. Since the 1st support | pillar 11, the 2nd support | pillar 21, and the leg part 40 are substantially the same structures, the 1st support | pillar 11 is mentioned as an example and demonstrated here. FIG. 5 is a side view of the first support column 11. The first support column 11 has a nested structure having an outer tube 110 and an inner tube 112 housed in the outer tube 110.

  An actuator 113 for moving the inner tube 112 is provided in the outer tube 110. The actuator 113 is, for example, an electric motor driven by a battery (not shown), and the inner tube is connected via a conversion mechanism (not shown) that converts the rotational movement of the electric motor into a linear movement in the axial direction of the first support column 11. 112. For example, the rotating shaft of the electric motor is arranged coaxially with the first support column 11, the rotating shaft has a male screw body extending in the axial direction, and is screwed into the male screw body on the inner peripheral surface of the inner tube 112. A female screw portion is provided, and the male screw body and the female screw portion constitute a conversion mechanism. In this case, when the male screw body is rotated by the rotation of the electric motor, the rotation of the male screw body is converted into movement of the inner tube 112 in the axial direction by the female screw portion. In addition to the above, the conversion mechanism may be a known conversion mechanism that converts rotational motion into linear motion, such as a rack and pinion mechanism. The actuator 113 is connected to a battery (not shown) and is connected to the control device 60 (see FIG. 2) so as to be capable of wireless communication, and operates in response to a control signal from the control device 60. By actuating the actuator 113 in accordance with the control signal, the inner tube 112 is moved in the axial direction (the direction of arrow D) in the outer tube 110, and the first column 11 is moved in the axial direction (the direction of arrow D) as a whole. The expansion and contraction can be controlled. That is, a mechanism in which the actuator 113 moves the inner tube 112 in the axial direction via the conversion mechanism constitutes an “extension / contraction mechanism”. As the actuator 113, a fluid cylinder that is provided in the outer tube 110 and whose piston rod extends and contracts to drive the inner tube 112 can be used.

  Male screws 114 are provided at both ends of the first support column 11 as means for attaching the joint block 14. FIG. 6 is a side view of the joint block 14. The joint block 14 has a regular hexahedron shape, and has a female screw 141 for screwing the male screw 114 of the first support column 11 into all six surfaces. The joint block 14 is attached to the first column 11 by screwing the male screw 114 with the female screw 141. The shape of the joint block 14 is not limited to a regular hexahedron shape, and may be any shape such as a prism having an arbitrary bottom shape such as a pentagon or a hexagon, a cylinder, or a sphere. Moreover, the joint block 14 of various shapes can also be used in combination.

Each of the second support column 21 and the leg portion 40 has an outer tube 110 made of a square pipe or a round pipe and an inner tube 112 housed in the outer tube 110, similarly to the first support column 11 shown in FIG. 5. The inner tube 112 has a nested structure and is moved in the axial direction by the built-in actuator 113, so that it can be expanded and contracted in the axial direction as a whole.
Since the upper end of each second column 21 and the lower end of each leg 40 are not connected to the joint block 14, the shape is different from the male screw 114 of the first column 11. Specifically, a mounting portion 25 (see FIG. 1) to the main body portion 30 is provided at the upper end of the second support column 21. The attachment portion 25 (see FIG. 1) is configured by, for example, a pivot joint (ball joint) for connecting to the main body portion 30 (specifically, the base portion 33 of the flight mechanism 31). Further, a pivot joint (ball joint) is provided at the lower end of the leg portion 40 for connection to the grounding portion 41 (see FIGS. 1 and 3). Thereby, it is possible to allow the second support column 21 to swing with respect to the main body 30 when the flight posture control of the first frame body 10 described later (extension control of the second support column 21) is performed. It is possible to allow the ground contact portion 41 to swing with respect to the leg portion 40 when the flying object 100 is landed.
Further, the attachment portion 25 may further include a detachable locking structure (attachment) that detachably locks the upper end of the second support column 21 and the main body portion 30. In other words, in a state where the second frame body 20 is coupled to the main body portion 30, the second support column 21 is pivotably coupled to the main body portion 30 by a pivot joint (ball joint). When the 20 is separated (removed) from the main body 30, the second frame 20 can be detached from the main body 30 freely, easily, and easily by an attachment.

  The four first struts 11, the four second struts 21, and the four leg portions 40 are set to the same size. Moreover, the 1st support | pillar 11, the 2nd support | pillar 21, and the leg part 40 may be set to the mutually same dimension, or may be set to a mutually different dimension. For example, in the 1st frame 10 shown in FIG. 1, the 1st support | pillar 11 and the 2nd support | pillar 21 are set to the same dimension, and the leg part 40 is set to the dimension shorter than the 1st support | pillar 11 and the 2nd support | pillar 21. Assumes that.

  The four upper end connecting rods 12 and the four lower end connecting rods 13 are each a single pipe body made of a square pipe or a round pipe, and are screwed into the female threads 141 of the joint block 14 at both ends. A male thread 114 is provided. As another example, the four upper end connecting rods 12 and the four lower end connecting rods 13 are the same as the first support column 11, the second support column 21, and the leg 40, and are accommodated in the outer tube and the outer tube. It may have a nested structure having a tube, and may be configured to expand and contract in the axial direction as a whole. When the upper end connecting rod 12 and the lower end connecting rod 13 are formed of nested tubes, the upper and lower surfaces (mounting surface 15, The size and shape of the pressing surface 17) can be changed.

[3. Expansion / contraction control]
Next, the expansion / contraction control of the first support column 11, the second support column 21, and the leg 40 performed by the control device 60 will be described. In any of the expansion / contraction controls described below, the control device 60 gives control signals to the actuators 113 incorporated in the individual first support columns 11, the second support columns 21, or the leg portions 40 to control the operation thereof. It is done by doing.

  First, the expansion / contraction control of the first support column 11 performed to hold the luggage 50 between the pressing surface 17 and the mounting surface 15 when the luggage 50 is mounted on the flying object 100 will be described. FIGS. 7A and 7B are side views for explaining the expansion and contraction control of the first support column 11, and FIG. 7A shows an example in which a load 50a having a certain height is mounted. (B) shows as an example a case where a luggage 50b having a height higher than that of the luggage 50a is mounted.

The procedure of expansion / contraction control of the first support column 11 is as follows, for example. The control device 60 (see FIG. 2) first extends each first support column 11 of the first frame 10 to the maximum length, and then contracts each first support column 11 in the axial direction. In conjunction with the contraction of each first support column 11, the pressing surface 17 moves downward along the axial direction (vertical direction) of the first support column 11 and comes into contact with the upper portion of the luggage 50. When this contact is detected by a sensor (not shown), the control device 60 (see FIG. 2) stops the contraction control of each first support column 11. As a result, as shown in FIGS. 7 (a) and 7 (b), the length of each first support column 11, that is, the heights H1 and H2 of the first frame 10, depends on the loaded packages 50a and 50b. Is set to a height (that is, a height at which the pressing surface 17 comes into contact with the upper portions of the luggage 50a and 50b). Since the position of the pressing surface 17 is lowered to a position where it comes into contact with the upper portions of 50a and 50b, the loads 50a and 50b are sandwiched between the pressing surface 17 and the mounting surface 15, and the loads 50a and 50b are held by this clamping force. Can be fixed on the mounting surface 15.
Thus, the vertical movement amount of the pressing surface 17 can be controlled only by performing expansion / contraction control of the first support column 11 constituting the first frame body 10. By moving the holding surface 17 in the vertical direction, the baggage 50 can be sandwiched between the holding surface 17 and the mounting surface 15, and the baggage 50 can be appropriately fixed to the first frame 10. The strength of the loads 50a and 50b (clamping force) can be adjusted by the expansion and contraction of the first struts 11 (in other words, the amount of movement of the pressing surface 17 in the vertical direction). The expansion / contraction control of the first support column 11 corresponds to “controlling expansion / contraction of the plurality of column members in order to sandwich the mounted object by the pressing surface and the mounting surface”.

  Next, the expansion / contraction control of the second support column 21 performed in order to maintain the flight posture of the first frame 10 during the flight of the flying object 100 will be described. FIG. 8 is a side view for explaining the expansion / contraction control of the second support column 21. In the multi-copter type flying mechanism used as the flying mechanism 31 of the flying object 100, control for maintaining the attitude horizontally in an autonomous manner during the flight is conventionally performed, and the main body 30 of this embodiment (specifically, the flying mechanism) 31) also has a function of autonomously maintaining its flight posture horizontally. However, since the flying object 100 may be temporarily inclined depending on the wind, its own driving conditions, etc., it is desirable to control the attitude of the first frame 10 independently of the attitude control of the flying mechanism 31. . In this regard, the flying body 100 of the present embodiment can maintain the flying posture of the first frame 10 horizontally by individually extending and contracting the four second support columns 21. In this specification, the “flying posture” of the first frame 10 is the posture of the first frame 10 during the flight of the flying object 100.

The expansion / contraction control of the second support column 21 is performed by the following procedure, for example. The control device 60 (see FIG. 2) first detects the inclination of the attitude of the flying object 100 (specifically, the flight mechanism 31 of the main body 30) by a sensor, and then responds to the detected inclination of the flight mechanism 31. The second struts 21 are controlled to expand and contract. Specifically, the height from the lower end of each second support post 21 to the upper end of each second support post 21 (in other words, the length of each second support post 21), that is, the first so as to absorb the inclination of the flight mechanism 31. The vertical position of the mounting portion 25 with respect to the upper surface of the one frame 10 is adjusted. FIG. 8 shows an example in which the flight mechanism 31 is tilted so that the left side is lower than the right side with respect to the paper surface. In this case, out of the four second struts 21, the length of the two second struts 21 located on the left side with respect to the paper surface is longer than the two second struts 21 located on the right side with respect to the paper surface. By shortening, the attitude | position of the 1st frame 10 can be maintained horizontal. In the present specification, the inclination of the attitude of the flying object 100 (specifically, the flying mechanism 31 of the main body 30) refers to the flying object 100 with respect to a horizontal plane having a left-right direction (X direction) and a front-rear direction (Z direction). (The rotation angle around the X axis extending in the X direction and the rotation angle around the Z axis extending in the Z direction).
As described above, the flight mechanism 31 is tilted by individually extending and contracting the four second struts 21 interposed between the main body 30 (the flight mechanism 31) and the first frame 10. However, the flight posture of the first frame 10 can be maintained horizontal. Therefore, the luggage 50 can be transported in a stable posture. The expansion / contraction control of the second column 21 corresponds to “controlling expansion / contraction of the plurality of columns in order to control the flight posture of the object”.

  Next, the extension / contraction control of the leg part 40 performed in order to maintain the attitude | position of the 1st frame 10 at the time of landing of the flying body 100 is demonstrated. FIG. 9 is a side view for explaining the expansion / contraction control of the leg 40 performed when the flying object 100 is landed.

When landing the flying object 100, the control device 60 (see FIG. 2) individually controls expansion and contraction of the four legs 40 according to the landform of the landing point. Specifically, the control device 60 (see FIG. 2) detects the distance from the grounding portion 41 of each leg 40 to the landing using, for example, a distance sensor, and each leg 40 according to the detected distance. Control expansion and contraction. The amount of expansion / contraction of each leg 40 can be determined, for example, according to the height difference at the point where the grounding part 41 of each leg 40 is installed. FIG. 9 shows an example in which the flying object 100 lands on an inclined surface 106 whose left side is lower than the right side with respect to the paper surface. In this case, of the four legs 40, the length of the two legs 40 located on the left side with respect to the paper surface is shorter than the length of the two legs 40 located on the right side with respect to the paper surface. Thus, even when landing on the inclined surface 106, the posture of the first frame 10 can be maintained horizontally.
In this way, by controlling the expansion and contraction of the leg 40 when the flying object 100 is landed, the posture of the first frame 10 is maintained horizontal regardless of the terrain condition such as an inclined surface, and the flying object 100 is landed. Can be made. The expansion / contraction control of the leg 40 corresponds to “controlling expansion / contraction of the plurality of legs according to the landform of the landing”.

[Second Embodiment]
FIGS. 10A and 10B are side views showing the flying object 200 according to the second embodiment. Elements already described with reference to FIGS. 1 to 9 are denoted by the same reference numerals as those in FIGS. 1 to 9 and description thereof is omitted. An aircraft 200 shown in FIGS. 10A and 10B includes a plurality of winches 210 in the main body 30. Each winch 210 is provided to attach the second frame 20 to the main body 30 so as to be movable up and down. The winch 210 rotates the drum 211 that is rotatable, the rope 212 wound around the drum 211, and the drum 211. And a driving device 213. The driving device 213 is an electric motor driven by a battery (not shown), for example.
The flying body 200 shown in FIG. 10A includes four winches 210, one on each of the four sides (see FIG. 2) on the front, rear, left and right of the base 33 of the main body 30. The drum 211 of each winch 210 is rotatably supported at both ends in the axial direction by a pair of support frames 211 a protruding from the upper surface of the base 33. The rotation axis of the drum 211 of each winch 210 is arranged in parallel to the four sides of the base 33 (see FIG. 2), and the cord body 212 fed out from the drum 211 hangs down from the main body 30 in the vertical direction. The rope 212 is, for example, a rope.

  Four attachment rods 22 arranged in parallel to the four upper end connecting rods 12 are installed between the upper ends of the second columns 21. The attachment rod 22 is provided to attach the cable body 212, and one end of the cable body 212 of the winch 210 provided above the attachment rod 22 is connected to each attachment rod 22. The second frame 20 and the main body 30 (flight mechanism 31) are removed via a detachable locking structure (attachment) that detachably locks the upper end of the second support column 21 and the main body 30. Free, easy and easy to combine. In the second embodiment, the connection between the second frame body 20 and the main body 30 via the attachment is automatically controlled to be attached / detached under the control of the control device 60 (see FIG. 2).

Next, the raising / lowering control of the 2nd frame 20 and the 1st frame 10 using the winch 210 is demonstrated. The control device 60 (see FIG. 2) controls the operation of the drive device 213 of each winch 210 in response to a remote operation using a remote controller by the user, for example, and feeds the cord body 212 from the drum 211, and the second The connection between the frame 20 and the main body 30 is released. FIG. 10B shows a state where the second frame body 20 and the first frame body 10 are separated from the main body portion 30 in flight over the sky and lowered in the vertical direction. As shown in FIG. 10B, only the second frame 20 and the first frame 10 on which the luggage 50 is mounted are lowered while the main body 30 including the flight mechanism 31 is kept waiting in the sky. When raising the lowered second frame 20 and the first frame 10, the control device 60 (see FIG. 2) controls the operation of the drive device 213 of each winch 210 to wind the rope 212 around the drum 211. The second frame 20 and the first frame 10 are raised in the vertical direction. Then, when the upper end of the second frame 20 rises to a position where it comes into contact with the lower surface of the main body 30, the control device 60 (see FIG. 2) connects the second frame 20 and the main body 30.
Thus, the structure which drops only the 2nd frame 20 and the 1st frame 10 which mounted the load 50 using the winch 210, for example, agricultural equipment, such as an agrochemical spreader, is used for the 1st frame 10 as the load 50, for example. This is suitable when the air vehicle 200 is applied to agricultural purposes, such as when it is mounted. Of course, it can also be suitable for other uses such as architectural use and forestry use. This is because the effect of wind pressure on the crops from the flight mechanism 31 can be suppressed by allowing the main body 30 including the flight mechanism 31 to wait in the sky. The above-described operation control of the driving device 213 of each winch 210 corresponds to “controlling the operation of the driving device so that the cord body is fed out from the drum and wound around the drum”. .

  FIGS. 11A and 11B are side views showing modifications of FIGS. 10A and 10B. 11 (a) and 11 (b), the flying body 200 is connected to the four upper end connecting rods 12 of the first frame body 10 at one end of the rope body 212 of the winch 210 provided above each. This is different from FIGS. 10A and 10B. In this case, as shown in FIG. 11B, the first frame 10 is separated from the second frame 20 and descends. The second frame body 20 remains connected to the main body 30. This configuration is also suitable for agricultural applications in that the first frame body 10 carrying the luggage 50 can be lowered while the main body 30 including the flight mechanism 31 is waiting in the sky. Of course, it can also be suitable for other uses such as architectural use and forestry use.

[Third embodiment]
FIG. 12 is a side view illustrating the flying body 300 of the third embodiment, and FIG. 13 is a plan view of the flying body 300 of FIG. 12 as viewed from above. 12 and 13 includes a tilt rotor type (osprey type) flight mechanism 310 as a flight mechanism. Here, the left side of the plane of FIG. 12 and FIG.

  As shown in FIGS. 12 and 13, the base 311 of the flight mechanism 310 has a pair of left and right arms that extend in the horizontal direction (perpendicular to the page in FIG. 12) from the left and right side surfaces with respect to the traveling direction F. One set 312 is provided before and after the traveling direction F. A rotary blade 320 is attached to the tip of each arm 312 so that the attachment angle can be changed. Each rotary blade 320 includes a rotary shaft 321 and a plurality of blades 322 projecting radially from the rotary shaft 321 and is connected to an electric motor driven by a battery (not shown). When each rotary wing 320 is rotationally driven by an electric motor (not shown), the blade 322 rotates around the rotation shaft 321 to generate a propulsive force of the flying object 300. The driving of the electric motor is not limited to using a battery, and a generator may be used. The generator may be any generator such as a generator using an engine as a power source, a solar generator, or a wind generator. The drive source of the rotary blade 320 is not limited to an electric motor, and any device that can drive the rotary blade 320, such as an internal combustion engine or a jet engine, may be used.

  The individual rotor blades 320 are set to a first attachment angle that stands the rotation shaft 321 in the vertical direction during vertical flight, and are set to a second attachment angle that directs the rotation shaft 321 in the traveling direction during forward flight. In FIG. 12, the rotor blade 320 set to the second attachment angle is indicated by a broken line. The length of each arm 312 is set to such a length that the tip of the blade 322 does not contact and interfere with the side surface of the base 311 of the flight mechanism 310 even in the state where the rotary blade 320 is set at the second mounting angle. To do.

  For example, when flying the aircraft 300 in the vertical direction such as during takeoff and landing, the individual rotor blades 320 are set to the first attachment angle. When the flying object 300 is advanced in the traveling direction F, the individual rotor blades 320 are set to the second attachment angle. The flying body 300 including the tilt rotor type flying mechanism 310 also includes the first frame 10 and the second frame 20 including the extendable struts 11 and 21, so that the pressing surface 17 and the mounting surface 15 are provided. The load 50 can be fixed to the first frame 10 by sandwiching the load 50 therebetween, and the plurality of second struts 21 of the second frame 20 are controlled to be expanded and contracted, whereby the load 50 is mounted. The flight posture of the frame 10 can be maintained horizontally.

As a modified example, the flying object 300 has the arm 312 attached to the base 311 so that the attachment angle can be changed between the first attachment angle and the second attachment angle, and by changing the attachment angle of the arm 312. A tilt wing type that switches the angle of the rotating shaft 321 of the rotary blade 320 fixed to the tip of the arm 312 may be used. In this case, the mounting angle of the rotary blade 320 with respect to the arm 312 may be fixed.
In this specification, the tilt rotor type flight mechanism is a generic term for a conversion type rotary wing flight mechanism that can switch the angle of the rotary shaft 321 of the rotary wing 320, including a tilt wing type flight mechanism. .

  According to the flying body 100 (200, 300) of each embodiment described above, the first frame 10 has a mounting surface 15 on which the luggage 50 is mounted, and a plurality of telescopic nested telescopes that respectively stand up from the mounting surface. The first support column 11 and the pressing surface 17 which is disposed to face the mounting surface 15 and is attached to be movable in the vertical direction in conjunction with the expansion and contraction of the plurality of first support columns 11. A second frame 20 composed of a plurality of telescopic second support columns 21 each rising from the mounting surface is attached to the upper part of the body 10, and the flight mechanism 31 (310) is attached to the upper part of the second frame 20. The main body part 30 having it is attached. In such a structure, the control device 60 performs expansion / contraction control of the plurality of first support columns 11, whereby the load 50 can be held between the pressing surface 17 and the mounting surface 15 and the load 50 can be fixed to the first frame body 10. For this reason, the effort which attaches the fixing tool for fixing the luggage | load 50 is unnecessary. Further, by holding the load 50 between the pressing surface 17 and the mounting surface 15, it is possible to effectively suppress the collapse of the load 50 mounted on the first frame body 10. Moreover, the control apparatus 60 can control the flight posture of the first frame 10 by controlling the expansion and contraction of the plurality of second support columns 21. For this reason, the luggage 50 mounted on the first frame 10 can be held and transported in an appropriate posture. That is, with a simple configuration using the first frame body 10 and the second frame body 20 made of nested tube bodies, the luggage 50 is appropriately fixed, and the posture of the first frame body 10 during flight is controlled. it can.

  Moreover, since the 1st frame 10 and the 2nd frame 20 are the solid frame bodies which consist of a tubular body, there is little air resistance at the time of flight and flight efficiency does not fall. Moreover, the structure which controls the flight attitude | position of the 1st frame 10 by the expansion-contraction control of the some 2nd support | pillar 21 is a 1st frame compared with the prior art which mounts a load on a flight body via a hinge, for example. It is excellent in that the 10 flight postures can be controlled to a desired posture.

  In addition, the flying object 100 (200, 300) has a plurality of legs that protrude from the lower surface of the first frame 10 and each have an outer tube and an inner tube housed in the outer tube, and can be expanded and contracted in the axial direction. The control unit 60 controls the expansion and contraction of the plurality of leg portions 40 according to the landform of the landing place, and is not limited to the landform conditions of the landing point, for example, any landform landing point such as an inclined surface However, it is possible to take off and land in a stable posture.

  The first frame 10 has a structure in which four first support columns 11, four upper end connecting rods 12, and four lower end connecting rods 13 are connected via eight joint blocks 14, and the second frame Since the body 20 has a structure in which each of the plurality of second support columns 21 is connected to a joint block 14 attached to the upper end of each of the plurality of first support columns 11, the size of the first frame body 10 and the second frame body 20. It is easy to change, expand, change the shape, add a frame, etc.

  In addition, since the flying body 100 (200, 300) of the present embodiment is an assembly type using the parts group of the tubular bodies 11, 12, 13, 21, 40 and the plurality of joint blocks 14, the rearrangement for each part. , Can be replaced. The shape and size of the first frame 10, the second frame 20, and the leg 40 can be freely changed by freely combining the number and arrangement of the component parts. In addition, maintenance such as repair and replacement for each part is easy.

Moreover, since it is an assembly type using the parts group of the tubular bodies 11, 12, 13, 21, 40 and the plurality of joint blocks 14, for example, the joint block 14, the upper end connecting rod 12, and the lower end connecting rod 13 are used. Thus, a plurality of aircraft 100 (200, 300) can be connected to each other. In this case, a plurality of flying bodies 100 (200, 300) can be connected in a horizontal shape in a circular shape, connected in a row in a horizontal direction, or aligned in a vertical direction. When a plurality of flying bodies 100 (200, 300) are connected in a line in the horizontal direction, for example, in a large-scale farmland having a large area, work such as disinfection spraying, watering, pesticide spraying, mowing is efficiently performed. Can do.
In this way, in the use form in the formation flight type in which a plurality of flying bodies 100 (200, 300) are connected side by side, a group of parts of the tubular bodies 11, 12, 13, 21, 40 and the plurality of joint blocks 14 are used. Therefore, there is an advantage that the degree of freedom is high in the number and arrangement of the flying bodies 100 (200, 300).

  As described above, the flying body 100 (200, 300) of the present embodiment includes the first frame body 10, the second frame body 20, and the leg portion 40 by using the tube bodies 11, 12, 13, 21, and 40 abundantly. There is also a feature in the point.

  When the multi-copter type flight mechanism 31 is applied as the flight mechanism, the posture stability is excellent and it is suitable for carrying a load.

  Further, when the tilt rotor type flight mechanism 310 is applied as a flight mechanism, both forward flight and vertical flight are stable, which is suitable for carrying a load.

  Further, the main body 30 includes a winch 210 having a rotatable drum 211, a cable body 212 wound around the drum 211, and a driving device 213 that rotationally drives the drum 211, and the second frame body 20 or the first frame body. 10 is attached to the main body 30 through the winch 210 so as to be able to move up and down, and the control device 60 drives the cord body 212 out of the drum 211 and winds the cord body 212 around the drum 211. By controlling the operation of the device 213, the first frame body 10 carrying the luggage 50 can be lowered while the main body 30 including the flight mechanism 31 is kept waiting in the sky. Such a configuration is suitable for agricultural applications in that the influence of wind pressure directly below the flying object 100 can be suppressed. Of course, it can also be suitable for other uses such as architectural use and forestry use.

[Others]
The flight mechanism of the main body 30 is not limited to the multi-copter type flight mechanism 31 and the tilt rotor type flight mechanism 310, and any flight mechanism may be used. Examples of flight mechanisms include paragliders, balloons, airships, airplanes, helicopters, and gyrocopters.

Moreover, the wall surface which can be opened and closed is respectively provided on the four side surfaces of the first frame 10, and the first frame 10 is configured as a container-type frame structure by closing the four side surfaces of the first body 10 with the wall surfaces. You can also
Further, the entire first frame 10 and the second frame 20 or the entire first frame 10 or the second frame 20 is covered with a windshield capsule for reducing wind resistance. Also good.

  The load (package 50) may be any item. For example, in addition to the so-called luggage 50, the loaded items include automobiles, buses, motorcycles, ships, submarines, snow vehicles, construction vehicles such as bulldozers and excavators, agricultural vehicles such as tractors and combine harvesters, forklifts and automated guided vehicles. Various vehicles such as industrial vehicles such as wheelchairs, agricultural equipment used for various agricultural operations such as agricultural chemical spreaders and mowers may be used. Further, the mounted object is not limited to an article but may be a person or a living creature.

For example, when a vehicle (ordinary passenger car or the like) is mounted on the flying body 100 as a mounted object, the first frame 10 is placed between the front wheel 56 and the rear wheel 57 on the bottom surface of the vehicle 55 as shown in FIG. The vehicle 55 may be mounted on the first frame 10 by positioning the mounting surface 15 and pressing the roof portion of the vehicle 55 with the pressing surface 17 of the first frame 10. 14, the front wheel 56 and the rear wheel 57 of the vehicle 55 are positioned below the lower surface of the first frame 10, and the front wheel 56 and the rear wheel 57 of the vehicle 55 are grounded to the landing site. Configured as part.
The leg portion 40 (indicated by a broken line in FIG. 14) may be contracted so that the lower end (the grounding portion 41 in FIG. 1) is not grounded. In this case, for example, the leg portion 40 may be configured to be folded and stored on the lower surface side of the first frame body 10.

  Also in the flying body 100 shown in FIG. 14, if the leg portion 40 is extended and the lower end of the leg portion 40 is positioned below the wheels of the vehicle 55 (the front wheel 56 and the rear wheel 57), the lower end of the leg portion 40. Of course, (the grounding part 41 in FIG. 1) can be used as the grounding part. For example, when the landing site is a road, leveling, or the like, the wheels 56 and 57 of the vehicle 55 are used as a ground contact portion. Further, for example, the wheels 56 of the vehicle 55 such as an uneven terrain or a muddy land are used. , 57 can be used as a grounding portion, the leg portion 40 can be extended and the lower end of the leg portion 40 (the grounding portion 41 in FIG. 1) can be used as the grounding portion. As described above, by using the wheels 56 and 57 and the leg portion 40 of the vehicle 55 together as the ground contact portion, the wheels 56 and 57 or the leg portion 40 of the vehicle 55 can be selectively used according to the state of the landing place. The expansion / contraction control of the leg portion 40 may be automatically performed based on a detection signal of a sensor (not shown), or may be controlled by a remote operation by a user using a remote controller (not shown). When the wheels 56 and 57 of the vehicle 55 are configured as a landing portion to the landing place in this way, the vehicle 55 itself can travel on the ground while the vehicle 55 is mounted on the flying object 100. That is, the flying object 100 of this embodiment can be used as a kind of an amphibious vehicle (a flying automobile). Furthermore, in order to more securely fix the vehicle 55, the vehicle 55 may be fixed to the mounting surface 15 by a stopper (not shown) in addition to pressing from above with the pressing surface 17. When the vehicle 55 is mounted, the holding surface 17 is moved upward, the stopper 55 is opened, the vehicle 55 is moved into the first frame 10, the vehicle 55 is stopped on the mounting surface 15, and the holding is performed. It is only necessary to move the surface 17 downward and close the stopper. When removing the vehicle 55 from the flying object 100, it is only necessary to move the holding surface 17 upward, remove the stopper, and start the vehicle 55. In addition, when the wheels 56 and 57 of the vehicle 55 are configured as a landing portion to the landing site, the leg portion 40 may be omitted.

Although not shown, it is needless to say that the vehicle 55 can be mounted on a tilt rotor type flying body 300 as shown in FIG. Further, the mounting format of the vehicle 55 is not limited to the format as shown in FIG. 14, and the entire vehicle 55 may be mounted on the mounting surface 15 of the first frame 10, for example.
Further, when the vehicle 55 is mounted on the flying object 100 as a mounted object, the electric power generation capacity of the mounted vehicle 55 is set to an electric motor (actuator 113) that drives the first column 11 and the second column 21 to extend and contract, or the flight mechanism 31. You may utilize as a power supply of drive devices, such as an electric motor which drives the rotary blade 32 of this. Further, the power of the mounted vehicle 55 may be used as a power source for driving the rotary wing 32 of the flight mechanism 31.

Further, the vehicle mounted on the flying object 100 is not limited to a normal passenger car, but may be an emergency vehicle such as a fire engine or an ambulance. For example, when an ambulance is mounted on the flying object 100, it can be used as a doctor helicopter. Further, by mounting a fire truck on the flying object 100, it can be used as a fire-fighting disaster prevention flying object that performs fire extinguishing in the air. Further, the present invention is not limited to the traveling body which runs the ground so that the vehicle may be equipped with a flying object such as a rocket.

[Fourth embodiment]
Further, in the fourth embodiment shown in FIGS. 15A and 15B, the flying object 400 is arranged on the lower surface of the second frame 20, that is, on the upper surface of the holding surface 17 provided on the upper portion of the first frame 10. A winch 210 is provided. In this case, a hole through which the cable body 212 of the winch 210 is passed may be provided on the upper surface of the holding surface 17, and the cable body 212 may be attached to the luggage 50.

The first frame 10 is provided with an opening / closing mechanism 19 that opens and closes the bottom surface of the first frame 10 by moving the mounting surface 15. The opening / closing mechanism 19 includes a driving device for moving the mounting surface 15. The driving device is, for example, an electric motor driven by a battery (not shown). The driving of the electric motor is not limited to using a battery, and a generator may be used. The generator may be any generator such as a generator using an engine as a power source, a solar generator, or a wind generator. The opening / closing mechanism 19 opens and closes the bottom surface by, for example, swinging the mounting surface 15 in the vertical direction about one side of the bottom surface of the first frame 10 as an axis.
The control device 60 feeds the cord body 212 from the winch 210 and controls the operation of the drive device to wind it up, and also controls the movement of the mounting surface 15 to open and close the bottom surface (controls the opening and closing of the opening and closing mechanism 19). ) FIG. 15B shows a state in which the loading surface 15 is swung downward to open the bottom surface of the first frame 10 and the luggage 50 is lowered from the first frame 10 using the winch 210.

  As shown in FIG. 15B, in the usage mode in which the bottom surface of the first frame body 10 is opened and the luggage 50 is lowered from the first frame body 10 using the winch 210, the luggage 50 is replaced with a dog. A dog can walk using the body 400. In this case, the end of the cord body 212 is coupled to a dog collar or harness, and functions as a leash for walking the dog. In this case, for example, the flying object 400 is caused to fly to a wide place (river bed, etc.) with the dog placed on the first frame 10, and after arrival, the dog is lowered to the ground and the flying object 400 walks the dog. Can also be used.

Further, when an agricultural machine (not shown) such as a tractor or a cultivator is mounted as the luggage 50, the bottom surface of the first frame 10 is opened, and the agricultural machine is grounded from the first frame 10 using the winch 210. The agricultural machine can be pulled by the flying object 400 after being lowered. By pulling the agricultural machine with the flying object 400, it is possible to support the traveling of the agricultural machine and to prevent the agricultural machine from overturning.
In this case, the flying body 400 is caused to fly to a work place (such as a farm field) with the agricultural machine mounted on the first frame 10, and after arrival, the agricultural machine is lowered to the ground and the agricultural machine is pulled by the flying body 400. However, after a predetermined work is performed, the farming machine can be lifted to the first frame 10 and moved to another work place with the flying object 400 or returned to the warehouse. Here, the operation of the towed agricultural machine may be remotely controlled. At this time, the control device 60 of the flying object 400 may transmit a control signal for the remote control to the agricultural machine wirelessly or by wire. Alternatively, the control device 60 may relay a control signal for remote control transmitted from a remote controller (not shown) separate from the flying object 400 and transmit the control signal to the agricultural machine wirelessly or by wire.

  In addition, as an example of an agricultural machine towed by the flying object 400, a weeding instrument using a chain can be cited. This weeding device is composed of a saddle member and a plurality of chains of a certain length (for example, several tens of centimeters). One end of each chain is attached to the saddle member, and these chains are arranged in the axial direction of the saddle member. Thus, a plurality of chains are hung from the eaves member, and the weeding device is pulled so that the eaves member is perpendicular to the towing direction and the vertical direction. Scratch the ground to remove grass in the field. If this weeding instrument is pulled by the flying object 400, weeding using such a weeding instrument can be easily performed.

  The opening / closing mechanism 19 is not limited to the illustrated example, and may be any type such as a hatch type opening / closing mechanism or a sliding type opening / closing mechanism.

  In addition, as a modification of the flying object 100 (200, 300, 400), a wheel 42 may be provided at the lower end of the leg 40 instead of the ground contact 41. FIG. 16 shows a modified example in which the vehicle body 200 according to the second embodiment is taken as an example, and a wheel 42 is provided at the lower end of the leg portion 40. FIG. 16A shows a state where the flying object 200 having the wheels 42 has landed on the ground 105. In this case, the flying object 200 can be used as a carriage. In order to brake the movement of the flying body 200 on the ground, a stopper (not shown) may be provided on the lower surface of the first frame 10. Further, by providing a driving device for driving the wheel for each wheel 42, the flying object 200 may be able to travel on the ground. The driving device is, for example, an electric motor driven by a battery (not shown). Although illustration is omitted, it goes without saying that the wheel 42 may be provided at the lower end of the leg portion 40 in any configuration such as the flying vehicle 100 of FIG. 1 or the flying vehicle 300 of FIG.

  In addition, as shown in FIG. 16B, the main body 30 flying in the air with the second frame 20 and the first frame 10 separated from the main body 30 via the winch 210 is provided with the winch 210. The first frame body 10 lowered to the ground may be pulled through the cord body 212. In addition, the first frame body 10 and the second frame body 20 on the ground are temporarily disconnected from the main body 30 (from the cable body 212), and then the cable body 212 is connected to the second frame body 20 again and wound up by the winch 210. Thus, the first frame body 10 and the second frame body 20 can be collected in the main body 30. Moreover, the usage form in which the main body 30 flying in the air pulls the first frame 10 on the ground is suitable for moving a plurality of domestic animals such as sheep and cows and animals.

  As a modification, the flying object 500 shown in FIG. 17 includes a plurality of main body portions 30 (a plurality of flight mechanisms). The flying body 500 shown in FIG. 17 includes four main body portions 30A, 30B, 30C, and 30D, and the main body portions 30B, 30C, and 30D above the main body portion 30A attached to the upper portion of the second frame body 20. Are connected to each other in the vertical direction. Each of the main body portions 30B, 30C, and 30D is provided with a winch 210. The cord body 212 of the winch 210 of the uppermost body portion 30D is connected to the main body portion 30C, and the cord body 212 of the winch 210 of the main body portion 30C. Are connected to the main body 30B, and the rope 212 of the winch 210 of the main body 30B is connected to the lowermost main body 30A. In this case, while the flight is stopped, the main body 30B is overlaid on the main body 30A, the main body 30C is overlaid on the main body 30B, and the main body 30D is overlaid on the main body 30C. 30D may be stored in a compact manner. At the time of flight, the vertical distance between the main body portions 30A, 30B, 30C, and 30D can be adjusted according to the length of the cord body 212 extended from the winch 210.

  FIG. 18 is a modified example of the flying object 500 having a plurality of main body sections 30 (a plurality of flight mechanisms), and a plurality of main body sections 30B are disposed above the main body section 30A attached to the upper part of the second frame body 20. , 30C are arranged side by side in the horizontal direction. Each of the plurality of main body portions 30B and 30C has a winch 210, and is connected to the main body portion 30A by a cable body 212. In this case, the horizontal size of the plurality of main body portions 30B and 30C is preferably smaller than that of the main body portion 30A. This is to increase the horizontal distance between the main body portions 30B and 30C in the flight state.

  In the flying object 500 having a plurality of main body portions 30 (a plurality of flight mechanisms) as shown in FIGS. 17 and 18, means for connecting the plurality of main body portions 30A, 30B, 30C, 30D to the winch 210. Not exclusively. For example, the plurality of main body portions 30A, 30B, 30C, and 30D may be connected to each other by a nested tube used as the first support column 11 or the second support column 21. In this case, at the time of flight, it is possible to extend the pipes that interconnect the plurality of main body portions 30A, 30B, 30C, 30D, and to separate the plurality of main body portions 30A, 30B, 30C, 30D from each other, Further, when the flight is stopped, the tubular body can be contracted and the plurality of main body portions 30A, 30B, 30C, 30D can be stacked and stored. By providing a plurality of main body portions 30 (a plurality of flight mechanisms) on the upper part of the second frame body 20, the flying force of the flying body 500 can be increased. The number of main body portions 30 connected in multiple stages can be freely expanded and changed.

  Further, the frames of the plurality of main body portions 30A, 30B, 30C, and 30D (that is, the base portion and the arm of each flight mechanism) are respectively connected to a nested tube body and a joint block 14 similar to the first support column 11 and the second support column 21, respectively. You may form with the assembly-type frame-shaped structure using these. Thereby, the magnitude | size of each main-body part 30A, 30B, 30C, 30D can be changed freely. For example, the sizes of the main body portions 30A to 30D can be freely changed according to the size of the blades 36 (propellers) of the rotor blades 32 mounted on the individual main body portions 30A to 30D. The sizes of the individual main body portions 30A, 30B, 30C, and 30D can be changed. For example, the sizes of the main body portions 30A to 30D can be sequentially increased from the bottom to the top, or the sizes of the main body portions 30A to 30D can be sequentially decreased from the bottom to the top. A combination of sizes of the main body portions 30A to 30D can be freely set and changed. When the frames of the main body portions 30A to 30D are assembled, the number of rotor blades 32 provided on one main body portion 30 can be freely expanded and changed, and the shape of the frame can also be freely changed. Since the expansion and modification of the frame is performed using the joint block 14 and the pipe body, it is simple and easy.

  Moreover, when the frame of the 1st frame 10, the 2nd frame 20, and also the main-body part 30 is an assembly-type frame-shaped structure using several nested pipes, a pipe is connected mutually. Therefore, a pivot joint (ball joint) may be used instead of the joint block 14 described above or in combination with the joint block 14. Thereby, the angle of the connection part (joint) of a tubular body can be adjusted freely, and the shape of a frame-shaped structure can be deformed. For example, when the frame (base 33 and arm 34) of the main body 30 is formed by connecting a plurality of tubes to each other by a pivot joint (ball joint), the mounting angle of the arm 34 with respect to the base 33 can be freely changed. it can. The pivot joint (ball joint) may be accompanied by a fixing mechanism for fixing the angle of the connecting portion (joint) of the tube. Thereby, after adjusting the angle of the connection part (joint) of a tubular body, the angle of the connection part of a tubular body can be fixed with the angle after adjustment.

  Moreover, as shown to Fig.19 (a), you may provide the left-right paired support member 70 for pressing and supporting the load 50 mounted in the 1st frame 10 from the left-right side surface. Each of the support members 70 includes a support plate 71 disposed along a surface extending in the up-down direction and the front-rear direction, and a third support 72, which is disposed extending in the up-down direction and supports the support plate 71. And attached to the first frame 10 so as to be movable in the left-right direction.

Above the first frame 10, an upper support rod 73 is provided that is disposed along the left-right direction and connected to the upper end of the third support column 72. Below the first frame 10, there is provided a lower support rod 74 arranged along the left-right direction and connected to the lower end of the third support column 72. In order to attach the upper support rod 73, a joint block 14 b is inserted between the joint block 14 a disposed at the upper end of the first frame 10 and the upper end of the first support column 11, and a pair facing in the left-right direction. The upper support rod 73 is disposed between the joint blocks 14b. Further, in order to attach the lower support rod 74, a joint block 14d is inserted between the joint block 14c disposed at the lower end of the first frame body 10 and the lower end of the first support column 11, and in the left-right direction. A lower support rod 74 is disposed between a pair of opposing joint blocks 14d.
Although not shown in FIG. 19A, the first frame 10 includes an upper support rod 73 and a pair of joint blocks 14b, a lower support rod 74 and a pair of joint blocks 14d, respectively, in the front-rear direction. Two sets are arranged side by side.

  FIG. 19B is a view of the support member 70 viewed from the arrow B. A support member 70 shown in FIGS. 19A and 19B has two support plates 71 arranged side by side in the vertical direction, and a pair of third support columns 72 are provided at both ends of the support plate 71 in the front-rear direction. It is attached. A hole 77 through which the upper support rod 73 is inserted is provided in the upper end portion 75 of each third support column 72, and a hole 78 through which the lower support rod 74 is inserted is provided in the lower end portion 76. .

As shown in FIG. 19A, one end of the upper support rod 73 is connected to an electric motor 80 driven by a battery (not shown). A screw thread is formed on the outer peripheral surface of the upper support rod 73, and the upper support rod 73 functions as a male screw body as a whole. The rotating shaft of the electric motor 80 is arranged coaxially with the upper support rod 73. On the inner peripheral surface of the hole 77 provided in the upper end portion 75 of each third support column 72, a screw thread that is screwed into the screw thread on the outer peripheral surface of the upper support rod 73 is formed, and the hole 77 functions as a female screw body. . Therefore, the rotational motion of the electric motor 80 is converted into a linear motion (movement in the left-right direction) of the support member 70 along the axial direction of the upper support rod 73. Here, in the pair of left and right support members 70, the threads on the inner peripheral surface of the hole 77 are formed in opposite directions, so that the pair of left and right support members 70 are in opposite directions with respect to the rotational movement of the electric motor 80. Moved to. That is, when the electric motor 80 is rotated in a certain direction, the right support member 70 moves leftward and the left support member 70 moves rightward (that is, the pair of left and right support members 70 approach each other). ) When the electric motor 80 is rotated in the other direction, the right support member 70 moves in the right direction and the left support member 70 moves in the left direction (that is, the pair of left and right support members 70 are separated from each other). .
It should be noted that no thread is formed on the outer peripheral surface of the lower support rod 74 and the inner peripheral surface of the hole 78 provided in the lower end portion 76 of each third support column 72, and the lower end of each third support column 72. The portion 76 moves along the lower support rod 74 following the linear motion of the upper end portion 75 of each third support 72 according to the rotational motion of the electric motor 80.

  Moreover, the lower end 76 of each 3rd support | pillar 72 is inserted in the inside of the 3rd support | pillar 72, respectively, and can be extended-contracted to an up-down direction. Accordingly, when the first support column 11 of the first frame 10 expands and contracts in the vertical direction, the lower end portion 76 of each third support column 72 expands and contracts following the expansion and contraction.

The control device 60 controls the driving of the electric motor 80 in order to move the pair of left and right support members 70 in the left-right direction and press the load 50 from the side surface. Thereby, in the first frame 10, the loaded luggage 50 can be pressed from the side surface by the pair of left and right support members 70. Thereby, the loaded cargo 50 can be further stabilized, and the collapse of the cargo 50 can be more effectively suppressed. The driving of the electric motor 80 is not limited to using a battery, and a generator may be used. The generator may be any generator such as a generator using an engine as a power source, a solar generator, or a wind generator.
The movement of the pair of left and right support members 70 is not limited to automatic control using the control device 60 and the electric motor 80, and may be performed manually.

Further, a screw thread is formed on the outer peripheral surface of the lower support rod 74 and the inner peripheral surface of the hole 78 provided in the lower end portion 76 of the third support column 72, and the lower support rod 74 is driven to rotate by the electric motor 80. May be. Further, both the upper support rod 73 and the lower support rod 74 may be rotationally driven by the electric motor 80.
The shape of the pair of left and right support members 70 is not limited to the illustrated example. For example, the support plate 71 may be a single plate. For example, the upper support rod 73, the electric motor 80, and the lower support rod 74 may each be covered with an outer cylinder. Further, the mechanism for moving the support member 70 in the left-right direction is not limited to the above example.

As one form of use of the flying object 100 (200, 300, 400, 500), the flying object 100 is movably attached to a rope spanned in the horizontal direction so that the flying object 100 can be moved horizontally along the rope. It may be moved, that is, the rope may be used as a movement guide, and the moving direction of the flying object 100 may be restricted to the extending direction of the movement guide. The flying object 100 is attached to a rope via a pulley, for example.
In this case, instead of the flight mechanisms 31 and 310 of the main body 30, a hovercraft type propeller mechanism that outputs a propulsive force in the front-rear direction of the traveling direction of the flying object 100 may be provided.
As another example, the flying object 100 may be attached so as to be movable along a rope spanned in the vertical direction, and the flying object 100 may be moved in the vertical direction using this rope as a movement guide.
The direction of laying the rope is not limited to horizontal and vertical, but may be diagonal. Regardless of the direction in which the rope is bridged, the flying object 100 can be linearly moved using the rope as a movement guide. The number of ropes is not limited to one and may be two or more.
Moreover, you may use not only a rope but a rail as a movement guide of the flying body 100 (200,300,400,500).

  Further, in the multi-copter type flight mechanism 31, the rotary wing 32 may be provided as a flap type rotary wing that can swing up and down with respect to the arm 34 via an axis. In this case, the direction of the wind injected from the multi-copter type flight mechanism 31 can be controlled by changing the mounting angle of the rotary wing 32. This is because, for example, the flying body 31 (200, 300, 400, 500) is applied from the flying mechanism 31 in the operation of handling liquids or powders such as spraying of agrochemicals, herbicides, disinfectants, fertilizers, pollination operations, and painting operations. It is useful as a measure to avoid the influence of the wind that is jetted. For example, when spraying agricultural chemicals, it is possible to prevent the agricultural chemicals from being bleached outside the work target area.

Further, when the flying object 100 (200, 300, 400, 500) is not flying, the wind force generated by the flying mechanism 31 (310) is used for air circulation, that is, the flying mechanism 31 is used as a circulator. May be. Further, when the flying object 100 (200, 300, 400, 500) is not flying, the wind force generated by the flying mechanism 31 (310) is used for the purpose of blowing, that is, the flying mechanism 31 is used as a blower. May be. Such flexible use is convenient, for example, when a disaster occurs.
Furthermore, the wind force generated by the flight mechanism 31 (310) may be used for wind power generation while the flying object 100 (200, 300, 400, 500) is stopped or flying. The flying object 100 (200, 300, 400, 500) may be equipped with a wind power generator for that purpose.

When the flying object 100 (200, 300, 400, 500) is used for spraying liquids or powders of agricultural chemicals, herbicides, disinfectants, fertilizers, etc., a tank containing agricultural chemicals, herbicides, etc. A spraying device can be mounted on the first frame 10 to spray agrochemicals, herbicides, etc. while flying the flying object 100 (200, 300, 400, 500) over fields, paddy fields, orchards.
Here, the nozzle for spraying (spouting) the liquid or powder extends from the first frame body 10, and its spray port is positioned away from the first frame body 10 and sprayed (spout) from the spray port. It is preferable to prevent the liquid or powder from being affected by the wind from the flight mechanism 31.

That is, if an arbitrary work machine is mounted on the first frame body 10, the flying machine 100 (200, 300, 400, 500) can be used to perform work using the work machine.
For example, when the flying object 100 (200, 300, 400, 500) is used for pollination work, a container (tank) containing pollen and a device for causing pollination are mounted on the first frame 10. Since the flying object 100 (200, 300, 400, 500) is excellent in maintaining the flying posture of the first frame 10, the pollination work is performed pinpoint like a bee aiming at a specific target flower. It is suitable for.
In addition, a sound equipment for excluding birds and beasts may be attached to the first frame 10, and the flying object 100 (200, 300, 400, 500) may be used for excluding birds and animals.
In addition, for example, a nondestructive inspection device such as a hammering inspection device can be mounted on the first frame 10 to inspect the surface of the inspection object for defects or cracks.
Moreover, a painting apparatus may be attached to the first frame 10 and the flying object 100 (200, 300, 400, 500) may be used for painting work.
In particular, when the flying object 100 (200, 300, 400, 500) is used for the pinpoint operation as described above, the camera is mounted on the flying object 100 (200, 300, 400, 500) or the work machine, and the camera The work can be performed with high accuracy by a well-known automatic recognition technique using the captured video. If the first frame 10 is equipped with a non-destructive inspection device such as a hammering inspection device or a coating device, a camera can be further installed to use the image of the camera for inspection or painting work. You can use the camera image for repairing defects found.

Further, a mower may be mounted on the first frame 10 and the flying object 100 (200, 300, 400, 500) may be used as a mower with a flight mechanism. For example, a plurality of rotor-type mowings may be provided on the lower surface of the first frame body 10. The mower is not limited to the rotor type, and may be any type of mower. The use of the flying object 100 (200, 300, 400, 500) as a mower is more effective in, for example, undergrowth work in forestry or mowing work on an inclined land.
Moreover, you may mount agricultural machines, such as a seedling transplanter and a cultivator, in the 1st frame 10, and may use the flying body 100 (200,300,400,500) as an agricultural machine with a flight mechanism.
In this case, a mower and an agricultural machine with a high degree of freedom of movement can be provided. Since the flying object 100 (200, 300, 400, 500) is excellent in maintaining the horizontal posture of the first frame 10, the mowing work and the farming work can be performed with a stable attitude.

  Various construction machines and industrial machines may be mounted on the first frame 10.

A robot arm may be mounted on the first frame 10. Since the flying object 100 (200, 300, 400, 500) has horizontal flight performance, hovering flight performance, and horizontal maintenance performance of the flying posture of the first frame 10, a pin using a robot arm is used. The point work can be performed efficiently, and is suitable for a house repair work, for example. In addition to house repair, it is also suitable for repairs of various structures such as various building repairs, bridge pier repairs, levee repairs, revetment works, slope repairs, protection work, reinforcement work, etc. It is.
In addition, when a robot arm is mounted on the first frame 10, the flying object 100 (200, 300, 400, 500) can be operated by performing operations such as pruning, pruning, cutting and thinning using the robot arm. Can be used for forestry.

  Alternatively, an operator may be mounted on the first frame body 10 or the main body portion 30 to perform work manually. Since the flying object 100 (200, 300, 400, 500) has good horizontal stability, it is easy for an operator to work.

  In addition, the load mounted in the 1st frame 10 is not limited to the above-mentioned luggage | load, a vehicle, and various working machines, It can be all things. Since the first frame 10 is an assembled frame-like structure in which the first support column 11, the upper end connecting rod 12, the lower end connecting rod 13, and the joint block 14 are assembled, the size and shape can be freely deformed and expanded. Because of this degree of freedom, various luggage, vehicles, and various work machines can be installed.

  A net (net) may be further attached to the lower surface of the first frame 10 and the luggage 50 may be put into the net. Furthermore, the flying object 100 (200, 300, 400, 500) in which a net (net) is further attached to the lower surface of the first frame 10 can be used in fisheries by using the net as a fish net.

Further, the plurality of second struts 21 of the second frame 20 may each have an air spring device, and the air spring device may fulfill the horizontal maintaining function of the flight posture of the first frame 10. Moreover, the some 1st support | pillar 11 of the 1st frame 10 may have an air spring apparatus, respectively.
Moreover, the some 1st support | pillar 11 and the some 2nd support | pillar 21 may each have a suspension.
Moreover, the some 1st support | pillar 11 and the some 2nd support | pillar 21 may each have a shock absorber.

  Further, an impact mitigation device may be provided as a safety device on the upper surface, lower surface, and / or side surface of the flying object 100 (200, 300, 400, 500). Examples of the impact relaxation device include an air cover, an air cushion, and an air bag. Moreover, you may have a parachute as a safety device. As an example of mounting the safety device, the entire circumference of the flying object 100 (200, 300, 400, 500) is wrapped with an impact relaxation material such as an air cover, an air cushion, or an airbag, and the flying object 100 (200, 300, 400) is used. , 500) may be mounted so as to open a parachute.

  Moreover, the mounting surface 15 of the first frame 10 may be attached to the first frame 10 via a suspension combined with an air damper or a metal spring. For example, the mounting surface 15 may be suspended via a suspension that extends downward from above the first frame body 10.

  Moreover, the shape of the 1st frame 10 and the 2nd frame 20 is not restricted to a cube or a rectangular parallelepiped whose upper and lower surfaces are rectangular, For example, what kind of shapes, such as a cylindrical frame, may be sufficient.

  Moreover, the control of the control target by the control device 60 may be control via wire as well as control via wireless.

The actuator 113, the driving device 213, the driving device for the rotor blade 32, and the driving device such as the rotor blade 320 are not limited to those shown in the embodiment, and any device can be used.
In addition to the above-described electric motor driven by a battery, for example, a hydraulic motor or an engine (internal combustion engine) can be used as a driving device. The engine may be a gasoline engine, a hydrogen engine, a hybrid engine, a compressed air engine, or the like.
Of course, when using an electric motor, an electric power supply system is used. When using a hydraulic motor, a hydraulic supply system is used. When using an engine, a fuel supply system (fuel tank, gas cylinder, etc.) is 200, 300, 400, 500). Examples of the power supply system include a battery, a generator using an engine as a power source, a solar power generator, a wind power generator, and a combination thereof.

  The aircraft 100 (200, 300, 400, 500) can be used for fire fighting / rescue work at fire sites, for crime prevention activities, disaster prevention activities, earthquakes, tsunamis, in addition to the various uses described above. When disasters such as storm surges, floods, etc. occur, they are used for relief activities, recovery / reconstruction support activities, or for extinguishing / rescue work in high-rise building fires. It can be used for a variety of other purposes.

  In addition, the flying object 100 (200, 300, 400, 500) may be a manned aircraft on which a person rides and operates.

  The present invention includes all combinations of various configurations disclosed in the above-described embodiments and modifications.

[Fifth embodiment]
FIG. 20 is a side view illustrating a flying object 600 according to the fifth embodiment. As shown in FIG. 20, the flying object 600 is configured to directly connect an object to be transported to the lower part of the second frame 20, and the first frame 10 is not provided.

  In FIG. 20, a case where an automobile (vehicle) 55 is connected to the lower part of the second frame 20 as an object is shown as an example. On the lower surface of the joint block 14 provided at the lower end of each second support column 21 constituting the second frame body 20, as means for connecting the automobile 55 to the lower portion of the second frame body 20, a connection projection (connection portion) ) 91 is provided. The connection protrusion 91 is formed as a columnar protrusion protruding downward from the lower surface of the joint block 14.

  Four connecting members (connected parts) 92 are provided on the roof of the automobile 55 in correspondence with the connecting protrusions 91 provided at the lower ends of the four second columns 21. Each connecting member 92 is a means for connecting the automobile 55 to the flying object 600 (specifically, the second frame 20), and is fixed to the upper surface of the roof of the automobile 55. In FIG. 20, only two connecting members 92 disposed on the front side in the front-rear direction are shown, and the other two are not shown.

The upper surface of the connecting member 92 in FIG. 20 protrudes above the upper surface of the roof of the automobile 55, and a fitting hole 93 for fitting the connecting protrusion 91 is provided on the upper surface of each connecting member 92. Yes.
The connection protrusion 91 and the connection member 92 are provided with a lock mechanism (not shown) for fixing the connection protrusion 91 to the connection member 92 in a state where the connection protrusion 91 is fitted in the fitting hole 93. Yes. As an example of the lock mechanism, a boss portion is provided on the outer periphery of the connection protrusion 91, and a groove that engages with the boss portion is provided on the inner periphery of the fitting hole 93. The structure which can be detachably fixed to the connecting member 92 can be mentioned. The lock mechanism is not limited to this and may have any structure.

When the automobile 55 is connected to the lower part of the second frame body 20, for example, the flying object 600 is positioned above the automobile 55, and the connection protrusion 91 provided at each lower end of the second support column 21 is connected to the roof of the automobile 55. The connecting projections 91 are fitted into the fitting holes 93 by lowering the flying object 600 after being positioned above the connecting members 92 (specifically, the fitting holes 93). Then, the connection protrusion 91 is fixed to the connection member 92 by a lock mechanism. In this way, the connecting protrusion 91 and the connecting member 92 are fixed (connected) to each other by fitting the connecting protrusion 91 in the fitting hole 93, so that the automobile 55 is connected to the lower portion of the second frame body 20. Is done. Furthermore, the connection between the automobile 55 and the second frame body 20 may be reinforced using a rope, a chain, a net, or the like. Further, the automobile 55 connected to the lower portion of the second frame 20 may be protected by being covered with a protective net, a protective cover or the like.
In the flying object 600 having the above-described configuration, the flight posture of the automobile 55 can be controlled by the control device 60 performing expansion / contraction control of the second support column 21. For example, when the inclination of the attitude of the flying object 600 (specifically, the main body 30) is detected by a sensor, the control device 60 performs expansion / contraction control of each second support column 21 according to the detected inclination. Thereby, the attitude | position of the motor vehicle 55 connected with the lower part of the 2nd frame 20 can be maintained horizontally.

Thus, since the flying body 600 has a configuration in which the automobile 55 is connected to the lower part of the second frame body 20, the automobile 55 can be appropriately fixed to the flying body 600. The flight posture of the automobile 55 can be controlled simply by extending and retracting the support column 21 in the axial direction. For this reason, the flying object 600 can carry the automobile 55 connected to the lower part of the second frame body 20 in a stable posture. The connecting member (connected portion) 92 provided in the automobile 55 is formed as a cylindrical protrusion protruding upward, and the protrusion is formed on the lower surface of the joint block 14 provided at the lower end of each second support column 21. Needless to say, a fitting hole 93 (connecting portion) for fitting may be provided.
The connecting member 92 provided on the roof of the automobile 55 may be used as an attachment portion for attaching the roof carrier to the automobile 55 in a state where the automobile 55 is separated from the flying object 600, for example.

As a modified example of the flying body 600, as shown in FIG. 21, the first frame body 10 may be provided in the lower part of the second frame body 20, and an automobile (vehicle) 55 may be connected to the lower part of the first frame body 10. . That is, the automobile 55 is provided below the second frame 20 via the first frame 10 (that is, indirectly).
The lower part of the second frame 20 is provided with a joint block 14e provided at the lower end of each second column 21 as a first connecting part for connecting the first frame 10, and the first frame 10 includes a male screw 114 (see FIG. 6) provided at the upper end of each first support column 11 as a first connected portion to be connected to the first connecting portion. In addition, a connection protrusion 91 that protrudes from the lower surface of the joint block 14 f provided at the lower end of each first support column 11 is provided at the lower portion of the first frame 10 as a second connection portion for connecting the vehicle 55. In addition, the automobile 55 is provided with a connecting member 92 having a fitting hole 93 as a second connected portion to be connected to the second connecting portion.
In the above configuration, the connection protrusions 91 at the lower ends of the first pillars 11 are respectively fitted in the fitting holes 93 of the connection members 92 provided on the roof of the automobile 55, so that the connection protrusions 91, the connection members 92, Are fixed (connected) to each other, whereby the automobile 55 is connected to the lower portion of the first frame body 10.
In this case, a load 50 (indicated by a broken line in FIG. 21) can be mounted on the mounting surface 15 of the first frame body 10, and the pressing surface 17 and the mounting surface 15 are controlled by controlling the expansion and contraction of the first column 11. Thus, the load 50 can be held.

  In addition, about embodiment shown in FIG. 21, the thing of embodiment shown in FIGS. 1-19 can also be mounted in the upper part of the vehicle 55. FIG. In this case, a second connecting portion is provided on the lower end surface of the leg portion 40 of the embodiment shown in FIGS. 1 to 19, or the leg portion 40 is removed from that of the embodiment shown in FIGS. Then, the second connecting portion is provided on the lower end surface of the joint block 14 f of the first support column 11.

  The vehicle 55 is not limited to the automobile (ordinary passenger car) illustrated in FIGS. 20 and 21, but is a bus, a truck, a railway vehicle, a motorcycle, a bicycle, a snow vehicle, a construction vehicle such as a bulldozer or an excavator, a tractor, or a combine harvester. Any type of vehicle may be used such as agricultural vehicles such as machines, industrial vehicles such as forklifts and automatic guided vehicles, and wheelchairs.

[Appendix]
The following additional notes are disclosed regarding the embodiment including the above-described modification.
(Appendix 1)
A frame having an outer tube and an inner tube housed in the outer tube, comprising a plurality of struts capable of expanding and contracting in the axial direction, and connecting an object to the lower portion;
A main body located at the top of the frame and having a flight mechanism;
And a control unit that controls expansion and contraction of the plurality of support columns in order to control a flight posture of the object.

(Appendix 2)
The object includes a mounting surface for mounting a mounted object, and a plurality of pillars each extending from the mounting surface, each having an outer tube and an inner tube housed in the outer tube, and extending and contracting in the axial direction. Another frame body composed of a member and a pressing surface that is arranged to face the mounting surface and is movably attached in the axial direction in conjunction with expansion and contraction of the plurality of column members,
The flying body according to appendix 1, wherein the control unit controls expansion and contraction of the plurality of column members in order to sandwich the mounted object between the pressing surface and the mounting surface.

(Appendix 3)
Each projecting on the lower surface of the other frame, each having an outer tube and an inner tube housed in the outer tube, and comprising a plurality of legs that can be expanded and contracted in the axial direction,
The flying body according to appendix 2, wherein the control unit controls expansion and contraction of the plurality of leg portions according to the landform of the landing site.

(Appendix 4)
The other frame body connects the plurality of upper end connecting rods for connecting the upper ends of the plurality of column members to each other and the lower ends of the plurality of column members to the plurality of column members. A plurality of lower end connecting rods connected via a plurality of joint blocks attached to the upper and lower ends of the plurality of column members,
The frame 2 has a structure in which each of the plurality of support columns is connected to the joint block attached to the upper end of each of the plurality of column members of the other frame. The listed flying object.

(Appendix 5)
The main body portion includes a winch having a rotatable drum, a rope wound around the drum, and a driving device that rotationally drives the drum,
Either one of the frame and the other frame is attached to the main body through the winch so as to be movable up and down.
Any one of appendixes 2 to 4, wherein the control unit controls the operation of the driving device so as to feed the cord from the drum and wind the cord on the drum. The flying body according to the item.

(Appendix 6)
The frame includes a winch having a rotatable drum, a rope wound around the drum, and a driving device that rotationally drives the drum,
The load mounted on the mounting surface of the other frame is mounted so as to be movable up and down with respect to the other frame via the winch,
An opening / closing mechanism that opens and closes the bottom surface of the other frame by moving the mounting surface on the other frame;
The control unit controls the operation of the driving device to unwind the cable body from the drum and wind the cable body around the drum, and to move the mounting surface to open and close the bottom surface. The flying object according to any one of appendices 2 to 4, wherein the flying object is controlled.

(Appendix 7)
Any one of appendices 2 to 6, further comprising a support member that is attached to the other frame body so as to be movable in the left-right direction, and that presses the load mounted on the mounting surface from the left-right direction. Aircraft described in.

(Appendix 8)
The load is a vehicle,
The wheel of the vehicle is located below the lower surface of the other frame,
The flying object according to any one of appendices 2 to 7, wherein the wheel is configured as a contact portion to a landing site.

(Appendix 9)
The object is a vehicle;
A connecting portion for connecting the vehicle to the lower portion of the frame is provided,
The flying object according to appendix 1, wherein a connected portion connected to the connecting portion is provided in the vehicle.
(Appendix 10)
The object is
A plurality of column members each having a mounting surface for mounting a load, each rising from the mounting surface, each having an outer tube and an inner tube housed in the outer tube, and extending and contracting in the axial direction; Another frame body that is disposed opposite to the mounting surface and includes a pressing surface that is attached to be movable in the axial direction in conjunction with expansion and contraction of the plurality of column members;
A vehicle coupled to a lower portion of the other frame,
A first connecting portion for connecting the other frame body is provided at a lower portion of the frame body, and a first connected portion for connecting to the first connecting portion is provided in the other frame body. And
A second connecting part for connecting the vehicle to the lower part of the other frame body is provided, and a second connected part to be connected to the second connecting part is provided on the vehicle; and ,
The flying body according to appendix 1, wherein the control unit further controls expansion and contraction of the plurality of pillar members in order to sandwich the mounted object between the pressing surface and the mounting surface.

(Appendix 11)
The flying object according to any one of appendices 1 to 10, wherein the flying mechanism is a multi-copter type flying mechanism.

(Appendix 12)
The flying object according to any one of appendices 1 to 10, wherein the flying mechanism is a tilt rotor type flying mechanism.

(Appendix 13)
The flying body according to any one of appendices 1 to 12, wherein a plurality of the main body portions each having the flying mechanism are positioned on an upper portion of the frame body.
(Appendix 14)
The frame of the main body is configured as an assembling-type frame-like structure in which a plurality of nested tubular bodies that can be expanded and contracted in the axial direction are provided. Aircraft.

(Appendix 15)
It has a mounting part on the upper part, and the mounting part is configured as a frame-like structure configured to be able to adjust its vertical position, and a frame body that connects an object to the lower part,
A main body located at the top of the frame and having a flight mechanism;
A flying unit comprising: a control unit configured to control a vertical position of the mounting unit in order to control a flying posture of the object.

(Appendix 16)
The object has a mounting surface for mounting the mounted object, and a pressing surface that is arranged to face the mounting surface and is movably attached in the vertical direction, and is configured as a frame-like structure. A frame,
16. The flying object according to appendix 15, wherein the control unit controls the amount of movement of the pressing surface in the vertical direction in order to hold the mounted object between the pressing surface and the mounting surface.

(Appendix 17)
Protruding on the lower surface of the other frame, and having a grounding portion at the bottom, the grounding portion is configured to be able to adjust its vertical position, and has a leg portion.
The flying body according to appendix 16, wherein the control unit controls expansion and contraction of the leg portion according to the landform of the landing site.

(Appendix 18)
The main body portion includes a winch having a rotatable drum, a rope wound around the drum, and a driving device that rotationally drives the drum,
Either one of the frame and the other frame is attached to the main body through the winch so as to be movable up and down.
The flight according to appendix 16 or 17, wherein the control unit controls the operation of the driving device to feed the cord from the drum and wind the cord on the drum. body.

(Appendix 19)
The frame includes a winch having a rotatable drum, a rope wound around the drum, and a driving device that rotationally drives the drum,
The load mounted on the mounting surface of the other frame is mounted so as to be movable up and down with respect to the other frame via the winch,
An opening / closing mechanism that opens and closes the bottom surface of the other frame by moving the mounting surface on the other frame;
The control unit controls the operation of the driving device to unwind the cable body from the drum and wind the cable body around the drum, and to move the mounting surface to open and close the bottom surface. The flying object according to appendix 16 or 17, wherein the flying object is controlled.

(Appendix 20)
Any one of Supplementary notes 16 to 19, further comprising a support member that is attached to the other frame body so as to be movable in the left-right direction, and that presses the mounted object mounted on the mounting surface from the left-right direction. Aircraft described in.

(Appendix 21)
The load is a vehicle,
The wheel of the vehicle is located below the lower surface of the other frame,
The flying body according to any one of appendices 16 to 20, wherein the wheel is configured as a contact portion to a landing site.

(Appendix 22)
The object is a vehicle;
A connecting portion for connecting the vehicle to the lower portion of the frame is provided,
The flying object according to appendix 15, wherein a connected portion connected to the connecting portion is provided on the vehicle.
(Appendix 23)
The object is
A mounting surface for mounting the mounted object, and a pressing surface that is disposed to face the mounting surface and is attached so as to be movable in the vertical direction; and another frame body configured as a frame-shaped structure;
A vehicle coupled to a lower portion of the other frame,
A first connecting portion for connecting the other frame body is provided at a lower portion of the frame body, and a first connected portion for connecting to the first connecting portion is provided in the other frame body. And
A second connecting part for connecting the vehicle to the lower part of the other frame body is provided, and a second connected part to be connected to the second connecting part is provided on the vehicle; and ,
16. The flying object according to appendix 15, wherein the control unit further controls the amount of movement of the pressing surface in the vertical direction so as to sandwich the mounted object between the pressing surface and the mounting surface.

(Appendix 24)
The flying object according to any one of appendices 15 to 23, wherein the flying mechanism is a multi-copter type flying mechanism.

(Appendix 25)
24. The flying object according to any one of appendices 15 to 23, wherein the flying mechanism is a tilt rotor type flying mechanism.

(Appendix 26)
The flying body according to any one of appendices 15 to 25, wherein a plurality of the main body portions each having the flying mechanism are positioned on an upper portion of the frame body.

(Appendix 27)
A frame having an outer tube and an inner tube housed in the outer tube, comprising a plurality of struts capable of expanding and contracting in the axial direction, and capable of connecting an object to the lower portion;
A main body located at the top of the frame and having a flight mechanism;
And a control unit that controls expansion and contraction of the plurality of support columns in order to control a flight posture of the object.

(Appendix 28)
In the aircraft according to appendix 27,
It is connected to the lower part of the frame body, has a mounting surface for mounting a load, and stands up from the mounting surface, and has an outer tube and an inner tube housed in the outer tube, respectively, and expands and contracts in the axial direction. Another frame body comprising a plurality of possible column members and a pressing surface that is arranged to face the mounting surface and is movably attached in the axial direction in conjunction with expansion and contraction of the plurality of column members. Prepared,
The control unit further controls expansion and contraction of the plurality of column members in order to sandwich the mounted object between the pressing surface and the mounting surface.

(Appendix 29)
A frame body having an outer tube and an inner tube housed in the outer tube, comprising a plurality of struts capable of expanding and contracting in an axial direction, and connecting a vehicle to a lower portion;
A main body located at the top of the frame and having a flight mechanism;
A control unit for controlling expansion and contraction of the plurality of struts in order to control the flight posture of the object,
In addition, a connecting portion for connecting the vehicle to the lower portion of the frame is provided,
A flying body, wherein a connected portion connected to the connecting portion is provided on the vehicle.

(Appendix 30)
In the aircraft according to appendix 29,
It is connected to the lower part of the frame body, has a mounting surface for mounting a load, and stands up from the mounting surface, and has an outer tube and an inner tube housed in the outer tube, respectively, and expands and contracts in the axial direction. Another frame body comprising a plurality of possible column members and a pressing surface that is arranged to face the mounting surface and is movably attached in the axial direction in conjunction with expansion and contraction of the plurality of column members. Prepared,
A first connecting portion for connecting the other frame body is provided at a lower portion of the frame body, and a first connected portion for connecting to the first connecting portion is provided in the other frame body. ,
A second connecting part for connecting the vehicle to the lower part of the other frame body is provided, a second connected part connected to the second connecting part is provided on the vehicle, and
The control unit further controls expansion and contraction of the plurality of column members in order to sandwich the mounted object between the pressing surface and the mounting surface.

(Appendix 31)
It has a mounting part on the upper part, and the mounting part is configured as a frame-like structure configured to be able to adjust its vertical position, and a frame body that can connect an object to the lower part,
A main body located at the top of the frame and having a flight mechanism;
A flying unit comprising: a control unit configured to control a vertical position of the mounting unit in order to control a flying posture of the object.

(Appendix 32)
In the aircraft according to appendix 31,
A frame-like structure having a mounting surface connected to the lower part of the frame body for mounting a load, and a pressing surface that is disposed opposite to the mounting surface and is movably mounted in the vertical direction. Further comprising another frame body configured,
The flying body according to claim 1, wherein the control unit controls an amount of movement of the pressing surface in the vertical direction in order to hold the mounted object between the pressing surface and the mounting surface.

(Appendix 33)
It has a mounting portion at the top, and the mounting portion is configured as a frame-like structure configured to be able to adjust its vertical position, and a frame that connects the vehicle to the bottom,
A main body located at the top of the frame and having a flight mechanism;
A control unit for controlling the vertical position of the mounting unit in order to control the flight posture of the object,
In addition, a connecting portion for connecting the vehicle to the lower portion of the frame is provided,
A flying body, wherein a connected portion connected to the connecting portion is provided on the vehicle.

(Appendix 34)
In the flying object according to attachment 33,
A frame-like structure having a mounting surface connected to the lower part of the frame body for mounting a load, and a pressing surface that is disposed opposite to the mounting surface and is movably mounted in the vertical direction. Further comprising another frame body configured,
A first connecting portion for connecting the other frame body is provided at a lower portion of the frame body, and a first connected portion for connecting to the first connecting portion is provided in the other frame body. ,
A second connecting part for connecting the vehicle to the lower part of the other frame body is provided, a second connected part connected to the second connecting part is provided on the vehicle, and
The control unit further controls the amount of movement of the pressing surface in the vertical direction in order to hold the mounted object between the pressing surface and the mounting surface.

100, 200, 300, 400, 500, 600 Aircraft 10 First frame (other frame)
11 First strut (column member)
12 Upper end connecting rod 13 Lower end connecting rod 14 Joint block 15 Mounting surface 17 Holding surface 19 Opening / closing mechanism 20 Second frame (frame)
21 Second support (support)
22 Mounting rod 25 Mounting portion 30 Main body portion 31, 310 Flight mechanism 32 Rotary wing 33 Base 34 Arm 35 Rotating shaft 36 Blade 37 Protective ring 40 Leg 41 Grounding portion 42 Wheel 50 Luggage 55 Automobile (vehicle)
60 Control device (control unit)
70 Support member 71 Support plate 72 Third support column 73 Upper support rod 74 Lower support rod 75 Upper end portion 76 Lower end portion 77, 78 Hole 80 Electric motor 91 Connection protrusion (connection portion)
92 Connecting member (connected part)
93 fitting hole 105 landing surface 106 inclined surface 110 outer tube 112 inner tube 113 actuator 114 male screw 141 female screw 210 winch 211 drum 211a support frame 212 cord 213 drive unit 311 base 312 arm 320 rotary blade 321 rotary shaft 322 blade F Advancing direction D Axial direction

Claims (11)

A frame having an outer tube and an inner tube housed in the outer tube, comprising a plurality of struts capable of expanding and contracting in the axial direction, and connecting an object to the lower portion;
A main body located at the top of the frame and having a flight mechanism;
E Bei and a control unit for controlling the expansion and contraction of said plurality of struts to control the flight attitude of the object,
The flying object according to claim 1, wherein the object is another frame having a mounting surface for mounting a mounted object . Each of the other frames further rises from the mounting surface, has an outer tube and an inner tube housed in the outer tube, and can extend and contract in the axial direction, and the mounting surface And a pressing surface attached to be movable in the axial direction in conjunction with expansion and contraction of the plurality of column members ,
2. The flying body according to claim 1, wherein the control unit further controls expansion and contraction of the plurality of column members in order to hold the mounted object between the pressing surface and the mounting surface. Each projecting on the lower surface of the other frame, each having an outer tube and an inner tube housed in the outer tube, and comprising a plurality of legs that can be expanded and contracted in the axial direction,
The flying body according to claim 2, wherein the control unit further controls expansion and contraction of the plurality of leg portions according to the landform of the landing site. The other frame body connects the plurality of upper end connecting rods for connecting the upper ends of the plurality of column members to each other and the lower ends of the plurality of column members to the plurality of column members. A plurality of lower end connecting rods connected via a plurality of joint blocks attached to the upper and lower ends of the plurality of column members,
The said frame is a structure which connected each of these several support | pillars with the said joint block attached to the upper end of each of these pillar members of said other frame, The 2 or 3 characterized by the above-mentioned. Aircraft described in. The main body portion includes a winch having a rotatable drum, a rope wound around the drum, and a driving device that rotationally drives the drum,
Either one of the frame and the other frame is attached to the main body through the winch so as to be movable up and down.
The said control part further controls the action | operation of the said drive device, in order to let out the said cable body from the said drum, and to wind up the said cable body to the said drum. The flying object according to claim 1. The frame includes a winch having a rotatable drum, a rope wound around the drum, and a driving device that rotationally drives the drum,
The load mounted on the mounting surface of the other frame is mounted so as to be movable up and down with respect to the other frame via the winch,
An opening / closing mechanism that opens and closes the bottom surface of the other frame by moving the mounting surface on the other frame;
The control unit further controls the operation of the driving device to unwind the cable body from the drum and wind the cable body around the drum, and to open and close the bottom surface of the mounting surface. The flying body according to any one of claims 2 to 4, wherein the movement of the aircraft is controlled. 7. The support device according to claim 2, further comprising: a support member that is attached to the other frame body so as to be movable in the left-right direction and that presses the mounted object mounted on the mounting surface from the left-right direction. Aircraft described in. The load is a vehicle,
The wheel of the vehicle is located below the lower surface of the other frame,
The flying body according to any one of claims 2 to 7, wherein the wheel is configured as a contact portion to a landing site . Each of the other frames further rises from the mounting surface, has an outer tube and an inner tube housed in the outer tube, and can be expanded and contracted in the axial direction, and the mounting surface And a pressing surface attached to be movable in the axial direction in conjunction with expansion and contraction of the plurality of column members ,
Comprising a vehicle connected to a lower portion of the other frame,
A first connecting portion for connecting the other frame body is provided at a lower portion of the frame body, and a first connected portion for connecting to the first connecting portion is provided in the other frame body. And
A second connecting part for connecting the vehicle to the lower part of the other frame body is provided, and a second connected part to be connected to the second connecting part is provided on the vehicle; and ,
2. The flying body according to claim 1, wherein the control unit further controls expansion and contraction of the plurality of column members in order to hold the mounted object between the pressing surface and the mounting surface. The flight mechanism, flying body according to any one of claims 1 to 9, characterized in that a multirotor type flight mechanism. The flight mechanism is characterized by a tilt rotor type flight mechanism, flying body according to any one of claims 1-9.

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